robot

Abstract

The present disclosure relates to the technical field of robots, and particularly relates to a robot to solve the problem of poor work coverage of the robot. In the robot, the shape of the first driving assembly comprises a column shape extending along a first direction, the first side of the first driving assembly and the second side of the first driving assembly are arranged opposite to each other in a direction perpendicular to the first direction, the chest support assembly connected with the mechanical arm and the camera device reciprocates along the first direction under the driving of the first driving assembly, the work range of the mechanical arm comprises the first side of the first driving assembly, and the camera device faces the first side of the first driving assembly. The work range of the mechanical arm can be increased by increasing the working stroke of the first driving assembly. In addition, by arranging the camera device and the mechanical arm on the chest support assembly, the camera device moves along the first direction synchronously with the mechanical arm, the shooting range of the camera device is synchronized with the work range of the mechanical arm, and the shooting effect is improved while the mechanical arm moves in a large range.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a robot. Background Technology

[0002] With the automation upgrades in warehousing and logistics, industrial production line operation and maintenance, supermarket retail, and smart warehousing, the application scenarios of mobile robots continue to expand, and the market is placing increasingly higher demands on the operational coverage capabilities of robots.

[0003] However, the robots in the relevant technologies are difficult to meet the market's requirements for the operational coverage of robots. Summary of the Invention

[0004] In view of this, the present disclosure provides a robot to solve the problem of poor robot coverage.

[0005] One embodiment of this disclosure provides a robot, including: a body support assembly; a first drive assembly disposed on the body support assembly, the first drive assembly having a cylindrical shape extending along a first direction, a first side and a second side of the first drive assembly being disposed opposite to each other along a second direction, the second direction being perpendicular to the first direction; a chest support assembly connected to the first drive assembly, reciprocating along the first direction under the drive of the first drive assembly; at least one robotic arm connected to the chest support assembly, the working area of ​​the robotic arm including the first side of the first drive assembly; and a camera device disposed on the chest support assembly, the camera device facing the first side of the first drive assembly.

[0006] In some implementations, the camera device includes: a first bracket mounted on the chest support assembly, at least a portion of the first bracket being located on a first side of the first drive assembly; a camera assembly rotatably connected to the first bracket, the camera assembly extending along a third direction perpendicular to both the second and first directions, the camera assembly located on the first side of the first drive assembly and on the side of the first bracket away from the first drive assembly; and a third drive assembly mounted on the first bracket, the third drive assembly including a drive unit, a drive pulley, a driven pulley, and a transmission belt, the drive unit being located on the side of the first bracket closer to the first drive assembly, the drive unit being connected to the drive pulley and capable of driving the drive pulley to rotate about a first axis, the transmission belt being sleeved on the outside of the drive pulley and the driven pulley, the driven pulley being drively connected to the camera assembly and capable of driving the camera assembly to rotate about a second axis, the second axis being parallel to the first axis.

[0007] In some implementations, the camera assembly includes: a first connecting shaft coaxially connected to the driven pulley, the axis of the first connecting shaft being collinear with the second axis; a carrier fixedly connected to the first connecting shaft, the first surface of the carrier being coplanar with the second axis; and a camera element mounted on the side of the carrier away from the first surface.

[0008] In some implementations, the chest support assembly includes: a first support member, at least a portion of which is located on a first side of the first drive assembly; a second support member connected to the first support member, at least a portion of which is located on a second side of the first drive assembly; the first support member and / or the second support member being connected to the first drive assembly; and at least one robotic arm being connected to the first support member and / or the second support member, wherein the connection point between the robotic arm and the first support member and / or the second support member is at least located on a first side of the first drive assembly.

[0009] In some implementations, the robot further includes: a control component disposed on the second support member, located on the second side of the first drive component, and capable of being electrically connected to at least one of the robotic arms; and / or, the first support member and the second support member enclose to form a first annular structure, the first annular structure being disposed around the first drive component.

[0010] In some implementations, the robot further includes: a first housing assembly disposed on the body support assembly, the first housing assembly having a first receiving space and at least one clearance opening, the first receiving space for receiving at least a portion of the structure of the first drive assembly, the clearance opening being able to connect the first receiving space to the outside, the clearance opening having a shape including an elongated strip extending along the first direction; wherein, when the first support member is connected to the first drive assembly, the first support member extends into the first receiving space and connects to the first drive assembly through the clearance opening; when the second support member is connected to the first drive assembly, the second support member extends into the first receiving space and connects to the first drive assembly through the clearance opening.

[0011] In some implementations, the third side and the fourth side of the first drive component are disposed opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; at least one of the clearance openings is located on the third side of the first drive component and / or at least one of the clearance openings is located on the fourth side of the first drive component.

[0012] In some implementations, the first support member includes a first connecting portion and a second connecting portion that are spaced apart and connected along the second direction. The second connecting portion is located on a first side of the first drive assembly, and the first connecting portion is located on the side of the second connecting portion closer to the first drive assembly. The first connecting portion is connected to the first drive assembly, and the second connecting portion is connected to at least one of the robotic arms. The first housing assembly includes a first housing, which is disposed in the body support assembly, located between the first connecting portion and the second connecting portion, and between the first drive assembly and the second connecting portion, and is spaced apart from both the first connecting portion and the second connecting portion along the second direction.

[0013] In some implementations, the third side and the fourth side of the first drive component are arranged opposite to each other along a third direction, which is perpendicular to both the first and second directions; the number of clearance openings is at least two, one clearance opening is located on the third side of the first drive component, and the other clearance opening is located on the fourth side of the first drive component; the first support member further includes two third connecting parts, which are arranged opposite to each other along the third direction, and the two sides of the first connecting part along the third direction are respectively connected to the second connecting part through the third connecting part, and the third connecting part extends from the first accommodating space through the clearance opening and connects to the second connecting part, and the first connecting part, the second connecting part, and the two third connecting parts form a second annular structure.

[0014] In some implementations, the robot further includes: at least one first cable chain located in the first accommodating space, the moving end of the first cable chain being connected to the third connecting portion, the first cable chain having a first wiring channel extending from the fixed end of the first cable chain to the moving end of the first cable chain; wherein, the third connecting portion has a wiring groove, the opening of the wiring groove facing the second side of the first drive assembly, the wiring groove communicating with the first wiring channel, a portion of the opening of the wiring groove being located within the first accommodating space, and a portion of the opening of the wiring groove passing through the clearance opening and located outside the first accommodating space, the first wiring channel and the wiring groove being used for wiring.

[0015] In some implementations, the second support member includes a connected fourth connecting portion and at least one fifth connecting portion. The fourth connecting portion is located on the second side of the first drive assembly, and the fifth connecting portion connects the fourth connecting portion and the first support member. The fourth connecting portion and the first drive assembly are spaced apart along the second direction. The first housing assembly further includes a second housing, disposed on the body support assembly, located between the fourth connecting portion and the first drive assembly, and spaced apart from both the fourth connecting portion and the first drive assembly along the second direction. The first housing and the second housing form the first accommodating space and the clearance opening.

[0016] In some implementations, the robot further includes: at least one set of winding components located in the first accommodating space, each corresponding to one of the at least one of the avoidance openings; the winding components include a first winding member and a second winding member, respectively connected to the body support component, the first winding member and the second winding member being located on both sides of the avoidance opening in the first direction; and at least one set of flexible components corresponding to the at least one set of winding components, the flexible components being wound around the first winding member and the second winding member; a first end of the flexible component bypassing the first winding member and connecting to the chest support component, covering the avoidance opening between the chest support component and the first winding member; a second end of the flexible component bypassing the second winding member and connecting to the chest support component, covering the avoidance opening between the chest support component and the second winding member; the movement of the chest support component relative to the body support component can drive the flexible components to move relative to the first winding member and the second winding member respectively.

[0017] In some implementations, the body support assembly includes a support body located in the first accommodating space. The support body has a cylindrical shape extending along the first direction. The chest support assembly is movably connected to the support body along the first direction. The support body has a cavity extending along the first direction. The robot further includes at least one set of noise reduction components disposed in the cavity. The noise reduction components include a first noise reduction component and a second noise reduction component in contact with each other. The first noise reduction component is located on both sides of the second noise reduction component in the first direction. The first noise reduction component is sealed to the cavity. Sound waves generated by the movement of the chest support assembly relative to the support body can be transmitted from the support body to the noise reduction components and attenuated within the cavity after passing through the first noise reduction component and / or the second noise reduction component.

[0018] In some implementations, the first driving component includes: a driving unit disposed on the body support component; a movable member connected to the driving unit and driven by the driving unit to reciprocate along a first direction, the movable member having at least one support portion; and at least one flexible transmission member, the flexible transmission member including a connected seventh connecting portion, a first winding portion, and an eighth connecting portion, the seventh connecting portion, the first winding portion, and the eighth connecting portion being sequentially arranged along the extending direction of the flexible transmission member, wherein the seventh connecting portion is connected to the body support component, the first winding portion winds around the support portion, and the eighth connecting portion is connected to the chest support component to drive the chest support component to move along the first direction at a speed greater than that of the movable member; wherein the first housing component is connected to the movable member and moves along the first direction with the movable member, and the first accommodating space accommodates at least a portion of the structure of the driving unit, the movable member, and the eighth connecting portion.

[0019] In some implementations, the robot further includes: a chassis assembly for enabling the robot to move, the body support assembly being disposed on the chassis assembly, the fifth side and the sixth side of the first drive assembly being disposed opposite to each other along the first direction, and the chassis assembly being located on the fifth side of the first drive assembly; a second housing assembly being disposed on the body support assembly, at least a portion of the structure of the second housing assembly being located in the first accommodating space, the second housing assembly having a second accommodating space and a first opening, the second accommodating space accommodating the drive unit, the drive unit being connected to the moving member through the first opening, wherein the first opening is located on the side of the second housing assembly closer to the sixth side of the first drive assembly.

[0020] In some implementations, the movable member and the second housing assembly are spaced apart along a direction perpendicular to the first direction; the robot further includes: at least one first guide rail located in the first receiving space and disposed on the side of the movable member facing the second housing assembly; at least one first slider located in the first receiving space, disposed in the second housing assembly, and located on the sixth side of the second housing assembly near the first drive assembly, the first slider being slidably connected to the first guide rail.

[0021] In some implementations, the moving member includes at least one pair of support portions spaced apart along the first direction; the flexible transmission member further includes a connected ninth connecting portion and a second bypassing portion, wherein the seventh connecting portion, the first bypassing portion, the eighth connecting portion, the second bypassing portion and the ninth connecting portion are arranged sequentially along the extension direction of the flexible transmission member, the first bypassing portion bypasses the first support portion of the pair of support portions, the eighth connecting portion is connected to the chest support assembly, the second bypassing portion bypasses the second support portion of the pair of support portions, and the ninth connecting portion is connected to the body support assembly.

[0022] In some implementations, the fifth side and the sixth side of the first drive component are arranged opposite to each other along the first direction; the robot further includes: a chassis assembly for realizing the movement of the robot; a rotary drive assembly disposed on the chassis assembly, the first drive component, the rotary drive assembly, and the chassis assembly are arranged sequentially along the first direction, the rotary drive assembly is located on the fifth side of the first drive component and connected to the body support assembly, for driving the body support assembly to rotate about a third axis, the third axis being parallel to the first direction; wherein, the chassis assembly is located on the side of the rotary drive assembly away from the first drive component; the rotary drive assembly includes: a second drive component disposed on the chassis assembly and having a first output end; a first shaft mounted on the chassis assembly and rotatably connected to the chassis assembly about the third axis, the first shaft... The system is connected to the body support assembly and is used to drive the body support assembly to rotate about the third axis; a transmission structure is configured to drive the first output end and the first shaft, including a first transmission part and a second transmission part, the first transmission part being mounted on the first output end and rotating with the first output end; the second transmission part being mounted on the first shaft and drively connected to the first transmission part, the transmission ratio of the first transmission part and the second transmission part being greater than 1; a limiting structure includes a first limiting member and a second limiting member, the first limiting member being mounted on the chassis assembly, the second limiting member being mounted on the first transmission part, wherein, during the forward or reverse rotation of the second drive assembly, the second limiting member and the first transmission part rotate with the first output end, and the second limiting member can contact the first limiting member to limit the maximum forward rotation angle and the maximum reverse rotation angle of the first transmission part.

[0023] In some implementations, the first shaft has a wiring hole inside along the extension direction of the third axis; the robot also includes a rotary encoder assembly for detecting the rotation angle of the first shaft. The rotary encoder assembly includes: a support base disposed on the chassis assembly; a sensing element, which is an annular structure, rotatably disposed within the support base, sleeved on the outside of the first shaft, and connected to the first shaft, rotating synchronously with the first shaft under its drive; and a sensing element connected to the support base. The sensing element, the sensing element, and the first shaft are all spaced apart. The sensing element is configured to cooperate with the sensing element to detect the rotation angle of the shaft.

[0024] In some implementations, the fifth side and the sixth side of the first drive assembly are arranged opposite to each other along the first direction; the robot further includes a chassis assembly connected to the body support assembly and located on the fifth side of the first drive assembly for realizing the movement of the robot; wherein, the chassis assembly includes: a chassis body connected to the body support assembly and located on the fifth side of the first drive assembly; at least three drive wheel assemblies rotatably connected to the chassis body, the connection line of the grounding portions of the at least three drive wheel assemblies forming a first convex polygon; at least one first driven wheel assembly rotatably connected to the chassis body, the grounding portion of the first driven wheel assembly located on the first convex polygon. The outer side; wherein, the first driven wheel assembly includes a floating wheel assembly, the floating wheel assembly including: a floating wheel mounting base connected to the chassis body; a floating wheel body movably connected to the floating wheel mounting base along the first direction; a shock absorption assembly disposed between the floating wheel body and the floating wheel mounting base; wherein, the shock absorption assembly includes: a first elastic member capable of elastic deformation along the height direction of the chassis body; a second elastic member disposed on one side of the first elastic member in the first direction and capable of elastic deformation along the height direction of the chassis body; the first elastic member has a first preset stiffness, the second elastic member has a second preset stiffness, and the first preset stiffness is greater than the second preset stiffness.

[0025] The robot provided in this embodiment can increase the working range of the robotic arm by increasing the working stroke of the first drive component. Furthermore, by mounting both the camera device and the robotic arm on the chest support component, the camera device can move synchronously along the first direction with the robotic arm, and the camera device faces the first side of the first drive component, which is the range included in the robotic arm's working area. This keeps the camera's shooting range synchronized with the robotic arm's working area, ensuring a large range of movement for the robotic arm while improving the camera's shooting effect. In related technologies, where the camera device is fixed while the robotic arm moves up and down, the shooting point relative to the robotic arm constantly changes, making it more difficult to analyze the robotic arm's movements in the footage and placing higher demands on the algorithm. In contrast, when the camera device and robotic arm move synchronously along the first direction, the camera device's shooting position relative to the robotic arm is fixed, making it easier to analyze the robotic arm's movements from the captured footage, effectively improving the efficiency of learning and analyzing robotic arm movements. Simultaneously, the camera device and robotic arm are independent of each other, allowing the distance between them to be set within a reasonable range to balance the shooting range and shooting accuracy.

[0026] In addition, the camera can move synchronously with the robotic arm along the first direction. Even if the robotic arm has a larger lifting range, the camera can clearly and accurately capture its movements. This allows for a larger stroke to be set, increasing the robot's working range in the first direction. Furthermore, since the camera is not mounted on the robotic arm (e.g., at its end), it does not increase the arm's size or weight, does not affect its operation, allows the robotic arm to enter confined spaces, and reduces the risk of the robot tipping over. Attached Figure Description

[0027] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0028] Figure 1 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0029] Figure 2 The diagram shown is a schematic of a robot removing a portion of a structure according to an embodiment of this disclosure.

[0030] Figure 3 The diagram shown is a schematic representation of the structure of a camera device provided in an embodiment of this disclosure after removing the bracket housing.

[0031] Figure 4The diagram shown is a schematic diagram of a camera device provided in an embodiment of this disclosure.

[0032] Figure 5 The diagram shown is an exploded view of a camera assembly provided in an embodiment of this disclosure.

[0033] Figure 6 The diagram shown is a structural schematic of a camera device provided in another embodiment of this disclosure.

[0034] Figure 7 The diagram shown is a three-dimensional schematic of a robot's rotation drive assembly and chassis assembly according to an embodiment of this disclosure.

[0035] Figure 8 The image shown is a top view of a robot's rotation drive assembly and chassis assembly according to an embodiment of this disclosure.

[0036] Figure 9 The image shown is an embodiment of this disclosure. Figure 8 The schematic cross-sectional view of the rotating assembly and chassis assembly along the JJ direction is shown.

[0037] Figure 10 The diagram shown is a structural schematic of a rotary encoder assembly provided in an embodiment of this disclosure.

[0038] Figure 11 The diagram shown is a schematic representation of the mating part between the chassis assembly and the rotary encoder assembly provided in an embodiment of this disclosure.

[0039] Figure 12 The diagram shown is a structural schematic of a chassis assembly provided in one embodiment of this disclosure.

[0040] Figure 13 The image shown is a bottom view of a chassis assembly provided in an embodiment of this disclosure.

[0041] Figure 14 The diagram shown is a schematic diagram of the support principle of a chassis assembly provided in an embodiment of this disclosure.

[0042] Figure 15 The diagram shown is a structural schematic of a floating wheel assembly provided in an embodiment of this disclosure.

[0043] Figure 16 The diagram shows the relationship between the force and deformation of the first and second elastic elements provided in an embodiment of this disclosure.

[0044] Figure 17 The diagram shown is a structural schematic of a drive wheel assembly provided in an embodiment of this disclosure.

[0045] Figure 18 The image shown is an embodiment of this disclosure. Figure 1The diagram shows a cross-sectional view of a portion of the robot's structure perpendicular to the first direction.

[0046] Figure 19 The image shown is an embodiment of this disclosure. Figure 1 A top view of part of the robot's structure.

[0047] Figure 20 The image shown is an embodiment of this disclosure. Figure 19 The diagram shows a cross-sectional view of the robot along line EE.

[0048] Figure 21 The image shown is an embodiment of this disclosure. Figure 20 The image shows a magnified view of the robot at local point F.

[0049] Figure 22 The image shown is an embodiment of this disclosure. Figure 20 The image shows a magnified view of the robot at local point G.

[0050] Figure 23 The diagram shown is a schematic diagram of the cooperation between a flexible component and a winding component in a robot provided in an embodiment of this disclosure.

[0051] Figure 24 The image shown is an embodiment of this disclosure. Figure 23 A magnified view of region H in the robot shown.

[0052] Figure 25 The image shown is an embodiment of this disclosure. Figure 24 A magnified view of region I in the robot shown.

[0053] Figure 26 The diagram shown is a partial structural schematic of a robot provided in an embodiment of this disclosure.

[0054] Figure 27 The diagram shown is a schematic diagram of a first drive component and a body support component in a robot provided in an embodiment of this disclosure.

[0055] Figure 28 The figure shown is a cross-sectional view of a support body in a body support assembly provided in an embodiment of the present disclosure.

[0056] Figure 29 The figure shown is a cross-sectional view of another type of support body in a body support assembly provided in an embodiment of this disclosure.

[0057] Figure 30 The diagram shown is a structural schematic of another robot provided in one embodiment of this disclosure.

[0058] Figure 31The diagram shown is a schematic diagram of another robot removing a part of the structure according to an embodiment of this disclosure.

[0059] Figure 32 The image shown is an embodiment of this disclosure. Figure 31 The diagram shows a cross-sectional view of the robot along the AA direction.

[0060] Figure 33 The diagram shown is a schematic of a moving part and a flexible transmission part in another robot provided in one embodiment of this disclosure.

[0061] Figure 34 The image shown is an embodiment of this disclosure. Figure 31 The diagram shows a cross-sectional view of the robot along the BB direction.

[0062] Figure 35 The image shown is an embodiment of this disclosure. Figure 31 The diagram shows a cross-sectional view of the robot in the CC direction.

[0063] Figure 36 The image shown is an embodiment of this disclosure. Figure 31 The diagram shows a cross-sectional view of the robot along the DD direction.

[0064] Figure 37 The diagram shown is a schematic representation of another robot with its first housing assembly hidden, according to an embodiment of this disclosure.

[0065] Figure label: 1000, Chassis assembly; 110, Chassis body; 120, Drive wheel assembly; 1201, Steering drive component; 1202, Drive wheel; 121, First drive wheel assembly; 122, Second drive wheel assembly; 1301, First driven wheel assembly; 1300, Floating wheel assembly; 131, Driven wheel body; 1311, Driven wheel; 1312, Connecting rod; 132, Driven wheel mounting seat; 133, Shock absorption assembly; 1331, First elastic element; 1332, Second elastic element; 1333, Guide column; 135, Guide rod; 136, Guide assembly; 1361, Guide bushing; 1362, Linear bearing; 137, Sliding pair; P1, First convex polygon; P2, Second convex polygon; 1401, Mounting groove; 1402, Wiring hole; 2000, First drive assembly; 200, Drive unit; 210, Drive source; 220, Lead screw; 230, Nut; 240, Connecting assembly; 250, Flexible transmission component; 251, Seventh connecting part; 252, First winding part; 253, Eighth connecting part; 254, Second winding part; 255, Ninth connecting part; 256, First connecting block; 257, Second connecting block; 260, First slider; 2710, First cable chain; 2713, First cable routing channel; 2711, Fixed end of the first cable chain; 2712, Moving end of the first cable chain; 2720, Second cable chain; 2723, Second cable routing channel; 2721, Fixed end of the second cable chain; 2722, Moving end of the second cable chain; 280, Moving component; 281. First guide rail; 282. Second guide rail; 283. Clearance groove; 284. Support part; 290. Second slider; 3000. Chest support assembly; 310. First support member; 311. First connecting part; 312. Second connecting part; 313. Third connecting part; 3130. Cable routing groove; 320. Second support member; 321. Fourth connecting part; 322. Fifth connecting part; 330. Control assembly; 4100. First housing assembly; 410. First receiving space; 420. Clearance opening; 411. First housing; 412. Second housing; 4200. Second housing assembly; 4201. Second receiving space; 4202. First opening; 5000. Rotation drive assembly; 510. Second drive assembly 511. First output end; 513. First shaft; L3. Third shaft; 520. Transmission structure; 521. First transmission part; 522. Second transmission part; 523. Synchronous belt; 530. Limiting structure; 531. First limiting member; 532. Second limiting member; 540. Rotary encoder assembly; 541. Support base; 542. Sensed element; 543. Sensing element; 6000. Camera device; 610. First bracket; 620. Camera assembly; L2. Second shaft; 621. First connecting shaft; 622. Bearing base; 6221. First surface; 623. Camera element; 630. Third drive assembly; 631. Drive part; 632. Driving pulley; L1. First shaft; 633. Driven pulley; 63 4. Transmission belt; 640. Support housing; 641. Hollowed-out area; 7000. Robotic arm; 8000. Body support assembly; 810. Support body; 811. Cavity; 820. Base; 830. Noise reduction assembly; 831. First noise reduction assembly; 832. Second noise reduction assembly; 840. Flexible assembly; 841. First segment; 842. First end of flexible assembly; 843. First arc-shaped connecting segment; 844. Second segment; 845. Second arc-shaped connecting segment; 846. Third segment; 847. Second end of flexible assembly; 850. Winding assembly; 851. First winding component; 8510. First contact end; 852. Second winding component; 8520. Second contact end; 9000. Robot; X, First direction;Y, second direction; Z, third direction; U, fourth direction; V, fifth direction; C1, first side; C2, second side; C3, third side; C4, fourth side; C5, fifth side; C6, sixth side. Detailed Implementation

[0066] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0067] With the automation upgrades in warehousing and logistics, industrial production line operation and maintenance, supermarket retail, and smart warehousing, the application scenarios of mobile robots continue to expand, and the market is placing increasingly higher demands on the operational coverage capabilities of robots. Especially in scenarios such as automated warehouses, multi-level rack storage, and multi-height workstation operations, robots need to be able to simultaneously cover the full-height operational needs of the bottom low-level storage area, the middle picking area, and the top high-level storage area, making the requirements for the working range of robotic arms increasingly stringent.

[0068] However, the robots in the relevant technologies are difficult to meet the market's requirements for the operational coverage of robots.

[0069] To address the aforementioned problems, this disclosure provides a robot.

[0070] The specific structure of the robot is described below with reference to the accompanying drawings and specific embodiments.

[0071] refer to Figure 1 The robot 9000 provided in this disclosure will be described below with reference to some embodiments. The robot 9000 includes a body support assembly 8000, a first drive assembly, a chest support assembly 3000, a camera device 6000, and a robotic arm 7000. The body support assembly is disposed on a chassis assembly 1000, the first drive assembly is disposed on the body support assembly, the chest support assembly 3000 is connected to the first drive assembly, and the robotic arm 7000 includes at least one component and is connected to the chest support assembly 3000. The first drive assembly drives the chest support assembly 3000 to move up and down. Driven by the chassis assembly 1000 and the first drive assembly, the robotic arm 7000 can move up and down and along the ground to perform operations.

[0072] For ease of description, referring to the first drive component 2000, this disclosure defines a first direction X, a second direction Y, and a third direction Z. The shape of the first drive component 2000 includes a cylindrical shape. The first direction X is the direction in which the first drive component 2000 extends. Any two of the first direction X, the second direction Y, and the third direction Z are perpendicular to each other. For example, the first direction X is a vertical direction, the second direction Y and the third direction Z are two mutually perpendicular horizontal directions, the second direction Y can be the front-back direction of the robot 9000, and the third direction Z can be the left-right direction of the robot 9000.

[0073] Meanwhile, with reference to the chassis assembly 1000, this disclosure defines a fourth direction U and a fifth direction V, both of which are perpendicular to the first direction X, and are also perpendicular to each other. For example, the fourth direction U and the fifth direction V are the length and width directions of the chassis assembly 1000, respectively. When the first drive assembly 2000 rotates relative to the chassis assembly 1000, either the second direction Y or the third direction Z may coincide with or not coincide with the fourth direction U or the fifth direction V.

[0074] The first drive assembly 2000 of this disclosure has a first side C1 and a second side C2 facing away from each other in the second direction Y, a second side C2 and a third side C3 facing away from each other in the third direction Z, and a fifth side C5 and a sixth side C6 facing away from each other in the first direction X. The fifth side C5 of the first drive assembly 2000 is the side closer to the chassis assembly 1000.

[0075] Exemplarily, the first drive assembly 2000 has a cylindrical shape extending along a first direction X, and the chest support assembly reciprocates along the first direction X under the drive of the first drive assembly 2000. At least one robotic arm 7000 and a camera device 6000 are both disposed on the chest support assembly, the working area of ​​the robotic arm 7000 includes a first side C1 of the first drive assembly 2000, and the camera device 6000 faces the first side C1 of the first drive assembly 2000.

[0076] In the examples disclosed herein, the working range of the robotic arm 7000 can be increased by increasing the working stroke of the first drive component 2000. Furthermore, by mounting both the camera device 6000 and the robotic arm 7000 on the chest support component, the camera device 6000 can move synchronously with the robotic arm 7000 along the first direction X, and the camera device 6000 faces the first side C1 of the first drive component 2000, which is the range included in the working area of ​​the robotic arm 7000. This ensures that the shooting range of the camera device 6000 is synchronized with the working area of ​​the robotic arm 7000, guaranteeing a large range of movement for the robotic arm 7000 while also improving the shooting effect of the camera device 6000. Additionally, in related technologies, where the camera device 6000 is fixed while the robotic arm 7000 moves vertically, the shooting point relative to the robotic arm 7000 constantly changes, making it more difficult to analyze the movements of the robotic arm 7000 in the image and placing higher demands on the algorithm. In contrast, in this embodiment, the camera device 6000 and the robotic arm 7000 move synchronously along the first direction X. At this time, the camera device 6000 has a fixed shooting position relative to the robotic arm 7000, making it easier to analyze the robotic arm 7000's movements from the captured images, thus effectively improving the efficiency of learning and analyzing the robotic arm 7000's movements. Simultaneously, the camera device 6000 and the robotic arm 7000 are independent of each other, allowing the distance between them to be set within a reasonable range to balance the shooting range and shooting accuracy.

[0077] In addition, the camera device 6000 can move synchronously with the robotic arm 7000 along the first direction X. Even if the robotic arm 7000 has a larger lifting range, the camera device 6000 can clearly and accurately capture the movements of the robotic arm 7000. This allows the travel range of the robotic arm 7000 to be set larger, thereby increasing the working range of the robot 9000 in the first direction X. Furthermore, since the camera device 6000 is not mounted on the robotic arm 7000 (e.g., mounted at the end of the robotic arm 7000), it does not increase the size and weight of the robotic arm 7000, does not affect the operation of the robotic arm 7000, allows the robotic arm 7000 to enter confined spaces, and makes the robot 9000 less prone to tipping over.

[0078] refer to Figure 3 and Figure 4The camera device 6000 includes a first bracket 610, a camera assembly 620, and a third drive assembly 630. The first bracket 610 is mounted on a chest support assembly 3000 (e.g., a first support member 310), and at least a portion of the structure of the first bracket 610 is located on a first side C1 of the first drive assembly 2000. The camera assembly 620 and the first bracket 610 are rotatably connected. The camera assembly 620 extends along a third direction Z, which is perpendicular to both a first direction X and a second direction Y. The camera assembly 620 is located on the first side C1 of the first drive assembly 2000 and on the side of the first bracket 610 furthest from the first drive assembly 2000. The third drive assembly 630 is mounted on the first bracket 610 and includes a drive section 631, a driving pulley 632, a driven pulley 633, and a transmission belt 634. The drive section 631 is located on the side of the first bracket 610 closest to the first drive assembly 2000, and the drive section 631 is located on the first side C1 of the first drive assembly 2000. The drive unit 631 is connected to the drive pulley 632 and can drive the drive pulley 632 to rotate around the first axis L1. The transmission belt 634 is sleeved on the outside of the drive pulley 632 and the driven pulley 633. The driven pulley 633 is connected to the camera assembly 620 and can drive the camera assembly 620 to rotate around the second axis L2. The second axis L2 is parallel to the first axis L1.

[0079] The camera assembly 620 of this embodiment employs a belt drive to rotate, resulting in a lighter and more compact structure with less lateral space requirements compared to traditional linkage or gear and chain transmission methods. The heavier drive unit 631 is positioned closer to the chest support assembly 3000 of the robot 9000, while the lighter camera assembly 620 is positioned further away. This layout optimizes the mass distribution of the entire device, ensuring a wide camera range while bringing the center of gravity of the camera assembly 6000 closer to the chest support assembly 3000 of the robot 9000. This helps reduce the risk of tipping over due to center of gravity shift during robot 9000 movement, improving dynamic stability. Furthermore, the belt drive enables backlash-free transmission, ensuring precise control of the camera assembly 620's rotation angle, which is beneficial for the robot 9000's accurate environmental perception and navigation.

[0080] For example, the first direction X can be perpendicular to the third direction Z, where the third direction Z can coincide with the second direction Y. However, it is not limited to this, and the first direction X can also be set at other angles to the third direction Z.

[0081] In some embodiments, reference Figure 4 and Figure 5The camera assembly 620 includes a first connecting shaft 621, a support 622, and a camera element 623. The first connecting shaft 621 and the driven pulley 633 are coaxially connected, and the axis of the first connecting shaft 621 and the second axis L2 are collinear. The support 622 and the first connecting shaft 621 are fixedly connected, and the first surface 6221 of the support 622 and the second axis L2 are coplanar. The camera element 623 is mounted on the side of the support 622 away from the first surface 6221.

[0082] In the above embodiment, the rotating surface (first surface 6221) of the support 622 is designed to be coplanar with the second axis L2, allowing the camera assembly 620 to rotate around itself, reducing the space swept by the rotation and resulting in an extremely compact structure. This facilitates integration in space-constrained areas such as the head or neck of the robot 9000, enabling large-angle pitch rotation without interference with surrounding structures.

[0083] Specifically, "coaxial connection" means that after the first connecting shaft 621 and the driven pulley 633 are connected, their axes are collinear, that is, the first connecting shaft 621 also rotates around the second axis L2. "Coplanar" here can be understood as the second axis L2 being located in the plane where the first surface 6221 of the bearing seat 622 is located, or in other words, the first surface 6221 is passed through by the second axis L2.

[0084] For example, refer to Figure 6 The first bracket 610 is covered by a bracket housing 640 to protect it. For example, the first bracket 610 is configured as a frame structure, and the bracket housing 640 covering the first bracket 610 has a hollow area 641 in the first direction X. This hollow area 641 can reduce the weight of the device while increasing the amount of light transmitted, thus improving the user experience. It should be noted that in the examples disclosed herein, the first bracket 610 refers to the overall bracket of the camera assembly 620, and the first bracket 610 can be specifically formed by connecting multiple support beams together.

[0085] In some embodiments, the robot 9000 further includes a chassis assembly 1000 and a rotary drive assembly 5000, the rotary drive assembly 5000 being disposed on the chassis assembly 1000, and the body support assembly 8000 being connected to the rotary drive assembly 5000. The chassis assembly 1000 is used to enable horizontal movement of the robot 9000, and the rotary drive assembly 5000 is used to drive the body support assembly 8000 to rotate relative to the chassis assembly 1000 in a first direction X, thereby causing the robotic arm 7000 to rotate in the first direction X to obtain a wider working range.

[0086] In some possible implementations, refer to Figure 2 and Figure 6The first drive assembly 2000, the rotary drive assembly 5000, and the chassis assembly 1000 are sequentially arranged along the first direction X, wherein the chassis assembly 1000 is located on the side of the rotary drive assembly 5000 away from the first drive assembly 2000. The rotary drive assembly 5000 is located on the fifth side C5 of the first drive assembly 2000 and is connected to the first drive assembly 2000. The rotary drive assembly 5000 is used to drive the first drive assembly 2000 to rotate around the third axis L3, wherein the third axis L3 is parallel to the first direction X. That is to say, after setting the rotary drive assembly 5000, when the robot 9000 needs to turn, it does not need to move the chassis assembly 1000. It only needs to drive the first drive assembly 2000 to rotate relative to the chassis assembly 1000 along the third axis L3 through the rotary drive assembly 5000, so that the robotic arm 7000 can rotate along the first direction X with the chest support assembly 3000 and the first drive assembly 2000 relative to the chassis assembly 1000 to turn. In this way, the robotic arm 7000 can turn around more easily, and can achieve a larger working range without moving the chassis component 1000. It can also reduce the movement frequency of the chassis component 1000, making it more suitable for working in narrow spaces.

[0087] Furthermore, positioning the rotary drive assembly 5000 on the fifth side C5 of the first drive assembly 2000, which is closer to the chassis assembly 1000, lowers the center of gravity of the robot 9000, reducing the risk of tipping over. Since the horizontal dimension of the rotary drive assembly 5000 is typically smaller than that of the first drive assembly 2000, positioning it on the fifth side C5 of the first drive assembly 2000 allows for a more slender shape in the robot 9000's body, enhancing its aesthetics.

[0088] Furthermore, by using the rotation drive component 5000 to rotate the chest support component 3000 instead of the chassis component 1000, the problem of repeated positioning caused by the rotation of the chassis component 1000 can be avoided, and higher rotational accuracy and faster rotational speed can be achieved.

[0089] For example, refer to Figures 7 to 9The rotary drive assembly 5000 includes a second drive assembly 510, a first shaft 513, a transmission structure 520, and a limiting structure 530. Both the second drive assembly 510 and the first shaft 513 are mounted on the chassis assembly 1000. The first shaft 513 is rotatably connected to the chassis assembly 1000 about a third axis L3. The second drive assembly 510 is connected to the first shaft 513 via the transmission structure 520. The limiting structure 530 limits the maximum forward and reverse rotation angles of the first shaft 513. The second drive assembly 510 has a first output end 511, which outputs rotational power. The axis of the first output end 511 is parallel to the third axis L3 of the first shaft 513. The first shaft 513 is the output end of the rotary drive assembly 5000.

[0090] For example, the second drive assembly 510 is a combination of a motor and a reducer. For example, the reducer is a planetary reducer. For example, the second drive assembly 510 is a joint motor that integrates a motor, a reducer, a sensor, and a drive circuit, and the reducer integrated therein can be a harmonic reducer.

[0091] refer to Figure 7 and Figure 9 The transmission structure 520 is used to drive the connection between the first output end 511 and the first shaft 513. The transmission structure 520 includes a first transmission part 521 and a second transmission part 522. The first transmission part 521 is mounted on the first output end 511 and rotates with it, with its axis coinciding with the axis of the first output end 511. The second transmission part 522 is mounted on the first shaft 513 and rotates with it, with its axis coinciding with the axis of the second transmission part 522. The transmission ratio between the first transmission part 521 and the second transmission part 522 is greater than 1, meaning that after the first transmission part 521 rotates 360°, the second transmission part 522 rotates by an angle greater than 360°.

[0092] For example, the first transmission unit 521 and the second transmission unit 522 are driven by a synchronous belt 523. Of course, in other possible examples, the first transmission unit 521 and the second transmission unit 522 can also employ gear drive, chain drive, and belt drive. Compared to chain drive and gear drive, when the first transmission unit 521 and the second transmission unit 522 are driven by the synchronous belt 523, the first transmission unit 521 can seamlessly switch between forward and reverse rotation without any jerking. Compared to belt drive, the synchronous belt 523 reduces the possibility of slippage.

[0093] refer to Figure 9The limiting structure 530 includes a first limiting member 531 and a second limiting member 532. The first limiting member 531 is mounted on the chassis assembly 1000, and the second limiting member 532 is mounted on the first transmission part 521. During the forward or reverse rotation of the second drive assembly 510, the second limiting member 532 and the first transmission part 521 rotate with the first output end 511. The second limiting member 532 can contact the first limiting member 531 to limit the maximum forward and maximum reverse rotation angle of the first transmission part 521. It should be noted that the second limiting member 532 can be directly mounted on the first transmission part 521, or it can be indirectly mounted on the first transmission part 521 through other structures, as long as the second limiting member 532 can rotate with the first transmission part 521.

[0094] The rotary drive assembly 5000 provided in this disclosure has a second limiting member 532 installed on the first transmission part 521 and the transmission ratio of the first transmission part 521 and the second transmission part 522 is greater than 360°. During the rotation of the first transmission part 521 with the first output end 511, even if the second limiting member 532 is blocked by the first limiting member 531 installed on the chassis assembly 1000, causing the rotation angle of the first transmission part 521 to be less than 360°, the rotation angle of the second transmission part 52242 can be greater than or equal to 360°.

[0095] For example, the maximum forward rotation angle of the second transmission unit 522 is greater than or equal to 180°, and the maximum reverse rotation angle of the second transmission unit 522 is greater than or equal to 180°, so that the sum of the maximum forward rotation angle and the maximum reverse rotation angle of the second transmission unit 522 is greater than or equal to 360°. It should be noted that by controlling the transmission ratio of the first transmission unit 521 and the second transmission unit 522, the maximum forward rotation angle and the maximum reverse rotation angle of the second transmission unit 522 can be any angle greater than or equal to 180°.

[0096] For example, after zeroing the first transmission unit 521, when the maximum forward rotation angle of the first transmission unit 521 is 160°, the second limiting member 532 contacts the first limiting member 531; when the maximum reverse rotation angle of the first transmission unit 521 is 160°, the second limiting member 532 contacts the first limiting member 531. The sum of the rotation angles of the first transmission unit 521 is 320°. For example, the transmission ratio of the first transmission unit 521 and the second transmission unit 522 is 1.1875. When the first transmission unit 521 rotates 160° forward, the second transmission unit 522 rotates 190° forward; when the first transmission unit 521 rotates 160° in the reverse direction, the second transmission unit 522 rotates 190° in the reverse direction. The sum of the rotation angles of the second transmission unit 522 is 380°, enabling 360° rotation in both directions.

[0097] It should be noted that, theoretically, the sum of the forward and reverse rotation angles of the second transmission unit 522 should equal 360°. However, in actual design, redundancy needs to be considered to improve reliability and effectively prevent damage to the rotary drive assembly 5000 due to measurement errors in the rotation angle. For example, if the zero position of the first transmission unit 521 deviates—that is, the zero position of the first transmission unit 521 in the measurement system deviates from the actual zero position—and the first transmission unit 521 rotates to its limit position in either the forward or reverse direction (i.e., the second limit member 532 contacts the first limit member 531) but the measured angle has not yet reached its maximum angle, the second drive assembly 510 may be damaged due to overload if it continues to deliver power. Having redundancy in the forward and reverse rotation angles of the second transmission unit 522 can effectively reduce the likelihood of the above situation occurring.

[0098] Of course, if the second transmission unit 522 has a redundancy in the forward and reverse rotation angles, the forward and reverse rotation angles realized by the second transmission unit 522 in the control phase can also be 180° or greater than 180°.

[0099] In some implementations, reference Figure 10 The robot 9000 also includes a rotary encoder assembly 540, which is used to detect the rotation angle of the first shaft 513. A wiring hole is provided inside the first shaft 513 along its axial direction. The rotary encoder assembly 540 includes a support base 541, a sensed element 542, and a sensor 543. The sensed element 542 is an annular structure, rotatably disposed within the support base 541, sleeved on the outside of the first shaft 513, and capable of connecting to the first shaft 513, rotating synchronously with the first shaft 513 under its drive. The sensor 543 is connected to the support base 541, and is spaced apart from the sensed element 542 and the first shaft 513. The sensor 543 is configured to cooperate with the sensed element 542 to detect the rotation angle of the first shaft 513.

[0100] The rotary encoder assembly 540 of this embodiment is used to detect the rotation angle of a first shaft 513. The first shaft 513 has wiring holes along its axial direction, facilitating wiring and utilizing the space within the first shaft 513 for wiring, eliminating the need for additional wiring space and reducing the overall size of the robot 9000. Furthermore, the sensed element 542 is sleeved on the outside of the first shaft 513. The sensed element 542 does not occupy the axial space of the first shaft 513, resulting in a compact structure and further reducing the dimensions of the robot 9000 along the axial direction of the first shaft 513. The sensed element 542 and the sensed element 543 together form a rotary encoder, which is directly connected to the first shaft 513, eliminating the need for an additional transmission structure 520, simplifying the structure, and improving detection accuracy.

[0101] Specifically, the sensed element 542 has a through hole inside, and the sensed element 542 is sleeved on the outside of the first shaft 513 through the through hole. Specifically, the diameter of the through hole is greater than or equal to the diameter of the first shaft 513, so that the sensed element 542 can be sleeved on the outside of the first shaft 513. For example, the sensed element 542 can be a circular structure or a non-circular structure. Wherein, when the sensed element 542 is a non-circular structure, it is sufficient to ensure that its internal through hole is a circular hole. For example, the sensed element 542 is a square ring structure, and the inside of the square ring structure has a circular hole that mates with the first shaft 513.

[0102] like Figure 10 As shown, in some embodiments, the sensing element 543 is an annular structure, the sensing element 543 can be sleeved on the outside of the first shaft 513, and there is a gap between the side of the sensing element 543 near the first shaft 513 and the first shaft 513.

[0103] The annular structure design of the sensor 543 allows it to be fitted onto the outside of the first axis 513. This design ensures that the sensor 543 does not occupy the axial space of the first axis 513, further improving structural compactness and facilitating a reduction in the dimensions of the robot 9000 along the axial direction of the first axis 513. The side of the sensor 543 closest to the first axis 513 is spaced from the first axis 513, preventing interference with the rotation of the first axis 513 and avoiding contact with the first axis 513 to prevent friction and structural wear.

[0104] refer to Figure 10 and Figure 11 The chassis assembly 1000 has a mounting groove 1401, and the side wall of the mounting groove 1401 is provided with a wiring hole 1402 communicating with the outside. A first shaft 513 is rotatably mounted on the chassis assembly 1000. One end of the first shaft 513 extends into the mounting groove 1401, and there is a wiring interval between the first shaft 513 and the bottom of the mounting groove 1401. Along the axial direction of the first shaft 513, there is a wiring hole inside the first shaft 513, and the wiring hole communicates with the wiring hole 1402 through the wiring interval. A rotary encoder assembly 540 is connected to the chassis assembly 1000, and the support base 541 of the rotary encoder assembly 540 is located in the mounting groove 1401.

[0105] In one possible example, refer to Figures 12 to 14The chassis assembly 1000 includes a chassis body 110, a drive wheel assembly 120, and a first driven wheel assembly 1301. Both the drive wheel assembly 120 and the first driven wheel assembly 1301 are rotatably connected to the chassis body 110. The drive wheel assembly 120 includes at least three components, and the first driven wheel assembly 1301 includes at least one component. The grounding portion of the at least three drive wheel assemblies 120 is connected to form a first convex polygon P1, and the grounding portion of at least one first driven wheel assembly 1301 is located outside the first convex polygon P1. This configuration increases the support area of ​​the chassis assembly 1000 of the robot 9000, effectively improving the robot 9000's anti-tipping ability and enhancing its stability under asymmetrical loads or during dynamic operations.

[0106] Furthermore, compared to the first driven wheel assembly 1301, the drive wheel assembly 120 has a more complex structure, larger volume, and higher cost. Therefore, compared to simply increasing the number of drive wheel assemblies 120 to increase the support area of ​​the chassis assembly 1000, for example, the chassis assembly 1000 uses four drive wheel assemblies 120, and the connection of the grounding parts of the four drive wheel assemblies 120 is a convex quadrilateral, this disclosure can reduce the size of the chassis assembly 1000 and reduce the manufacturing cost of the chassis assembly 1000 while increasing the support area of ​​the chassis assembly 1000.

[0107] The grounding portion of the drive wheel assembly 120 refers to the part of the drive wheel assembly 120 that contacts the working surface when the robot 9000 is placed on it. The grounding portion of the first driven wheel assembly 1301 refers to the part of the first driven wheel assembly 1301 that contacts the working surface when the robot 9000 is placed on it. The working surface can be the ground, a table, etc., and the grounding portion can be a point, a line, or a surface. When the grounding portion of the drive wheel assembly 120 is a line or a surface, the line connecting the grounding portions of at least three drive wheel assemblies 120 can be understood as the line connecting the centers of the grounding portions of at least three drive wheel assemblies 120. When the grounding portion of the first driven wheel assembly 1301 is a line or a surface, "the grounding portion of the first driven wheel assembly 1301 is located outside the first convex polygon P1" means that the center of the grounding portion of the first driven wheel assembly 1301 is located outside the first convex polygon P1.

[0108] It should be noted that when the robot 9000 is performing its tasks, it will not only move along the fourth direction U, but also along the fifth direction V, as well as the directions that intersect with the fourth direction U and the fifth direction V.

[0109] For example, such as Figure 14As shown, in related technologies, when only three drive wheel assemblies 120 are provided, the connection of the grounding parts of the three drive wheel assemblies 120 is a first convex polygon P1. When the center of gravity of the robot 9000 falls within the first convex polygon P1, the robot 9000 will not tip over. However, when the robotic arm 7000 of the robot 9000 extends too far, or when the robotic arm 7000 of the robot 9000 holds a heavy object, and the center of gravity of the robot 9000 shifts and falls outside the first convex polygon P1, tipping will occur. In this embodiment, by setting the grounding part of the first driven wheel assembly 1301 to be located outside the first convex polygon P1, even when the robot 9000 is under asymmetrical load or dynamic operation, and the center of gravity of the robot 9000 shifts and falls outside the first convex polygon P1 and within the second convex polygon P2, the robot 9000 can remain stable and will not tip over. This effectively improves the anti-tipping ability of the robot 9000 and enhances the overall stability during asymmetrical load or dynamic operation. Wherein, the second convex polygon P2 refers to the convex polygon formed by the connection between the grounding portion of part or all of the first driven wheel assembly 1301 and the grounding portion of part or all of the drive wheel assembly 120. When part of the first driven wheel assembly 1301 or part of the drive wheel assembly 120 is located inside the second convex polygon P2, the first driven wheel assembly 1301 or the drive wheel assembly 120 is ignored.

[0110] Or, as Figure 14 As shown, in related technologies, when only three drive wheel assemblies 120 are provided, the line connecting the grounding portions of the three drive wheel assemblies 120 forms a first convex polygon P1, and the support area of ​​the robot 9000 is the area of ​​the first convex polygon P1. In this embodiment, by setting the grounding portion of the first driven wheel assembly 1301 to be located outside the first convex polygon P1, the support area of ​​the robot 9000 is made to be the area of ​​the second convex polygon P2, effectively increasing the support area of ​​the robot 9000, thereby effectively improving the anti-tipping ability of the robot 9000. In this embodiment, the support area of ​​the robot 9000 refers to the area of ​​the convex polygon formed by connecting the grounding portions of some or all of the first driven wheel assemblies 1301 and the grounding portions of some or all of the drive wheel assemblies 120. When some of the first driven wheel assemblies 1301 or some of the drive wheel assemblies 120 are located inside the second convex polygon P2, the first driven wheel assembly 1301 or the drive wheel assembly 120 is ignored.

[0111] In some embodiments, reference Figure 14At least two drive wheel assemblies 120 are first drive wheel assemblies 121, and at least one drive wheel assembly 120 is a second drive wheel assembly 122. At least two first drive wheel assemblies 121 are arranged at intervals along the fourth direction U. The second drive wheel assembly 122 and the first driven wheel assembly 1301 are disposed on the same side of the first drive wheel assembly 121 in the fifth direction V.

[0112] By arranging at least two first drive wheel assemblies 121 at intervals along the fourth direction U, and setting the second drive wheel assembly 122 and the first driven wheel assembly 1301 on the same side of the first drive wheel assembly 121 in the fifth direction V, the distance between the drive wheel assembly 120 and the first driven wheel assembly 1301 is relatively large. This allows for a greater support area of ​​the chassis assembly 1000 of the robot 9000 while maintaining a fixed number of drive wheel assemblies 120 and first driven wheel assemblies 1301, thereby enhancing the stability of the robot 9000. Furthermore, the aforementioned compact layout of the drive wheel assembly 120 and the first driven wheel assembly 1301 facilitates a further reduction in the size of the chassis assembly 1000.

[0113] In some embodiments, the number of drive wheel assemblies 120 is three, the first convex polygon P1 is an isosceles triangle, and the two first drive wheel assemblies 121 are symmetrically arranged along the fifth direction V; the number of first driven wheel assemblies 1301 is two, and the two first driven wheel assemblies 1301 are symmetrically arranged on both sides of the second drive wheel assembly 122 along the fifth direction V.

[0114] Understandably, when the robot 9000 is performing its tasks, it will not only move along the fourth direction U, but also along the fifth direction V, and the directions intersecting with both the fourth and fifth directions V. The drive wheel assembly 120 is arranged in an isosceles triangle P0, ensuring that the robot 9000 has drive wheel assemblies 120 on both sides of its forward direction regardless of which direction it moves. This effectively prevents the robot 9000 from tilting during movement and improves its reliability. Furthermore, the two first drive wheel assemblies 121 are symmetrically arranged on both sides of the second drive wheel assembly 122, ensuring the chassis assembly 1000 is supported and balanced in the fourth direction U. For example, when the robot 9000 is subjected to lateral forces or uneven loads in the fourth direction U, the two symmetrical first driven wheel assemblies 1301 can provide effective support, preventing the chassis assembly 1000 from tilting or overturning.

[0115] In some embodiments, such as Figure 12 and Figure 15As shown, the first driven wheel assembly 1301 includes a floating wheel assembly 1300. The floating wheel assembly 1300 includes a floating wheel body 131, a floating wheel mounting base 132, and a shock-absorbing assembly 133. The floating wheel mounting base 132 is connected to the chassis body 110, and the floating wheel body 131 is movably connected to the chassis body 110 along the first direction X. The shock-absorbing assembly 133 is disposed between the floating wheel body 131 and the floating wheel mounting base 132. When the floating wheel body 131 is subjected to an upward force from the working surface during operation, the shock-absorbing assembly 133 buffers and absorbs the force by undergoing elastic deformation. On the one hand, this can prevent the chassis body 110 and the components mounted on the chassis body 110 from being damaged by large impact forces; on the other hand, it can reduce the shaking and bumping of the robot 9000 when it passes over uneven working surfaces, further improving the stability of the robot 9000.

[0116] In some embodiments, such as Figure 15 As shown, the damping assembly 133 includes a first elastic element 1331 and a second elastic element 1332. The first elastic element 1331 is capable of elastic deformation along a first direction X, and the second elastic element 1332 is capable of elastic deformation along the first direction X. The second elastic element 1332 is disposed on one side of the first elastic element 1331 in the first direction X.

[0117] Figure 16 The diagram shows the relationship between the force and deformation of the first elastic member 1331 and the second elastic member 1332 provided in an embodiment of this disclosure.

[0118] In some embodiments, such as Figure 16As shown, the first elastic element 1331 has a first preset stiffness, and the second elastic element 1332 has a second preset stiffness, with the first preset stiffness being greater than the second preset stiffness. The first and second preset stiffnesses are physical parameters describing the deformation resistance of these two elastic elements. The greater the stiffness, the greater the force required to produce a unit deformation. Therefore, segment ab in the figure represents the relationship between the force and deformation of the second elastic element 1332, and segment bc represents the relationship between the force and deformation of the first elastic element 1331. When the first driven wheel assembly 1301 is subjected to a small external force (the force corresponding to segment ab), such as when the working surface undulation is small, or when the distance between the center of gravity of the robot 9000 and its initial center of gravity is small, only the second elastic element 1332 deforms, which can buffer or absorb the force, ensuring the stability of the chassis assembly 1000. Because the elastic deformation of the second elastic element 1332 is small, the distance that the floating wheel body 131 moves upward is small, thus avoiding significant shaking of the chassis body 110 due to the slight up-and-down movement of the floating wheel body 131; when the first driven wheel assembly 1301 is subjected to a large external force (the force corresponding to segment bc), such as when the working surface is uneven, or when the robotic arm 7000 of the robot 9000 extends too far, the distance between the center of gravity of the robot 9000 and the center of gravity in the initial state is large, and a large load is transferred to the first driven wheel assembly 1301, the deformation of the second elastic element 1332 reaches its limit. At this time, the first elastic element 1331 begins to participate in the deformation, using its greater stiffness to resist greater impact force, ensuring that the floating wheel body 131 will not be over-compressed and damaged, and further absorbing and buffering external force, so that the chassis assembly 1000 can still remain stable when facing a large impact.

[0119] Understandably, the initial state of robot 9000 is that robot 9000 is located on a horizontal plane and its upper arm is in a natural hanging state. The first preset stiffness is the stiffness of the first elastic element 1331 when robot 9000 is in the initial state, and the second preset stiffness is the stiffness of the second elastic element 1332 when robot 9000 is in the initial state.

[0120] In this embodiment, by setting the first elastic element 1331 and the second elastic element 1332, graded buffering can be achieved according to the magnitude of the external force, taking into account both the resistance to small vibrations and the resistance to large impacts, preventing the first driven wheel assembly 1301 from rising or falling too much along the first direction X, effectively improving the shock absorption effect of the shock absorption assembly 133, and improving the stability of the chassis assembly 1000.

[0121] For example, the first elastic element 1331 is a compression spring, and the second elastic element 1332 is an elastic pad. The compression spring has high stiffness and good elastic recovery ability, and can withstand large pressure and provide strong buffering force; the elastic pad (such as rubber pad, silicone pad, etc.) has good flexibility and damping characteristics, and can effectively absorb and attenuate small vibrations and impacts.

[0122] For example, at least one of the first elastic element 1331 and the second elastic element 1332 has a certain pre-compression amount, so that the floating wheel body 131 exerts a certain pre-pressure on the working surface. The magnitude of this pre-compression amount can be determined according to the stiffness of the first elastic element 1331 and the second elastic element 1332, as well as the design requirements of the pre-pressure. This embodiment does not specifically limit this.

[0123] In some embodiments, such as Figure 15 As shown, the damping assembly 133 also includes a guide post 1333, which is located along the first direction X and connected to the floating wheel body 131. The first elastic element 1331 and the second elastic element 1332 are both sleeved on the guide post 1333. The guide post 1333 provides guidance for the deformation of the first elastic element 1331 and the second elastic element 1332, ensuring that they can stably extend and retract along the first direction X, avoiding lateral displacement or torsion during stress, thereby ensuring the working stability and reliability of the damping assembly 133.

[0124] In some embodiments, such as Figure 15 As shown, the first driven wheel assembly 1301 also includes a guide rod 135 and a guide assembly 136. The floating wheel body 131 is connected to the guide rod 135. The guide assembly 136 is connected to the chassis body 110, and the guide rod 135 is movably engaged with the guide assembly 136 along a first direction X.

[0125] For example, the floating wheel body 131 includes a driven wheel 1311 and a connecting rod 1312 connected to the driven wheel 1311, with the driven wheel 1311 in contact with the working surface. The driven wheel 1311 and the connecting rod 1312 can be connected by a ball bearing, allowing the driven wheel 1311 to rotate relative to the connecting rod 1312.

[0126] For example, the connecting rod 1312 of the floating wheel body 131 is threadedly connected to the guide rod 135. The cooperation between the guide rod 135 and the guide assembly 136 further enhances the guiding accuracy and stability of the floating wheel body 131 in the height direction, prevents the floating wheel body 131 from shaking or deviating during movement, and ensures that the first driven wheel assembly 1301 can work smoothly and stably.

[0127] In some embodiments, such as Figure 15As shown, the guide assembly 136 includes a guide bushing 1361 and a linear bearing 1362. A guide rod 135 passes through the guide bushing 1361 and is guided and engaged with the guide bushing 1361 along a first direction X. The linear bearing 1362 is disposed on one side of the guide bushing 1361 in the first direction X, and the guide rod 135 passes through the linear bearing 1362 and is guided and engaged with the linear bearing 1362 along the first direction X. The guide bushing 1361 is typically made of a wear-resistant material to reduce friction and wear during the movement of the guide rod 135. The linear bearing 1362 has higher guiding accuracy and a lower coefficient of friction, enabling smoother and more fluid movement of the guide rod 135. The guide bushing 1361 and the linear bearing 1362 work together to significantly improve the guiding performance and service life of the guide assembly 136.

[0128] In this configuration, a sliding pair 137 is formed between the guide rod 135 and the guide bushing 1361, and between the guide rod 135 and the linear bearing 1362.

[0129] For example, refer to Figure 17 The drive wheel assembly 120 includes a steering drive 1201 and a drive wheel 1202. The steering drive 1201 drives the drive wheel 1202 to rotate about an axis parallel to the first direction X. By driving the drive wheel 1202 to steer through the steering drive 1201, the robot 9000 can achieve active steering control, improving its mobility and maneuverability, and enabling it to travel more precisely along a preset path or complete specific actions.

[0130] refer to Figure 18 The chest support assembly 3000 includes a first support member 310 and a second support member 320, the second support member 320 being connected to the first support member 310. At least a portion of the structure of the first support member 310 is located on a first side C1 of the first drive assembly 2000, and at least a portion of the structure of the second support member 320 is located on a second side C2 of the first drive assembly 2000. The first support member 310 and / or the second support member 320 are connected to components of the first drive assembly 2000 that output lifting motion. At least one robotic arm 7000 is connected to the first support member 310 and / or the second support member 320, wherein the connection position of the robotic arm 7000 with the first support member 310 and / or the second support member 320 is located on the first side C1 of the first drive assembly 2000.

[0131] In the first aspect, the second support member 320 and the first support member 310 can form a double-sided layout in the second direction Y to balance the cantilever overturning moment generated when the robotic arm 7000 is working, offset at least part of the forward shift of the center of gravity caused by the robotic arm 7000 and the manipulated object, reduce the risk of the robot 9000 overturning onto the first side C1 of the first drive assembly 2000, and allow the chassis assembly 1000 to be set to a smaller size so that the robot 9000 can enter narrow spaces to work. It should be noted that the shape of the first drive assembly 2000 includes a cylindrical shape, and the size of the first drive assembly 2000 in the second direction Y is small, so the impact of adding the second support member 320 on the size of the robot 9000 in the second direction Y is small.

[0132] Secondly, by setting the chest support assembly 3000 as a first support member 310 and a second support member 320 opposite each other along the second direction Y, the installation space of the chest support assembly 3000 can be expanded, and more sensors, electrical modules and other components can be set on the chest support assembly 3000, thereby adapting to the development needs of the robot 9000 and improving the integration of the robot 9000.

[0133] Thirdly, the components installed on the second support 320 can move synchronously with the chest support assembly 3000 and the robotic arm 7000, which helps to shorten the connection distance between these components and the robotic arm 7000, simplify the connection structure, and the wiring harness between these components and the robotic arm 7000 does not need to be protected by structures such as drag chains, which helps to reduce the difficulty of wiring.

[0134] The first support member 310 and the second support member 320 can be directly connected or indirectly connected through components that output lifting and lowering motion from the first drive assembly 2000. For example, the first support member 310 and the second support member 320 can be integrally formed to form at least a portion of the structure of the chest support assembly 3000. For example, either the first support member 310 or the second support member 320 can be formed by connecting multiple components. For example, the first support member 310 and the second support member 320 can be enclosed to form a first annular structure to give the chest support assembly 3000 better structural strength, and the first annular structure is arranged around the first drive assembly 2000.

[0135] For example, refer to Figure 18The robot 9000 also includes a control component 330, which is disposed on the second support member 320, located on the side of the second support member 320 opposite to the first drive component 2000, and can be electrically connected to at least one robotic arm 7000. The robotic arm 7000 and the chest support component 3000 typically have numerous drive components (such as the motor module included in the robotic arm 7000) and sensors (such as vision, tactile, and displacement sensors), which are controlled by the control component 330. By placing the control component 330 on the second support member 320, the control component 330 can remain stationary relative to the chest support component 3000 and the robotic arm 7000. The drive components and sensors on the robotic arm 7000 and the chest support component 3000 can be directly electrically connected to the control component 330 (e.g., via wires), reducing wiring difficulty and distance, thereby reducing control latency and improving the robot 9000's rapid response capability. Meanwhile, compared to the design of placing the control component 330 on the body support component, the wiring harness connecting the control component 330 to the drive components and sensors mounted on the robotic arm 7000 and chest support component 3000 does not require protection via cable chains, which helps reduce wiring difficulty, shorten wiring paths, and extend the lifespan of the wiring harness. Furthermore, the control component 330 also has a certain weight; placing it on the second support component 320 further increases the counterweight on the second side C2 of the first drive component 2000, further reducing the risk of the robot 9000 tipping over onto the first side C1 of the first drive component 2000.

[0136] refer to Figure 1 and Figure 18 In some examples, the robot 9000 also includes a first housing assembly 4100 having a first receiving space 410 and at least one clearance opening 420. The first receiving space 410 accommodates at least a portion of the structure of the first drive assembly 2000, and the clearance opening 420 connects the first receiving space 410 to the outside. The clearance opening 420 is elongated in shape extending along a first direction X. The chest support assembly 3000 extends into the first receiving space 410 through the clearance opening 420 and connects to the first drive assembly 2000.

[0137] It should be noted that the purpose of providing the clearance opening 420 on the first housing assembly 4100 is to allow the chest support assembly 3000 to enter the first receiving space 410 through the clearance opening 420, thereby connecting the part of the chest support assembly 3000 located in the first receiving space 410 with the first drive assembly 2000.

[0138] For example, at least one clearance opening 420 is located on the third side C3 of the first drive assembly 2000 and / or at least one clearance opening 420 is located on the fourth side C4 of the first drive assembly 2000. For example, the number of clearance openings 420 is at least two, with one clearance opening 420 located on the third side C3 of the first drive assembly 2000 and the other clearance opening 420 located on the fourth side C4 of the first drive assembly 2000. Specifically, the third side C3 and the fourth side C4 of the first drive component 2000 can be the left and right sides of the robot 9000, rather than the front and back. Their positions are relatively concealed and not easily observed by the user, which can reduce the impact of the clearance opening 420 on the aesthetic appearance of the second shell component 4200. At the same time, the possibility of dust, water droplets, etc. entering from the left and right sides is lower than that from the front and back, which is beneficial to protecting the components in the first accommodating space 410 from contamination. Finally, after the chest support component 3000 is inserted from the clearance opening 420 in the third direction Z, the space it occupies is mainly in the third direction Z (i.e., the left and right direction), which can reduce the size of the chest support component 3000 in the second direction Y (i.e., the front and back direction), which is more in line with the design aesthetics of the robot 9000.

[0139] In some examples, reference Figure 18 The chest support assembly 3000 includes a first support member 310. The first support member 310 includes a first connecting portion 311 and a second connecting portion 312 that are spaced apart and connected along a second direction Y. The first connecting portion 311 is located in the first receiving space 410 and on the first side C1 of the first drive assembly 2000. The first connecting portion 311 is located on the side of the second connecting portion 312 close to the first drive assembly 2000. The first connecting portion 311 is connected to the first drive assembly 2000, and the second connecting portion 312 is connected to at least one robotic arm 7000. The first housing assembly 4100 includes a first housing 411. The first housing 411 is located between the first connecting portion 311 and the second connecting portion 312, and is spaced apart from both the first connecting portion 311 and the second connecting portion 312 along the second direction Y. In the above, by setting the first connecting portion 311 and the second connecting portion 312 spaced along the second direction Y, the first housing 411 can be placed between the first connecting portion 311 and the second connecting portion 312, so as to simultaneously cover the first side C1 of the first drive assembly 2000 and the first connecting portion 311 connected to the first drive assembly 2000, which is beneficial to improving the aesthetics of the front of the robot 9000.

[0140] In some examples, reference Figure 18The number of clearance openings 420 is at least two. One clearance opening 420 is located on the third side C3 of the third drive assembly 630, and the other clearance opening 420 is located on the fourth side C4 of the first drive assembly 2000. The first support member 310 also includes two third connecting parts 313. The two third connecting parts 313 are arranged opposite to each other along the third direction Z. The two ends of the first connecting part 311 along the third direction Z are respectively connected to the second connecting part 312 through the third connecting part 313. The third connecting part 313 extends into the first receiving space 410 through the clearance opening 420 and connects to the second connecting part 312. The first connecting part 311, the second connecting part 312 and the two third connecting parts 313 form a first annular structure to ensure that the chest support assembly 3000 has higher stability, thereby improving the support effect on components such as the robotic arm 7000.

[0141] In some embodiments, reference Figure 18 The second support member 320 includes a connected fourth connecting portion 321 and at least one fifth connecting portion 322. The fourth connecting portion 321 is located on the second side C2 of the first drive assembly 2000, and is spaced apart from the first drive assembly 2000 along the second direction Y. The fifth connecting portion 322 connects the fourth connecting portion 321 and the first support member 310. The first housing assembly 4100 also includes a second housing 412, which is disposed in the body support assembly 8000, located between the fourth connecting portion 321 and the first drive assembly 2000, and is spaced apart from both the fourth connecting portion 321 and the first drive assembly 2000 along the second direction Y. A first receiving space 410 and a clearance opening 420 are formed between the first housing 411 and the second housing 412.

[0142] The fourth connecting portion 321 and at least one fifth connecting portion 322 are further provided, such that the fourth connecting portion 321 and the first drive assembly 2000 are spaced apart along the second direction Y. This facilitates the placement of the second housing 412 between the fourth connecting portion 321 and the first drive assembly 2000, thereby shielding the second side C2 of the first drive assembly 2000 and reducing the exposure of the first drive assembly 2000. The first housing 411 and the second housing 412 form a first receiving space 410 and a clearance opening 420, improving the overall integrity and aesthetics of the body assembly.

[0143] For example, there are two fifth connecting portions 322, located on the third side C3 and the fourth side C4 of the first drive assembly 2000 along the third direction ZX, respectively, to connect the side of the fourth connecting portion 321 near the third side C3 and the side of the first support member 310 near the third side C3, and to connect the side of the fourth connecting portion 321 near the fourth side C4 and the side of the first support member 310 near the fourth side C4, thereby enhancing the connection stability between the fourth connecting portion 321 and the first support member 310.

[0144] Specifically, the fifth connecting portion 322 is connected to the third connecting portion 313. The fourth connecting portion 321 and the first connecting portion 311 are spaced apart along the second direction Y. The second housing 412 is located between the fourth connecting portion 321 and the first connecting portion 311, and is also spaced apart from both the fourth connecting portion 321 and the first connecting portion 311 along the second direction Y. For example, the control component 330 is disposed on the fourth connecting portion 321 to achieve a fixed connection; for example, the control component 330 is either fixedly connected or detachably connected to the fourth connecting portion 321.

[0145] In some possible implementations, refer to Figure 19 and Figure 20 The robot 9000 also includes at least one set of winding components 850 and at least one set of flexible components 840. The at least one set of winding components 850 is configured one-to-one with at least one clearance opening 420, and the at least one set of flexible components 840 is configured one-to-one with at least one set of winding components 850. The at least one set of winding components 850 is located in the first receiving space 410, and at least a portion of the at least one set of flexible components 840 is also located in the first receiving space 410.

[0146] In some examples, reference Figure 21 and Figure 22The winding assembly 850 includes a first winding member 851 and a second winding member 852, which are fixedly or rotatably connected to the body support assembly 8000. The first winding member 851 and the second winding member 852 are located on opposite sides of the clearance opening 420 in the first direction X. A flexible assembly 840 is wound around the first winding member 851 and the second winding member 852. The flexible assembly 840 can be, for example, a flexible floor belt, a timing belt 523, or a special fabric belt, wound around the first winding member 851 and the second winding member 852 along a specific path. Along its length, the flexible component 840 has a first end 842 and a second end 847. The first end 842, after passing around the first winding member 851, connects to the chest support component 3000, such that a portion of the flexible component 840 covers the clearance opening 420 between the chest support component 3000 and the first winding member 851. Similarly, the second end 847, after passing around the second winding member 852, connects to the chest support component 3000, such that another portion of the flexible component 840 covers the clearance opening 420 between the chest support component 3000 and the second winding member 852. When the chest support component 3000 moves relative to the body support component 8000 along the first direction X, it pulls on the flexible component 840, causing the flexible component 840 to move relative to the first winding member 851 and the second winding member 852, respectively. This movement process dynamically changes the length of the clearance opening 420 between the chest support component 3000 and the first winding component 851, which is covered by the flexible component 840. At the same time, it also dynamically changes the length of the clearance opening 420 between the chest support component 3000 and the second winding component 852, which is covered by the flexible component 840, thereby achieving continuous coverage of the clearance opening 420 throughout the entire movement.

[0147] For example, refer to Figures 23 to 25 The first end 842 of the flexible component is connected to one end of the fifth connecting portion 322 along the first direction X, and the second end 842 of the flexible component is connected to the other end of the fifth connecting portion 322 along the first direction X.

[0148] like Figure 21 and Figure 22As shown, along the first direction X, the first winding member 851 has a first contact end 8510 on the side away from the second winding member 852. The flexible component 840 passes through the first contact end 8510 and connects to the first end of the chest support component 3000, that is, the flexible component 840 changes direction after passing through the first contact end 8510. The first contact end 8510 is located on the side of the first end of the clearance opening 420 away from the second winding member 852 (that is, the first contact end 8510 is located above the first end of the clearance opening 420). Similarly, along the first direction X, the second winding member 852 has a second contact end 8520 on the side away from the first winding member 851. The flexible component 840 passes through the second contact end 8520 and connects to the second end of the chest support component 3000, that is, the flexible component 840 changes direction after passing through the second contact end 8520. The second contact end 8520 is located on the side of the second end of the clearance opening 420 away from the first winding member 851 (i.e., the second contact end 8520 is located below the second end of the clearance opening 420). This positioning of the first winding member 851 and the second winding member 852 ensures that the coverage starting point of the flexible component 840 is close to the end edge of the clearance opening 420, so that the orthogonal projection of the flexible component 840 along the third direction Z on the housing can at least completely cover the clearance opening 420.

[0149] To more clearly describe the morphology of the flexible component 840, it is divided into five functional segments. The flexible component 840 includes a first segment 841, a first arc-shaped connecting segment 843, a second segment 844, a second arc-shaped connecting segment 845, and a third segment 846 connected in sequence. The first segment 841, the second segment 844, and the third segment 846 all extend along a first direction X. The second segment 844 is located on the side of the winding component 850 away from the clearance opening 420 in a third direction Z, i.e., within the lateral space. The first arc-shaped connecting segment 843 surrounds and engages with the first contact end 8510 of the first winding member 851, and the second arc-shaped connecting segment 845 surrounds and engages with the second contact end 8520 of the second winding member 852. The first segment 841 and the third segment 846 are located between the bypass component 850 and the clearance opening 420 in the third direction Z. They are the parts that are directly responsible for covering the clearance opening 420. That is, the first segment 841 is configured to cover the clearance opening 420 between the first contact end 8510 and the chest support component 3000, and the third segment 846 is configured to cover the clearance opening 420 between the second contact end 8520 and the chest support component 3000.

[0150] Specifically, the middle section of the flexible component 840 first wraps around the first contact end 8510 of the first winding member 851, and then the first end 842 of the flexible component folds downward and is fixedly connected to the first end of the chest support component 3000 (e.g., the upper part of the chest support component 3000). Starting from the fixing point of the first end 842 of the flexible component, this part of the flexible component 840 extending towards the first winding member 851 constitutes the first segment 841 covering the clearance opening 420 between the chest support component 3000 and the first contact end 8510. After the flexible component 840 extends from the other side of the first winding member 851, it extends downward along the first direction X for a certain distance (forming the second segment 844 of the flexible component 840), then wraps around the second contact end 8520 of the second winding member 852, and finally the second end 847 of the flexible component folds upward and is fixedly connected to the second end of the chest support component 3000 (e.g., the lower part of the chest support component 3000). Starting from the fixing point of the second end 847 of the flexible component, the portion of the flexible component 840 extending towards the second winding member 852 forms a third segment 846 covering the clearance opening 420 between the chest support component 3000 and the second contact end 8520. The portion of the flexible component 840 that wraps around the first contact end 8510 and the second contact end 8520 forms an arc-shaped wrapping portion (i.e., the first arc-shaped connecting segment 843 and the second arc-shaped connecting segment 845), which changes the extension direction of the flexible component 840, transmitting and converting the linear tension of the chest support component 3000 into a redistribution of the length of the flexible component 840 in different sections. The first end and the second end of the chest support component 3000 are positioned opposite each other along the first direction X.

[0151] When the chest support assembly 3000 moves upward in the first direction X, it pulls upward on the first segment 841 of the flexible assembly 840. This causes relative movement of the first arcuate connecting segment 843 around the first contact end 8510, thereby reducing the length of the first segment 841 (i.e., the flexible assembly 840 between the chest support assembly 3000 and the first contact end 8510). Simultaneously, as the chest support assembly 3000 moves upward, its distance from the second contact end 8520 increases. Due to the pull from the second end 847 of the flexible assembly, the length of the third segment 846 (i.e., the flexible assembly 840 between the chest support assembly 3000 and the second contact end 8520) increases. Conversely, when the chest support assembly 3000 moves downward, the length of the first segment 841 increases, and the length of the second segment 844 decreases. Throughout the process, the length changes of the first segment 841 and the third segment 846 occur simultaneously and in opposite directions. The sum of these two changes constitutes the total effective coverage length of the flexible component 840 over the clearance opening 420, which remains essentially constant and equal to the size of the clearance opening 420 along the first direction X1. This means that regardless of the position of the chest support component 3000 in its travel, the clearance opening 420 can be completely covered by the flexible component 840 without any exposed gaps. Since the first winding member 851 and the second winding member 852 can be installed close to the upper and lower edge edges of the clearance opening 420, there is no need to reserve extra space for the "compression" of the flexible component 840 (the flexible component 840 only undergoes length transfer, not volume compression), thus greatly reducing the overall size of the first drive component 2000 in the first direction X (vertical direction).

[0152] In some examples, reference Figure 2 , Figure 18 and Figure 26The robot 9000 also includes at least one first cable chain 2710, which is located within a first receiving space 410. The moving end 2712 of the first cable chain is connected to a third connecting portion 313 to protect the wiring harness of the robot 9000. The first cable chain 2710 has a first wiring channel 2713 extending from the fixed end 2711 to the moving end 2712 of the first cable chain. The third connecting portion 313 has a wiring groove 3130, the opening of which faces the second side C2 of the first drive assembly 2000. The wiring groove 3130 communicates with the first wiring channel 2713. A portion of the opening of the wiring groove 3130 is located within the first receiving space 410, while another portion passes through a clearance opening 420 and is located outside the first receiving space 410. The first wiring channel 2713 and the wiring groove 3130 are used for wiring. At this time, the connecting wires that electrically connect the components (e.g., control components 330) on the chest support assembly 3000 and the components (e.g., chassis assembly 1000) on the body support assembly 8000 can be routed through the first drag chain 2710 and the third connecting part 313.

[0153] The connecting wires can pass through the first wiring channel 2713, the wiring groove 3130, the first receiving space 410, and the clearance opening 420 to the outside. Since the opening of the wiring groove 3130 faces the second side C2 of the first drive assembly 2000 and the wiring groove 3130 is recessed towards the first side C1 of the first drive assembly 2000, the connecting wires can utilize the space in the wiring groove 3130 for routing, avoiding the connecting wires from touching or rubbing against the housing assembly. This also helps to reduce the size of the clearance opening 420 along the second direction Y, reducing the exposure of components in the first receiving space 410 and improving aesthetics.

[0154] For example, the side of the third connecting portion 313 away from the first receiving space 410 is connected to the second support member 320. For example, the bottom of the cable tray 3130 has a hollowed-out portion, through which the connecting wires of the robotic arm 7000 enter the cable tray 3130.

[0155] It should be noted that the first drive assembly 2000 can be a single-stage lifting drive structure or a two-stage lifting drive structure. When the first drive assembly 2000 is a single-stage lifting drive structure, the fixed end 2711 of the first cable chain is fixedly connected to the body support assembly 8000. When the first drive assembly 2000 is a two-stage drive structure, the fixed end 2711 of the first cable chain is fixedly connected to the moving part (moving part 280 as described below) between the two-stage lifting drive structures.

[0156] refer to Figure 27The body support assembly 8000 serves as the static foundation frame of the robot 9000, acting as its main support component and base 820. In some examples, the body support assembly 8000 includes a support body 810 and a base 820, with the support body 810 mounted on the base 820, which in turn is mounted on the rotary drive assembly 5000 or the chassis assembly 1000. The support body 810 has a cylindrical shape extending along a first direction X. The support body 810 is located in a first receiving space 410, and the chest support assembly 3000 is movably connected to the support body 810 along the first direction X. The support body 810 has a cavity 811 extending along the first direction X.

[0157] In some examples, reference Figure 28 The robot 9000 also includes at least one set of noise reduction components 830, which are disposed inside the cavity 811 of the supporting body 810.

[0158] For example, refer to Figure 29 The noise reduction component 830 includes a first noise reduction component 831 and a second noise reduction component 832 in contact with each other. The first noise reduction component 831 is located on both sides of the second noise reduction component 832 in a first direction X. The first noise reduction component 831 is sealed to the cavity 811, for example, by bonding, interference fit or other sealing means. The sealed connection means that there are basically no gaps between the two sets of first noise reduction components 831 and the inner wall of the cavity 811, so that the second noise reduction component 832 is located in the closed space formed by the two sets of first noise reduction components 831. This allows the sound waves generated by the movement of the chest support component 3000 relative to the support body 810 to be more easily transmitted from the support body 810 to the noise reduction component 830, and then weakened in the cavity 811 after passing through the first noise reduction component 831 and / or the second noise reduction component 832, thereby improving the sound wave attenuation effect.

[0159] Regarding the selection of noise reduction materials in noise reduction component 830: The first noise reduction component 831 can be made of a material with porous sound absorption properties, such as polyurethane foam. By controlling the foaming density, pore size, and flow resistance, the polyurethane foam can have good absorption performance for sound waves of different frequencies (especially mid-to-high frequencies). Simultaneously, the polyurethane foam has a certain degree of flexibility and compressibility, making it easy to process into a block that matches the shape of the inner wall of cavity 811. During assembly, slight compression achieves a sealed connection with the inner wall of cavity 811, thus eliminating the need for additional independent sealing components, simplifying the assembly process, and reducing costs. The second noise reduction component 832 can be made of a different material than the first noise reduction component; for example, the second noise reduction component can be made of foam. The materials of the first noise reduction component 831 and the second noise reduction component 832 can be selected according to their target sound attenuation band, such as using foams, fiber cotton, sintered granules, or metal bodies with different densities and porosities.

[0160] It should be noted that the noise reduction component 830 is particularly suitable for situations where the first drive component 2000 has a single-stage drive structure. Of course, it is also suitable when the first drive component 2000 has a two-stage drive structure.

[0161] In some possible implementations, refer to Figure 27 The first drive assembly 2000 includes a drive source 210, a lead screw 220, and a nut 230. The drive source 210 is connected to the support body 810. The lead screw 220 extends along the first direction X and is rotatably connected to the support body 810 along the first direction X. The nut 230 is threadedly connected to the lead screw 220. The drive source 210 can drive the lead screw 220 to rotate along the first direction X, thereby driving the nut 230 to reciprocate along the first direction X.

[0162] refer to Figure 18 and Figure 27 The support body 810 is provided with a first guide rail 281, which extends along a first direction X. The chest support assembly 3000 is provided with a first slider 260, which is slidably connected to the first guide rail 281 to limit the relative movement direction between the chest support assembly 3000 and the fixed column, thereby improving the reliability of the chest support assembly 3000's movement along the first direction X. For example, the support body 810 is generally frame-shaped.

[0163] In some other possible implementations, refer to Figure 31 and Figure 32 The first drive assembly 2000 includes a drive unit 200, a flexible transmission component 250, and a moving component 280.

[0164] A drive unit 200 is disposed on the body support assembly 8000 for providing lifting and lowering drive force. The chest support assembly 3000 can be connected to at least one robotic arm 7000. Exemplarily, the working area of ​​the robotic arm 7000 includes the first side C1 of the robot 9000.

[0165] The movable member 280 is connected to the drive unit 200 and is driven by the drive unit 200 to reciprocate relative to the body support assembly 8000 along a first direction X. The movable member 280 can be configured as a column or a frame structure. The movable member 280 has at least one support portion 284, and the flexible transmission member 250 includes a connected seventh connecting portion 251, a first winding portion 252, and an eighth connecting portion 253, which are arranged sequentially along the extension direction of the flexible transmission member 250. For example, the seventh connecting portion 251 and the eighth connecting portion 253 are located on both sides of the first winding portion 252 in a second direction Y. The seventh connecting portion 251 is connected to the body support assembly 8000, the first winding portion 252 winds around the support portion 284, and the eighth connecting portion 253 is connected to the chest support assembly 3000 to drive the chest support assembly 3000 to move along the first direction X at a speed greater than that of the movable member 280. For example, on the opposite sides of the support portion 284 along the first direction X, the first bypass portion 252 is located on one side, and the seventh connecting portion 251 and the eighth connecting portion 253 are located on the other side. It should be noted that the seventh connecting portion 251 may not be directly connected to the body support assembly 8000, but may be indirectly connected to the body support assembly 8000 through other components fixed to the body support assembly 8000 (such as the second housing assembly 4200 described below), so that the position of the seventh connecting portion 251 relative to the body support assembly 8000 remains unchanged.

[0166] At this time, the flexible transmission member 250 and the support part 284 actually form a structure similar to a movable pulley system. The support part 284 is equivalent to a movable pulley. After the moving member 280 moves relative to the body support assembly 8000 in the first direction X, the support part 284 moves with the moving member 280. At this time, the moving speed of the chest support assembly 3000 relative to the body support assembly 8000 is twice the moving speed of the moving member 280 relative to the body support assembly 8000. The displacement generated by the chest support assembly 3000 relative to the body support assembly 8000 is also twice the displacement generated by the moving member 280 relative to the body support assembly 8000.

[0167] In other words, the maximum stroke of the chest support assembly 3000 relative to the body support assembly 8000 is twice the maximum stroke of the moving part 280 relative to the body support assembly 8000. This allows the robot 9000 to achieve a large stroke movement of the chest support assembly 3000 using a small-stroke drive unit 200. Since the flexible transmission member 250 is connected to the moving part 280, the minimum height of the robot 9000 still depends on the dimensions of the moving part 280, the body support assembly 8000, and the drive unit 200 in the first direction X, which helps to reduce the overall height of the robot 9000. Because the dimensions of the robot 9000 along the first direction X can be changed, the robotic arm 7000 can move a wide range along the first direction X, while the robot 9000 can also enter confined spaces to perform operations. Furthermore, the packaging of the robot 9000 can be designed to be smaller, reducing transportation difficulties.

[0168] For example, refer to Figure 32 and Figure 33 The moving part 280 is provided with a clearance groove 283, and the flexible transmission part 250 is installed in the clearance groove 283 to prevent the flexible transmission part 250 from interfering with the moving part 280.

[0169] In some examples, reference Figures 34 to 36 The robot 9000 also includes a second housing assembly 4200, which is disposed on the body support assembly 8000 and located in the first receiving space 410. The second housing assembly 4200 has a second receiving space 4201 and a first opening 4202. The second receiving space 4201 accommodates a drive unit 200, which is connected to a moving member 280 through the first opening 4202. For example, the drive unit 200 is connected to the body support assembly 8000 through the second housing assembly 4200. That is, referring to... Figure 30 The second housing assembly 4200 is located inside the first housing assembly 4100. After the first housing assembly 4100 moves upward relative to the body support assembly 8000 along the first direction X with the moving member 280, the second housing assembly 4200 and the first housing assembly 4100 have an overlapping area in the first direction X. This covers the drive unit 200 to prevent it from being exposed, which helps to improve the waterproof and dustproof effect of the body assembly, and also improves the aesthetics of the body assembly. It should be noted that the body support assembly 8000 here plays a load-bearing role in connecting the second housing assembly 4200 and the chassis assembly 1000.

[0170] For example, refer to Figure 34 The movable part 280 is located on the side of the second housing assembly 4200 near the first side C1 of the robot 9000, and is spaced apart from the second housing assembly 4200 to ensure that there is no interference between the movable part 280 and the second housing assembly 4200.

[0171] For example, refer to Figure 32 The drive unit 200 includes a drive source 210, a lead screw 220, and a nut 230. The drive source 210 is connected to the body support assembly 8000. The lead screw 220 extends along a first direction X and is rotatably connected to the second housing assembly 4200 along the first direction X. The nut 230 is threadedly connected to the lead screw 220. The drive source 210 can drive the lead screw 220 to rotate along the first direction X, thereby driving the nut 230 to reciprocate along the first direction X. The nut 230 is connected to the moving member 280, which can be directly or indirectly connected. For example, the drive unit 200 also includes a connecting assembly 240, which is connected to the nut 230 and connected to the moving member 280 through a first opening 4202, allowing the moving member 280 to reciprocate along the first direction X with the nut 230. The drive unit 200 uses the cooperation of lead screw 220 and nut 230 to drive the moving part 280 to move relative to the body support assembly 8000, which can improve the transmission accuracy and help improve the accuracy of the operation of the robotic arm 7000.

[0172] In other examples, refer to Figure 32 The flexible transmission member 250 also includes a connected ninth connecting portion 255 and a second winding portion 254. The seventh connecting portion 251, the first winding portion 252, the eighth connecting portion 253, the second winding portion 254, and the ninth connecting portion 255 are arranged sequentially along the extending direction of the flexible transmission member 250. The moving member 280 includes at least a pair of support portions 284 spaced apart along a first direction X. The first winding portion 252 winds around the first support portion 284, and the second winding portion 254 winds around the second support portion 284. Exemplarily, on the opposite sides of the first support portion 284 along the first direction X, the first winding portion 252 is located on the side of the first support portion 284 away from the second support portion 284, and the seventh connecting portion 251 and the eighth connecting portion 253 are located on the side of the first support portion 284 closer to the second support portion 284. In the two opposite sides of the second support portion 284 along the first direction X, the second winding portion 254 is located on the side of the second support portion 284 away from the first support portion 284, and the ninth connecting portion 255 and the eighth connecting portion 253 are located on the side of the second support portion 284 closer to the first support portion 284.

[0173] The ninth connecting part 255 and the eighth connecting part 253 are located on both sides of the second winding part 254 along the second direction Y. The ninth connecting part 255 is connected to the body support assembly 8000. It should be noted that the ninth connecting part 255 is not directly connected to the body support assembly 8000, but is indirectly connected to the body support assembly 8000 through other components fixed to the body support assembly 8000 (such as the second housing assembly 4200 mentioned below), so that the position of the ninth connecting part 255 relative to the body support assembly 8000 remains unchanged. At this time, the ninth connecting part 255, the second winding part 254, the eighth connecting part 253, and the support part 284 in the flexible transmission member 250 constitute a movable pulley group. The support part 284 is equivalent to a movable pulley. After the moving member 280 moves relative to the body support assembly 8000 along the first direction X, the support part 284 moves with the moving member 280. At this time, the moving speed of the chest support assembly 3000 relative to the body support assembly 8000 is twice the moving speed of the moving member 280 relative to the body support assembly 8000, and the displacement generated by the chest support assembly 3000 relative to the body support assembly 8000 is also twice the displacement generated by the moving member 280 relative to the body support assembly 8000.

[0174] The ninth connecting part 255 and the second looping part 254 are provided so that when the moving member 280 moves upward or downward along the first direction X, both support parts 284 can form a structure similar to a movable pulley system with a portion of the flexible transmission member 250. This allows the chest support assembly 3000 to move at twice the speed of the moving member 280 relative to the body support assembly 8000, and the displacement of the chest support assembly 3000 relative to the body support assembly 8000 is also twice the displacement of the moving member 280 relative to the body support assembly 8000. In other words, the chest support assembly 3000 can move back and forth along the first direction X at twice the speed through a single flexible transmission member 250, which helps to reduce the size of the robot 9000 along the direction perpendicular to X.

[0175] For example, the ninth connecting part 255 and the seventh connecting part 251 can be connected to each other. At this time, the flexible transmission member 250 is ring-shaped, and the connection points of the ninth connecting part 255 and the seventh connecting part 251 with the body support assembly 8000 are at the same location.

[0176] It should be noted that the flexible transmission component 250 is a flexible strip or belt-shaped component capable of transmitting tension and motion stroke, including but not limited to synchronous belt 523, chain, wire rope, transmission belt, fiber composite belt, nylon transmission belt 634, and metal belt.

[0177] For example, refer to Figure 32A first connecting block 256 can be provided on the flexible transmission component 250, and the first connecting block 256 securely fixes the seventh connecting part 251 and / or the ninth connecting part 255 to the second housing assembly 4200 by means of bolts, riveting, or clamping. For example, a second connecting block 257 can be provided on the flexible transmission component 250, and the second connecting block 257 fixes the eighth connecting part 253 to the chest support assembly 3000 by means of clamps, bolts, or direct bonding.

[0178] In some examples, reference Figure 34 and Figure 35 The robot 9000 also includes at least one first guide rail 281 and at least one first slider 260, the first slider 260 being slidably connected to the first guide rail 281. The at least one first guide rail 281 is located in the first receiving space 410 and is disposed on the side of the moving member 280 facing the second housing assembly 4200. The at least one first slider 260 is located in the first receiving space 410, disposed in the second housing assembly 4200, and located on the side of the second housing assembly 4200 near the sixth side C6 of the robot 9000.

[0179] The first guide rail 281 and the first slider 260 guide the movement of the movable component 280, improving its motion accuracy and stability. Simultaneously, placing the first slider 260 on the second housing assembly 4200, compared to placing the first guide rail 281 on the second housing assembly 4200, reduces the area occupied by components on the second housing assembly 4200. During the upward movement of the movable component 280 along the first direction X, the first slider 260 is easily obscured by the movable component 280 or the first housing assembly 4100, improving the aesthetics of the robot 9000 during lifting and lowering. For example, placing the first slider 260 on the side of the second housing assembly 4200 near the sixth side C6 of the robot 9000 ensures that even if the movable component 280 and the first housing assembly 4100 move to the uppermost point along the first direction X, the movable component 280 or the first housing assembly 4100 can still obscure the first slider 260.

[0180] For example, refer to Figure 35The robot 9000 also includes at least one second guide rail 282 and at least one second slider 290, with the second slider 290 slidably connected to the second guide rail 282. Both the second guide rail 282 and the second slider 290 are located within the first receiving space 410. The second guide rail 282 is positioned on the side of the moving member 280 facing the first housing assembly 4100, and the second slider 290 is positioned within the portion of the chest support assembly 3000 located in the first receiving space 410. The sliding engagement of the second guide rail 282 and the second slider 290 effectively improves the stability of the chest support assembly 3000 relative to the moving member 280 along the first direction X. In addition, since the first guide rail 281 and the second guide rail 282 are both located on the moving part 280, the moving part 280, the first guide rail 281 and the second guide rail 282 can be easily processed or assembled based on the same positioning reference, thereby improving the accuracy of the chest support assembly 3000 moving relative to the moving part 280 along the first direction X and the accuracy of the moving part 280 moving relative to the body support assembly 8000 along the first direction X.

[0181] In some examples, reference Figure 37 The robot 9000 also includes a first cable chain 2710. The structure and arrangement of the first cable chain 2710 can be referenced from those of the first drive assembly 2000, for example, both are located on both sides of the first drive assembly 2000 along the third direction Z, and the fixed end 2711 and the moving end 2712 of the first cable chain are arranged along the second direction Y. In this embodiment, the fixed end 2711 of the first cable chain is connected to the moving part 280.

[0182] For example, there are two sets of first cable chains 2710, located on opposite sides of the first drive assembly 2000 along the third direction Z (i.e., the third side C3 and the fourth side C4). The fixed end 2711 of the first cable chain is located on one side of the moving end 2712 along the second direction Y. In this case, the wiring leading to the chest support assembly 3000 can be divided into two bundles, each passing through one of the two sets of first cable chains 2710 for protection. Compared to using a single cable chain, using two sets of first cable chains 2710 reduces the sum of the diameters of the wire bundles passed through by each set, thereby reducing the size occupied by the first cable chain 2710 in the second direction Y. Furthermore, since the two sets of first cable chains 2710 are located on opposite sides of the first drive assembly 2000 along the third direction Z, the size occupied by the two sets of first cable chains 2710 in the second direction Y will not overlap, significantly reducing the size of the robot 9000 in the second direction Y.

[0183] In some examples, reference Figure 34 and Figure 35The robot 9000 also includes a second cable chain 2720, which is located in the second receiving space 4201. The fixed end 2721 of the second cable chain is connected to the second housing assembly 4200, and the moving end 2722 of the second cable chain is connected to the moving part 280, so as to protect the wiring harness of the body assembly using the second cable chain 2720. The second cable chain 2720 has a second wiring channel 2723, which communicates with the first wiring channel 2713.

[0184] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0185] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0186] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, the features that define "first" and "second" may explicitly or implicitly include at least one of those features.

[0187] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0188] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A robot, characterized in that, include: Body support components; A first drive component is disposed on the body support component. The shape of the first drive component includes a column extending along a first direction. A first side and a second side of the first drive component are disposed opposite to each other along a second direction, which is perpendicular to the first direction. The chest support component is connected to the first drive component and reciprocates along the first direction under the drive of the first drive component. At least one robotic arm is connected to the chest support assembly, and the working area of ​​the robotic arm includes a first side of the first drive assembly; A camera device is disposed on the chest support assembly, the camera device facing a first side of the first drive assembly.

2. The robot according to claim 1, characterized in that, The camera device includes: A first bracket is mounted on the chest support assembly, and at least a portion of the structure of the first bracket is located on a first side of the first drive assembly; A camera assembly is rotatably connected to the first bracket. The camera assembly extends along a third direction, which is perpendicular to both the second direction and the first direction. The camera assembly is located on a first side of the first drive assembly and on the side of the first bracket away from the first drive assembly. A third drive assembly is mounted on the first bracket. The third drive assembly includes a drive unit, a drive pulley, a driven pulley, and a transmission belt. The drive unit is located on the side of the first bracket closest to the first drive assembly. The drive unit is connected to the drive pulley and can drive the drive pulley to rotate around a first axis. The transmission belt is sleeved on the outside of the drive pulley and the driven pulley. The driven pulley is drively connected to the camera assembly and can drive the camera assembly to rotate around a second axis. The second axis is parallel to the first axis.

3. The robot according to claim 2, characterized in that, The camera component includes: A first connecting shaft is coaxially connected to the driven pulley, and the axis of the first connecting shaft is collinear with the second axis. A support base is fixedly connected to the first connecting shaft, and the first surface of the support base is coplanar with the second axis. The camera element is mounted on the side of the support away from the first surface.

4. The robot according to any one of claims 1 to 3, characterized in that, The chest support assembly includes: A first support member, at least a portion of the structure of which is located on a first side of the first drive assembly; A second support member is connected to the first support member, at least a portion of the structure of the second support member is located on a second side of the first drive assembly, the first support member and / or the second support member is connected to the first drive assembly, at least one of the robotic arms is connected to the first support member and / or the second support member, and the connection position of the robotic arm to the first support member and / or the second support member is at least located on a first side of the first drive assembly.

5. The robot according to claim 4, characterized in that, The robot also includes: A control component is disposed on the second support member, located on the second side of the first drive component, and is electrically connected to at least one of the robotic arms; And / or, The first support member and the second support member are arranged to form a first ring structure, and the first ring structure is arranged around the first drive component.

6. The robot according to claim 4, characterized in that, Also includes: A first housing assembly is disposed on the body support assembly. The first housing assembly has a first receiving space and at least one clearance opening. The first receiving space is used to receive at least a portion of the structure of the first drive assembly. The clearance opening is able to connect the first receiving space with the outside. The shape of the clearance opening includes an elongated shape extending along the first direction. Wherein, when the first support member is connected to the first drive assembly, the first support member extends into the first receiving space through the clearance opening and connects to the first drive assembly; When the second support member is connected to the first drive assembly, the second support member extends into the first receiving space through the clearance opening and connects to the first drive assembly.

7. The robot according to claim 6, characterized in that, The third side and the fourth side of the first driving component are arranged opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; At least one of the clearance openings is located on the third side of the first drive assembly and / or at least one of the clearance openings is located on the fourth side of the first drive assembly.

8. The robot according to claim 6, characterized in that, The first support member includes a first connecting portion and a second connecting portion that are spaced apart and connected along the second direction. The second connecting portion is located on a first side of the first drive assembly, and the first connecting portion is located on the side of the second connecting portion closer to the first drive assembly. The first connecting portion is connected to the first drive assembly, and the second connecting portion is connected to at least one of the robotic arms. The first housing assembly includes: The first housing is disposed on the body support assembly, located between the first connecting portion and the second connecting portion, and between the first driving assembly and the second connecting portion, and is spaced apart from the first connecting portion and the second connecting portion along the second direction.

9. The robot according to claim 8, characterized in that, The third side and the fourth side of the first driving component are arranged opposite to each other along a third direction, which is perpendicular to both the first direction and the second direction; The number of clearance openings is at least two, one clearance opening is located on the third side of the first drive component, and the other clearance opening is located on the fourth side of the first drive component; The first support member further includes two third connecting parts, which are arranged opposite to each other along the third direction. The two sides of the first connecting part along the third direction are respectively connected to the second connecting part through the third connecting part. The third connecting part extends out of the first accommodating space through the clearance opening and connects to the second connecting part. The first connecting part, the second connecting part and the two third connecting parts form a second ring structure.

10. The robot according to claim 9, characterized in that, Also includes: At least one first cable chain is located in the first receiving space, the moving end of the first cable chain is connected to the third connecting part, and the first cable chain has a first wiring channel that extends from the fixed end of the first cable chain to the moving end of the first cable chain. The third connecting part has a wiring groove, the opening of the wiring groove faces the second side of the first driving component, the wiring groove is connected to the first wiring channel, a portion of the opening of the wiring groove is located within the first accommodating space, and a portion of the opening of the wiring groove passes through the clearance opening and is located outside the first accommodating space. The first wiring channel and the wiring groove are used for wiring.

11. The robot according to claim 8, characterized in that, The second support member includes a connected fourth connecting portion and at least one fifth connecting portion. The fourth connecting portion is located on the second side of the first drive assembly, and the fifth connecting portion connects the fourth connecting portion and the first support member. The fourth connecting portion and the first drive assembly are spaced apart along the second direction. The first housing assembly further includes: The second housing is disposed on the body support assembly, located between the fourth connecting portion and the first driving assembly, and is spaced apart from both the fourth connecting portion and the first driving assembly along the second direction. The first accommodating space and the avoidance opening are formed between the first housing and the second housing.

12. The robot according to claim 6, characterized in that, Also includes: At least one set of winding components is located in the first accommodating space and is arranged in a one-to-one correspondence with at least one of the clearance openings. The winding components include a first winding member and a second winding member, which are respectively connected to the body support component. The first winding member and the second winding member are respectively located on both sides of the clearance opening in the first direction. At least one set of flexible components is provided in correspondence with at least one set of the winding components. The flexible components are wound around the first winding member and the second winding member. The first end of the flexible component bypasses the first winding member and connects to the chest support component, covering the clearance opening between the chest support component and the first winding member. The second end of the flexible component bypasses the second winding member and connects to the chest support component, covering the clearance opening between the chest support component and the second winding member. The movement of the chest support component relative to the body support component can drive the flexible components to move relative to the first winding member and the second winding member respectively.

13. The robot according to claim 6, characterized in that, The body support assembly includes a support body located in the first receiving space. The support body has a cylindrical shape extending along the first direction. The chest support assembly is movably connected to the support body along the first direction. The support body has a cavity extending along the first direction. The robot also includes: At least one noise reduction component is disposed in the cavity. The noise reduction component includes a first noise reduction component and a second noise reduction component that are in contact with each other. The first noise reduction component is located on both sides of the second noise reduction component in the first direction. The first noise reduction component is sealed and connected to the cavity. The sound waves generated by the movement of the chest support component relative to the support body can be transmitted from the support body to the noise reduction component and are weakened in the cavity after passing through the first noise reduction component and / or the second noise reduction component.

14. The robot according to claim 6, characterized in that, The first driving component includes: A drive unit is disposed on the body support assembly; A movable component is connected to the driving unit and is driven by the driving unit to reciprocate along a first direction. The movable component has at least one support portion. At least one flexible transmission member, the flexible transmission member including a connected seventh connecting portion, a first winding portion and an eighth connecting portion, the seventh connecting portion, the first winding portion and the eighth connecting portion being arranged sequentially along the extending direction of the flexible transmission member, wherein the seventh connecting portion is connected to the body support assembly, the first winding portion is wound around the support portion, and the eighth connecting portion is connected to the chest support assembly, so as to drive the chest support assembly to move along the first direction at a speed greater than that of the moving member; The first housing assembly is connected to the movable member and moves along the first direction with the movable member. The first accommodating space accommodates at least a portion of the structure of the drive unit, the movable member, and the eighth connecting portion.

15. The robot according to claim 14, characterized in that, Also includes: A chassis assembly for enabling the robot to move, a body support assembly disposed on the chassis assembly, a fifth side of the first drive assembly and a sixth side of the first drive assembly disposed opposite to each other along the first direction, and the chassis assembly located on the fifth side of the first drive assembly. A second housing assembly is disposed on the body support assembly. At least a portion of the structure of the second housing assembly is located in the first receiving space. The second housing assembly has a second receiving space and a first opening. The second receiving space accommodates the drive unit. The drive unit is connected to the moving member through the first opening, wherein the first opening is located on the sixth side of the second housing assembly near the first drive assembly.

16. The robot according to claim 15, characterized in that, The movable component and the second housing assembly are spaced apart along a direction perpendicular to the first direction; The robot also includes: At least one first guide rail is located in the first receiving space and is disposed on the side of the movable member facing the second housing assembly; At least one first slider is located in the first receiving space, disposed in the second housing assembly, and located on the sixth side of the second housing assembly near the first drive assembly, the first slider being slidably connected to the first guide rail.

17. The robot according to claim 14, characterized in that, The movable component includes at least one pair of support portions spaced apart along the first direction; The flexible transmission component further includes a connected ninth connecting portion and a second winding portion. The seventh connecting portion, the first winding portion, the eighth connecting portion, the second winding portion and the ninth connecting portion are arranged sequentially along the extension direction of the flexible transmission component. The first winding portion winds around the first of the pair of support portions. The eighth connecting portion is connected to the chest support assembly. The second winding portion winds around the second of the pair of support portions. The ninth connecting portion is connected to the body support assembly.

18. The robot according to any one of claims 1 to 3, characterized in that, The fifth side and the sixth side of the first driving component are arranged opposite to each other along the first direction; The robot also includes: A chassis assembly for enabling the robot to move; A rotary drive assembly is disposed on the chassis assembly. The first drive assembly, the rotary drive assembly, and the chassis assembly are arranged sequentially along the first direction. The rotary drive assembly is located on the fifth side of the first drive assembly and is connected to the body support assembly. It is used to drive the body support assembly to rotate around a third axis, which is parallel to the first direction. The chassis assembly is located on the side of the rotary drive assembly that is away from the first drive assembly; The rotation drive assembly includes: The second drive component is disposed on the chassis component and has a first output terminal; A first shaft is mounted on the chassis assembly and rotatably connected to the chassis assembly about the third axis. The first shaft is connected to the body support assembly and is used to drive the body support assembly to rotate about the third axis. A transmission structure is configured to drively connect the first output end and the first shaft, including a first transmission part and a second transmission part. The first transmission part is mounted on the first output end and rotates with the first output end; the second transmission part is mounted on the first shaft and is drively connected to the first transmission part. The transmission ratio between the first transmission part and the second transmission part is greater than 1. The limiting structure includes a first limiting member and a second limiting member. The first limiting member is installed on the chassis assembly, and the second limiting member is installed on the first transmission part. During the forward or reverse rotation of the second drive assembly, the second limiting member and the first transmission part rotate with the first output end. The second limiting member can contact the first limiting member to limit the maximum forward rotation angle and the maximum reverse rotation angle of the first transmission part.

19. The robot according to claim 18, characterized in that, Along the extension direction of the third axis, the first axis is provided with a wiring hole inside; The robot further includes a rotary encoder assembly for detecting the rotation angle of the first axis, the rotary encoder assembly comprising: Support base, disposed on the chassis assembly; The sensing element is a ring structure, rotatably disposed inside the support base, sleeved on the outside of the first shaft, and connected to the first shaft. It rotates synchronously with the first shaft under the drive of the first shaft. A sensor is connected to the support base. The sensor, the sensed component, and the first shaft are all spaced apart. The sensor is configured to cooperate with the sensed component to detect the rotation angle of the shaft.

20. The robot according to any one of claims 1 to 3, characterized in that, The fifth side and the sixth side of the first driving component are arranged opposite to each other along the first direction; The robot also includes a chassis assembly, which is connected to the body support assembly and located on the fifth side of the first drive assembly, for realizing the movement of the robot; The chassis assembly includes: The chassis body is connected to the body support assembly and is located on the fifth side of the first drive assembly; At least three drive wheel assemblies are rotatably connected to the chassis body, and the line connecting the grounding portions of the at least three drive wheel assemblies forms a first convex polygon; At least one first driven wheel assembly is rotatably connected to the chassis body, and the grounding portion of the first driven wheel assembly is located on the outside of the first convex polygon; The first driven wheel assembly includes a floating wheel assembly, the floating wheel assembly comprising: A floating wheel mounting base is connected to the chassis body; The floating wheel body is movably connected to the floating wheel mounting base along the first direction; A shock-absorbing assembly is disposed between the floating wheel body and the floating wheel mounting base; The shock absorption component includes: The first elastic element is capable of elastic deformation along the height direction of the chassis body; The second elastic element is disposed on one side of the first elastic element in the first direction and is capable of elastic deformation along the height direction of the chassis body. The first elastic element has a first preset stiffness, and the second elastic element has a second preset stiffness, wherein the first preset stiffness is greater than the second preset stiffness.

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