robot

Abstract

The present disclosure relates to the technical field of robots, and particularly relates to a robot to solve the problem that robots are difficult to meet the demand of narrow space operation scene. The robot comprises a chassis assembly, a chest support assembly, a mechanical arm and a first driving assembly. The chassis assembly can drive the first driving assembly to move horizontally, the first driving assembly drives the chest support assembly to lift and fall, the mechanical arm is installed on the chest support assembly, the chest support assembly comprises a first support and a second support located on both sides of the first driving assembly, the second support and the first support can form a double-side layout on both sides of the first driving assembly to balance the cantilever overturning moment generated when the mechanical arm works, offset at least part of the center of gravity forward displacement caused by the mechanical arm and the operated object, reduce the risk of robot overturning, and the size of the chassis assembly can be set smaller to meet the demand of narrow space operation. In addition, the components installed on the second support can move synchronously with the chest support assembly and the mechanical arm.

Description

Technical Field

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

[0002] With the rapid development and popularization of robot technology, its application scenarios are becoming increasingly widespread and the working environment is becoming increasingly complex. In scenarios such as equipment inspection, maintenance in confined spaces, operation inside industrial production lines, and stocking shelves in supermarkets or convenience stores, the demand for robots to enter narrow passages between shelves and equipment gaps to perform operations is constantly increasing.

[0003] However, in related technologies, robots are difficult to meet the needs of working in confined spaces. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a robot to solve the problem that robots are difficult to meet the needs of working in narrow spaces.

[0005] One embodiment of this disclosure provides a robot, including: a chassis assembly for enabling robot movement; a first drive assembly disposed on the chassis 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; and 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; wherein the chest support assembly includes: a first support member, at least a portion of the structure of the first support member being located on the first side of the first drive assembly; a second support member connected to the first support member, at least a portion of the structure of the second support member being located on the 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, the connection position of the robotic arm to the first support member and / or the second support member being at least located on the first side of the first drive assembly.

[0006] In some implementations, the robot further includes a control component disposed on the second support, located on the second side of the first drive component, and capable of being electrically connected to at least one robotic arm.

[0007] In some implementations, the third side and the fourth side of the first drive component are arranged opposite to each other along a first direction, wherein the third side of the first drive component is the side closer to the chassis component; the robot further includes: a rotary drive component disposed on the chassis component, the first drive component, the rotary drive component and the chassis component are arranged sequentially along the first direction, the rotary drive component is located on the third side of the first drive component and connected to the first drive component, and is used to drive the first drive component to rotate around a first axis, the first axis being parallel to the first direction; wherein the chassis component is located on the side of the rotary drive component away from the first drive component.

[0008] In some implementations, the rotary drive assembly includes: a second drive assembly 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 a first axis, the first shaft being connected to the first drive assembly for driving the first drive assembly to rotate about the first axis; a transmission structure 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 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; and a limiting structure including a first limiting member and a second limiting member, the first limiting member being mounted on the chassis assembly and 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.

[0009] In some implementations, the dimension of the chassis assembly along the third direction is smaller than the dimension of the chassis assembly along the fourth direction. The third direction, the fourth direction, and the first direction are perpendicular to each other. The chassis assembly is used to enable the robot to move at least along the third direction and the fourth direction.

[0010] In some implementations, the geometric center of the first drive assembly is close to one of the opposite sides of the chassis assembly along the fourth direction.

[0011] In some implementations, the outer contour shape of the chassis assembly as an orthographic projection onto a plane perpendicular to the first direction includes one of the following shapes: rectangle, ellipse, waist-shaped, and trapezoidal.

[0012] In some implementations, the robot also includes a camera device disposed on the chest support assembly, the camera device facing a first side of the first drive assembly.

[0013] In some implementations, the camera device includes: a first bracket mounted on the chest support assembly, at least a portion of the structure of the first bracket being located on a first side of the first drive assembly; A camera assembly is rotatably connected to a first bracket. The camera assembly extends along a fifth direction, which is perpendicular to both the first and second directions. The camera assembly is located on the first side of the first drive assembly and on the side of the first bracket furthest from the first drive assembly. A third drive assembly is mounted on the first bracket and 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 closer to the first drive assembly. The drive unit is connected to the drive pulley and can drive the drive pulley to rotate around a second axis. The transmission belt is sleeved on the outside of the drive pulley and the driven pulley. The driven pulley is connected to the camera assembly and can drive the camera assembly to rotate around a third axis, which is parallel to the second axis.

[0014] In some implementations, the camera assembly includes: a first connecting shaft coaxially connected to a driven pulley, the axis of the first connecting shaft being collinear with a third axis; a carrier fixedly connected to the first connecting shaft, the first surface of the carrier being coplanar with the third axis; and a camera element mounted on the side of the carrier away from the first surface.

[0015] In some implementations, the travel distance of the chest support assembly along the first direction is greater than or equal to 750 mm and less than or equal to 1400 mm; and / or, the ratio of the dimension of the first drive assembly along the first direction to the dimension of the chassis assembly along the first direction is greater than or equal to 4:1 and less than or equal to 7:1.

[0016] In some implementations, the chassis assembly includes: a chassis body; at least three drive wheel assemblies rotatably connected to the chassis body, wherein the connection of the grounding portions of the at least three drive wheel assemblies forms a first convex polygon; and at least one first driven wheel assembly rotatably connected to the chassis body, wherein the grounding portion of the first driven wheel assembly is located outside the first convex polygon.

[0017] In some implementations, the first driven wheel assembly includes a floating wheel assembly, which includes: a floating wheel mounting base connected to the chassis body; a floating wheel body movably connected to the floating wheel mounting base along a first direction; a shock-absorbing assembly disposed between the floating wheel body and the floating wheel mounting base; and / or, the drive wheel assembly includes a steering drive and a drive wheel, the steering drive being used to drive the drive wheel to rotate about an axis parallel to the first direction.

[0018] In some implementations, at least two drive wheel assemblies are first drive wheel assemblies, at least one drive wheel assembly is a second drive wheel assembly, at least two first drive wheel assemblies are spaced apart along a third direction, and the second drive wheel assembly and the first driven wheel assembly are disposed on the same side of the first drive wheel assembly in a fourth direction.

[0019] In some implementations, the chassis assembly includes: a chassis body; two drive wheel assemblies rotatably connected to the chassis body; and two second driven wheel assemblies rotatably connected to the chassis body, at least one of the second driven wheel assemblies including a floating wheel assembly, the floating wheel assembly being connected to the chassis body via a sliding pair to enable the floating wheel assembly to be movable along a first direction; wherein the line connecting the grounding portions of the two drive wheel assemblies and the grounding portions of the two second driven wheel assemblies forms a first convex quadrilateral, the grounding portions of the two drive wheel assemblies being arranged along one diagonal of the first convex quadrilateral, and the grounding portions of the two second driven wheel assemblies being arranged along the other diagonal of the first convex quadrilateral.

[0020] In some implementations, the outer periphery of the chassis body as an orthographic projection in the first direction is a second convex quadrilateral; the orthographic projections of the two drive wheel assemblies and the two second driven wheel assemblies in the first direction are respectively located at the four corners of the second convex quadrilateral.

[0021] In some implementations, the chassis assembly includes: a chassis body; a first traveling assembly including a connecting frame, a third drive wheel assembly, and a third driven wheel assembly, the connecting frame being rotatably connected to the chassis body, and the third drive wheel assembly and the third driven wheel assembly being rotatably connected to a first end and a second end of the connecting frame, respectively; and a second traveling assembly including a fourth drive wheel assembly and a fourth driven wheel assembly, both of which are rotatably connected to the chassis body; wherein, the line connecting the grounded portions of the third drive wheel assembly, the third driven wheel assembly, the fourth drive wheel assembly, and the grounded portion of the fourth driven wheel assembly, when projected in a first direction, forms a first quadrilateral; the line connecting the grounded portions of the third drive wheel assembly and the fourth drive wheel assembly, when projected in a first direction, forms one diagonal of the first quadrilateral; and the line connecting the grounded portions of the third driven wheel assembly and the fourth driven wheel assembly, when projected in a first direction, forms the other diagonal of the first quadrilateral.

[0022] In some implementations, the first traveling component further includes at least one damper, with a first end connected to the connecting frame and a second end rotatably connected to the chassis body.

[0023] The robot provided in this embodiment includes: a chassis assembly for realizing the movement of the robot; a first drive assembly disposed on the chassis assembly, the shape of the first drive assembly including a column 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; and 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; wherein, the chest support assembly includes: a first support member, at least a portion of the structure of the first support member being located on the first side of the first drive assembly; a second support member connected to the first support member, at least a portion of the structure of the second support member being located on the 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, the connection position of the robotic arm to the first support member and / or the second support member being at least located on the first side of the first drive assembly. The second support member and the first support member can form a double-sided layout on the first and second sides of the first drive assembly to balance the overturning moment generated when the robotic arm is working, offset at least part of the forward shift of the center of gravity caused by the robotic arm and the operated object, reduce the risk of robot overturning, and make the size of the chassis assembly smaller, so as to facilitate operation in narrow spaces.

[0024] In addition, the second support expands the installation space on the second side of the first drive assembly, which not only allows more sensors, electrical modules and other components (such as control components, position sensors, distance sensors, etc.) to be installed on the chest support assembly, but also allows these components to move synchronously with the chest support assembly and the robotic arm, which helps to shorten the connection distance between these components and the robotic arm and simplify the connection structure. Attached Figure Description

[0025] 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.

[0026] Figure 1 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0027] Figure 2 The diagram shown is a schematic diagram of a first drive component of a robot according to an embodiment of this disclosure.

[0028] Figure 3The diagram shown is a cross-sectional view of a robot at its chest support assembly according to an embodiment of this disclosure.

[0029] Figure 4 The image shown is a top view of a robot's rotation drive assembly and chassis assembly provided in an embodiment of this disclosure.

[0030] Figure 5 The diagram shown is a three-dimensional schematic of a robot's rotation drive assembly and chassis assembly provided in an embodiment of this disclosure.

[0031] Figure 6 As shown Figure 4 The schematic cross-sectional view of the rotating assembly and chassis assembly along the AA direction is shown.

[0032] Figure 7 The diagram shown is a structural schematic of a chassis assembly provided in one embodiment of this disclosure.

[0033] Figure 8 The image shown is a bottom view of a chassis assembly provided in an embodiment of this disclosure.

[0034] Figure 9 The diagram shown is a schematic diagram of the support principle of a chassis assembly provided in an embodiment of this disclosure.

[0035] Figure 10 The diagram shown is a cross-sectional view of a floating wheel assembly provided in an embodiment of this application in a first direction.

[0036] Figure 11 The diagram shows the relationship between the force and deformation of the first and second elastic elements provided in an embodiment of this disclosure.

[0037] Figure 12 The diagram shown is a structural schematic of a drive wheel assembly provided in an embodiment of this disclosure.

[0038] Figure 13 The diagram shown is a structural schematic of another chassis assembly provided in an embodiment of this disclosure.

[0039] Figure 14 The image shown is a bottom view of another chassis assembly provided in one embodiment of this disclosure.

[0040] Figure 15 The diagram shown is a support principle diagram of another chassis component provided in one embodiment of this disclosure.

[0041] Figure 16 The diagram shows the orthographic projection of the chassis body in a first direction and the positional relationship between the drive wheel assembly and the second driven wheel assembly, according to an embodiment of this application.

[0042] Figure 17The diagram shown is a first-view structural schematic of another chassis assembly provided in an embodiment of this disclosure.

[0043] Figure 18 The image shown is a bottom view of another chassis assembly provided in an embodiment of this disclosure.

[0044] Figure 19 The diagram shown is a support principle diagram of another chassis component provided in an embodiment of this disclosure.

[0045] Figure 20 The diagram shows the positional relationship between the orthographic projection of the chassis body in the first direction and the orthographic projections of the third drive wheel assembly, the third driven wheel assembly, the fourth drive wheel assembly, and the fourth driven wheel assembly in the height direction of the chassis body, according to an embodiment of this disclosure.

[0046] Figure 21 The diagram shown is a second-view structural schematic of another chassis assembly provided in an embodiment of this disclosure.

[0047] Figure 22 The diagram shown is a third-view structural schematic of another chassis assembly provided in an embodiment of this disclosure.

[0048] Figure 23 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.

[0049] Figure 24 The diagram shown is a schematic diagram of a portion of the structure of the first support provided in another embodiment of this disclosure.

[0050] Figure 25 The diagram shown is an exploded view of a camera assembly provided in an embodiment of this disclosure.

[0051] Figure 26 The diagram shown is a structural schematic of a camera device provided in an embodiment of this disclosure.

[0052] Figure label: 1000, Chassis assembly; 110, Chassis body; 111, Base plate; 112, Mounting seat; 113, First opening; 114, Second opening; 101, First travel assembly; 102, Second travel assembly; 120, Drive wheel assembly; 1201, Steering drive component; 1202, Drive wheel; 121, First drive wheel assembly; 122, Second drive wheel assembly; 123, Third drive wheel assembly; 124, Fourth drive wheel assembly; 1301, First driven wheel assembly; 1300, Floating wheel assembly; 131, Floating wheel body; 1311, Driven wheel; 1312, Connecting rod; 132, Floating wheel mounting seat; 133, Shock absorption assembly; 1331, First elastic element; 1332, Second elastic element; 1333. 135. Guide post; 136. Guide rod; 137. Guide assembly; 138. Guide bushing; 139. Linear bearing; 1302. Sliding pair; 1303. Second driven wheel assembly; 1304. Fixed wheel assembly; 1305. Third driven wheel assembly; 140. Connecting frame; 141. First end of connecting frame; 142. Second end of connecting frame; 143. Connecting part; 150. Damper; 151. First end of damper; 152. Second end of damper; P1. First convex polygon; P2. Second convex polygon; P0. Triangle; P3. First convex quadrilateral; P4. Second convex quadrilateral; P5. Third quadrilateral; P6. Fourth quadrilateral; S1. First area; S2. Second area Area; S3, Third Area; 2000, First Drive Assembly; 210, Fixed Column; 211, First Guide Rail; 220, First Drive Source; 230, Lead Screw; 240, Nut; 250, First Slider; 3000, Chest Support Assembly; 310, First Support Member; 320, Second Support Member; 330, Control Assembly; 4100, First Housing Assembly; 410, First Accommodation Space; 420, Clearance Opening; 4200, Second Housing Assembly; 5000, Rotary Drive Assembly; 510, Second Drive Assembly; 511, First Output End; 513, First Shaft; L1, First Axis; 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; 6000, Camera device; 610, First bracket; 620, Camera assembly; L3, Third axis; 621, First connecting shaft; 622, Bearing seat; 6221, First surface; 623, Camera element; 630, Third drive assembly; 631, Drive unit; 632, Driving pulley; L2, Second axis; 633, Driven pulley; 634, Transmission belt; 640, Bracket housing; 641, Hollowed-out area; 7000, Mechanical arm; 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. Detailed Implementation

[0053] 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.

[0054] Existing robots that move via a chassis and have a lifting and lowering robotic arm typically operate from the front of the robot in a cantilevered configuration. During operation, the robot's center of gravity shifts to one side, making it prone to tipping over. To reduce this risk, the chassis assembly is usually enlarged, making it difficult for these robots to operate in confined spaces. Consequently, these robots struggle to meet the demands of working in such confined environments.

[0055] To address the aforementioned issues, this disclosure provides a robot 9000.

[0056] 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 chassis assembly 1000, a first drive assembly, a chest support assembly 3000, and a robotic arm 7000. The chassis assembly 1000 enables the robot 9000 to move on the ground. The first drive assembly is disposed on the chassis assembly 1000. The chest support assembly 3000 is connected to the first drive assembly. 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.

[0057] For ease of description, this disclosure defines a first direction X, a third direction Z, and a fourth direction U. The first direction X is the direction in which the first drive assembly 2000 extends, and the fourth direction U is perpendicular to the first direction X. Any two of the first direction X, the third direction Z, and the fourth direction U are perpendicular to each other. For example, the first direction X is a vertical direction, and the third direction Z and the fourth direction U are two mutually perpendicular horizontal directions. For example, the fourth direction U and the third direction Z are the length and width directions of the chassis assembly 1000, respectively. For example, the second direction Y is the front-rear direction of the first drive assembly. The second direction Y may coincide with or not coincide with the third direction Z or the fourth direction U.

[0058] refer to Figure 1The first drive assembly of this disclosure has a first side C1 and a second side C2 facing away from each other in the second direction Y, and a third side C3 and a fourth side C4 facing away from each other in the first direction X. The third side C3 of the first drive assembly 2000 is the side closer to the chassis assembly 1000.

[0059] For example, the shape of the first drive assembly includes a column extending along a first direction X, such that the robot 9000 provided in this disclosure is primarily used to lift the robotic arm 7000 to perform tasks. For instance, the working area of ​​the robotic arm 7000 includes a first side C1 of the first drive assembly 2000.

[0060] The first drive assembly is mainly used to drive the chest support assembly 3000 to reciprocate along the first direction X. Its structure can be set in various forms, such as a linear module, a lead screw 230 slider transmission structure 520, a synchronous belt 523 transmission structure 523, a sprocket and chain transmission structure 524, a belt transmission structure 525, etc., which can realize linear reciprocating structure.

[0061] For example, refer to Figure 2 The first drive assembly 2000 includes a fixed column 210, a first drive source 220, a lead screw 230, and a nut 240. The fixed column 210 extends along the first direction X and is connected to the chassis assembly 1000. The first drive source 220 is connected to the fixed column 210. The lead screw 230 extends along the first direction X and is rotatably connected to the fixed column 210 along the first direction X. The nut 240 is threadedly connected to the lead screw 230. The first drive source 220 can drive the lead screw 230 to rotate along the first direction X, thereby driving the nut 240 to reciprocate along the first direction X.

[0062] refer to Figure 2 and Figure 3 A first guide rail 211 is provided on the fixed column 210, extending along a first direction X. The chest support assembly 3000 is provided with a first slider 250, which is slidably connected to the first guide rail 211 to limit the relative movement direction between the chest support assembly 3000 and the fixed column 210, thereby improving the reliability of the chest support assembly 3000's movement along the first direction X. For example, the fixed column 210 is generally frame-shaped.

[0063] refer to Figure 3The 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 a component (such as a nut 240) that outputs lifting motion from the first drive assembly 2000. 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 to 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.

[0064] 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.

[0065] 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 30003, thereby adapting to the development needs of the robot 9000 and improving the integration of the robot 9000.

[0066] Thirdly, the components installed on the second support 320 can move synchronously with the chest support assembly 30003 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.

[0067] 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 (such as the nut 240). 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 ring structure to give the chest support assembly 3000 better structural strength, and the ring structure surrounds the first drive assembly 2000.

[0068] refer to Figure 1 and Figure 3 The robot 9000 also includes a first housing assembly 4100, which is connected to the fixed column 210. The first housing assembly 4100 encloses a first receiving space 410, which is used to accommodate the first drive assembly 2000, thereby protecting the first drive assembly 2000. The first housing assembly 4100 has a clearance opening 420 extending along a first direction X. A portion of the chest support assembly 3000 is inserted into the first receiving space 410 through the clearance opening 420 and then connected to a nut 240 to prevent interference between the chest support assembly 3000 and the first housing assembly 4100. For example, there are two clearance openings 420, which are arranged opposite to each other.

[0069] For example, refer to Figure 3The 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.

[0070] For example, the travel distance of the chest support assembly 3000 along the first direction X is greater than or equal to 750 mm and less than or equal to 1400 mm, such as 750 mm, 850 mm, 960 mm, 1050 mm, 1200 mm, 1300 mm, or 1400 mm. For example, the ratio of the dimension of the first drive assembly 2000 along the first direction X to the dimension of the chassis assembly 1000 along the first direction X is greater than or equal to 4:1 and less than or equal to 7:1, such as 4:1, 5:1, 6:1, or 7:1. Therefore, the robot 9000 can maintain a relatively stable center of gravity and is less prone to tipping over when the robotic arm 7000 rises to its highest position.

[0071] In some implementations, reference Figure 1 The robot 9000 also includes a second housing assembly 4200, which is fixed to the thoracic support assembly to protect the thoracic support assembly and the components fixed to it.

[0072] In some possible implementations, refer to Figure 2 and Figure 4The robot 9000 also includes a rotary drive assembly 5000, which is disposed on the chassis assembly 1000. The first drive assembly 2000, the rotary drive assembly 5000, and the chassis assembly 1000 are arranged sequentially along a 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 third side C3 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 about a first axis L1, wherein the first axis L1 is parallel to the first direction X. In other words, after setting up the rotary drive component 5000, the robot 9000 does not need to move the chassis component 1000 when it needs to turn. It only needs to drive the first drive component 2000 to rotate relative to the chassis component 1000 along the first axis L1 through the rotary drive component 5000. This allows the robotic arm 7000 to turn by rotating along the first direction X with the chest support component 3000 and the first drive component 2000 relative to the chassis component 1000. In this way, the robotic arm 7000 can turn more easily, obtain a larger working range without moving the chassis component 1000, and reduce the movement frequency of the chassis component 1000, making it more suitable for the needs of working in narrow spaces.

[0073] Furthermore, positioning the rotary drive assembly 5000 on the third side C3 of the first drive assembly 2000, that is, the side closer to the chassis assembly 1000, lowers the center of gravity of the robot 9000, reducing the risk of the robot 9000 tipping over. The horizontal dimension of the rotary drive assembly 5000 is typically smaller than that of the first drive assembly 2000. Positioning the rotary drive assembly 5000 on the third side C3 of the first drive assembly 2000 allows for a more slender shape in the robot 9000's body, enhancing its aesthetics.

[0074] 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.

[0075] For example, refer to Figures 5 to 6The 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 first axis L1. The second drive assembly 510 is drive-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 first axis L1 of the first shaft 513. The first shaft 513 is the output end of the rotary drive assembly 5000.

[0076] 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.

[0077] Referring to Figures 511 and 522, 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°.

[0078] 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.

[0079] Referring to the figure, the 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 rotation angle and the 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.

[0080] 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°.

[0081] 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°.

[0082] 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.

[0083] 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.

[0084] Of course, when the second transmission unit 522 has redundancy in both forward and reverse rotation angles, the forward and reverse rotation angles achieved by the second transmission unit 522 during the control phase can also be 180° or greater. For example, the rotary drive assembly 5000 also includes an angle detection structure (not shown in the figure). The angle detection structure can be located at the end of the first shaft 513 facing the chassis assembly 1000. The angle detection structure detects the rotation angle of the first shaft 513. When the first shaft 513 rotates to the preset maximum reverse angle and maximum forward angle, the second drive assembly 510 is controlled to stop outputting, thereby ensuring that there is redundancy in the forward and reverse rotation angles of the second transmission unit 522. It should be noted that the angle detection structure is known technology, and those skilled in the art can apply the angle detection structure to this disclosure based on known technology.

[0085] In some embodiments, the dimension of the chassis assembly 1000 along the third direction Z is smaller than the dimension of the chassis assembly 1000 along the fourth direction U. The chassis assembly 1000 is used to enable the robot 9000 to move at least along the third direction Z and the fourth direction U. Because the dimension of the chassis assembly 1000 along the third direction Z is smaller, when entering a narrow space, the fourth direction U can be made to coincide with the direction of entering the narrow space, thereby allowing the chassis assembly 1000 to enter the narrow space with a smaller dimension. Exemplarily, the chassis assembly 1000 is used to enable omnidirectional movement of the robot 9000.

[0086] For example, in some application scenarios, the robot 9000 needs to operate in the space between two parallel shelves. When the distance between the two shelves is narrow, the chassis assembly 1000 can adjust its direction so that the fourth direction U of the chassis assembly 1000 coincides with the direction of entering the shelf, so as to enter the space between the two shelves with a smaller size.

[0087] Furthermore, before the robot 9000 needs to enter a narrow space and operate on an object on the side of the narrow space (such as the aforementioned shelf), the fourth direction U is aligned with the direction of entering the shelf. After the robot 9000 needs to enter the narrow space, compared to the case where the third direction Z is aligned with the direction of entering the shelf, when the fourth direction U is aligned with the direction of entering the shelf, the robotic arm 7000 turns to the side of the narrow space and gets closer to the object to be operated (such as closer to the goods on the shelf), which helps to increase the working range of the robotic arm 7000.

[0088] In some examples, the geometric center of the first drive assembly 2000 is located near one of the opposite sides of the chassis assembly 1000 along the fourth direction U. Because the chassis assembly 1000 has a large dimension along the fourth direction U, having the geometric center of the first drive assembly 2000 near one of the opposite sides of the chassis assembly 1000 along the fourth direction U allows the robotic arm 7000 to move closer to the object being manipulated, thereby increasing the working range of the robotic arm 7000. Generally, the first axis L1 of the first axis 513 is the geometric center of the first drive assembly 2000. For example, the first axis L1 is located at 1 / 3 of the distance along the third direction Z of the chassis assembly 1000. If the dimension of the chassis assembly 1000 in the third direction Z is 1200mm, and the distance of the first axis L1 from the edge of the chassis assembly 1000 in the third direction Z is 800mm, it is located on one of the opposite sides of the chassis assembly 1000 along the fourth direction U.

[0089] For example, refer to Figure 4 The outer contour shape of the chassis assembly 1000 as an orthographic projection onto a plane perpendicular to the first direction X includes one of the following shapes: rectangle, ellipse, waist-shaped, and trapezoidal. Of course, the above is only a general outline of the chassis assembly 1000; chamfers can also be provided at the corners of the chassis assembly 1000's outline. For example, the outer contour shape of the chassis assembly 1000 as an orthographic projection onto a plane perpendicular to the first direction X can be generally rectangular, or it can be a rectangle with chamfers.

[0090] In one possible example, refer to Figures 7 to 9The 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.

[0091] 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.

[0092] 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.

[0093] It should be noted that when the robot 9000 is performing its tasks, it will not only move along the third direction Z, but also along the fourth direction U, as well as the directions that intersect with the third direction Z and the fourth direction U.

[0094] For example, such as Figure 9As 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.

[0095] Or, as Figure 9 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.

[0096] In some embodiments, reference Figure 9At 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 a third direction Z. 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 fourth direction U.

[0097] By arranging at least two first drive wheel assemblies 121 at intervals along the third direction Z, 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 fourth direction U, the distance between the drive wheel assembly 120 and the first driven wheel assembly 1301 is relatively large. This allows for a further increase in the support area of ​​the chassis assembly 1000 of the robot 9000, enhancing the stability of the robot 9000, while maintaining a fixed number of drive wheel assemblies 120 and first driven wheel assemblies 1301. 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.

[0098] 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 fourth direction U; 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 fourth direction U.

[0099] Understandably, when the robot 9000 is performing its tasks, it will not only travel along the third direction Z, but also along the fourth direction U, and in the direction intersecting the third direction Z and the fourth direction U. 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 travels. This effectively prevents the robot 9000 from tilting during its 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 third direction Z. For example, when the robot 9000 is subjected to lateral forces or uneven loads in the third direction Z, the two symmetrical first driven wheel assemblies 1301 can provide effective support, preventing the chassis assembly 1000 from tilting or overturning.

[0100] In some embodiments, such as Figure 7 and Figure 10As 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.

[0101] In some embodiments, such as Figure 10 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.

[0102] Figure 11 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.

[0103] In some embodiments, such as Figure 11As 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] In some embodiments, such as Figure 10 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.

[0109] In some embodiments, such as Figure 10 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.

[0110] 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.

[0111] 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.

[0112] In some embodiments, such as Figure 10As 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.

[0113] 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.

[0114] For example, refer to Figure 12 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.

[0115] In another possible example, reference Figure 13 and Figure 14 The chassis assembly 1000 includes a chassis body 110, two drive wheel assemblies 120, and two second driven wheel assemblies 1302. Specifically, the two drive wheel assemblies 120 are rotatably connected to the chassis body 110, and the two second driven wheel assemblies 1302 are rotatably connected to the chassis body 110. At least one second driven wheel assembly 1302 is a floating wheel assembly 1300, which is connected to the chassis body 110 via a sliding joint 137, allowing the floating wheel assembly 1300 to be movable along a first direction X. When the robot 9000 travels on undulating or uneven working surfaces, the floating wheel assembly 1300 can adaptively adjust its position along the first direction X according to the road conditions, ensuring that all drive wheel assemblies 120 and second driven wheel assemblies 1302 always remain in contact with the working surface, and ensuring that the line connecting the grounding parts of the two drive wheel assemblies 120 and the grounding parts of the two second driven wheel assemblies 1302 always forms a first convex quadrilateral P3, thereby improving the stability of the robot 9000 in complex road environments.

[0116] Among them, reference Figure 15The grounding portions of the two drive wheel assemblies 120 and the grounding portions of the two second driven wheel assemblies 1302 form a first convex quadrilateral P3. The grounding portions of the two drive wheel assemblies 120 are arranged along one diagonal of the first convex quadrilateral P3, and the grounding portions of the two second driven wheel assemblies 1302 are arranged along the other diagonal of the first convex quadrilateral P3. In this configuration, regardless of the direction the robot 9000 moves, drive wheel assemblies 120 are always present on both the left and right sides of the robot's forward direction, effectively preventing the robot 9000 from swerving during movement and improving its reliability.

[0117] In the above example, by setting the connection between the grounding portions of the two drive wheel assemblies 120 and the grounding portions of the two second driven wheel assemblies 1302 to form a first convex quadrilateral P3, each drive wheel assembly 120 and each second driven wheel assembly 1302 is located at a vertex of the first convex quadrilateral P3. Each drive wheel assembly 120 and each driven wheel 1302 group is used to increase the support area of ​​the chassis assembly 1000, thereby increasing the support area of ​​the chassis assembly 1000, improving the stability of the chassis assembly 1000, and reducing the risk of the robot 9000 tipping over. In addition, the number of drive wheel assemblies 120 can be further reduced, which is beneficial to further reduce the dimension of the chassis assembly 1000 along the third direction Z, so that the robot 9000 can enter narrow spaces for operation.

[0118] It should be noted that 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 the working surface. The grounding portion of the second driven wheel assembly 1302 refers to the part of the second driven wheel assembly 1302 that contacts the working surface when the robot 9000 is placed on the working surface. 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 portions of both drive wheel assemblies 120 and both second driven wheel assemblies 1302 are lines or surfaces, the line connecting the grounding portions of the two drive wheel assemblies 120 and the two second driven wheel assemblies 1302 can be understood as the line connecting the center of the grounding portion of the two drive wheel assemblies 120 and the center of the grounding portion of the two second driven wheel assemblies 1302.

[0119] For example, such as Figure 15As 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 forms triangle P0. It is worth noting that the drive wheel assembly 120 represented by the dashed line in the figure is a drive wheel assembly 120 existing in related technologies, but not present in this embodiment. When the center of gravity of the robot 9000 falls within triangle P0, the robot 9000 will not tip over. However, when the robotic arm 7000 extends too far, or when the robotic arm 7000 holds a heavy object, causing the center of gravity of the robot 9000 to shift and fall outside triangle P0, tipping over will occur. In this embodiment, by making the connection between the grounding portion of the two drive wheel assemblies 120 and the grounding portion of the two second driven wheel assemblies 1302 form a first convex quadrilateral P3, 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 triangle P0 but inside the first convex quadrilateral P3, the robot 9000 can remain stable and will not overturn. This effectively improves the robot 9000's anti-overturning ability and enhances its overall stability during asymmetrical load or dynamic operation.

[0120] Or, as Figure 15 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 triangle P0, and the support area of ​​the robot 9000 is the area of ​​triangle P0 (e.g., the first area S1). In this embodiment, by making the line connecting the grounding portions of the two drive wheel assemblies 120 and the grounding portions of the two second driven wheel assemblies 1302 form a first convex quadrilateral P3, the support area of ​​the robot 9000 is the area of ​​the first convex quadrilateral P3 (e.g., the second area S2). The second area S2 is larger than the first area S1, effectively increasing the support area of ​​the robot 9000, thereby effectively improving the robot 9000's anti-tipping ability. In this embodiment, the support area of ​​the robot 9000 refers to the area of ​​the first convex quadrilateral P3 formed by the line connecting the grounding portions of the two second driven wheel assemblies 1302 and the grounding portions of the two drive wheel assemblies 120.

[0121] In some embodiments, reference Figure 14 One of the second driven wheel assemblies 1302 is a floating wheel assembly 1300, and the other second driven wheel assembly 1302 is a fixed wheel assembly 1303. The fixed wheel assembly 1303 is fixedly connected to the chassis body 110.

[0122] It is understandable that three points define a plane, allowing the two drive wheel assemblies 120 and one fixed wheel assembly 1303 to simultaneously contact the working surface. The floating wheel assembly 1300, depending on the working surface and load conditions, maintains contact with the working surface by moving along the first direction X. Compared to the fixed wheel assembly 1303, the floating wheel assembly 1300 has a more complex structure and is more difficult to connect to the chassis body 110. In this embodiment, one second driven wheel assembly 1302 is configured as a floating wheel assembly 1300, and the other second driven wheel assembly 1302 is configured as a fixed wheel assembly 1303. This improves the stability of the robot 9000 while simplifying the overall complexity of the chassis assembly 1000, reducing manufacturing and assembly difficulties, and lowering subsequent maintenance costs.

[0123] In some embodiments, such as Figure 16 As shown, the outer periphery of the orthographic projection of the chassis body 110 in the first direction X is a second convex quadrilateral P4; the orthographic projections of the two drive wheel assemblies 120 and the two second driven wheel assemblies 1302 in the first direction X are respectively located at the four corners of the second convex quadrilateral P4. The outer periphery of the orthographic projection of the chassis body 110 in the first direction X being a second convex quadrilateral P4 includes: the outer periphery of the orthographic projection of the chassis body 110 in the first direction X is generally a second convex quadrilateral P4, that is, one side of the second convex quadrilateral P4 may have a certain curvature or bend, and the corners of the second convex quadrilateral P4 may be rounded, etc.

[0124] The two drive wheel assemblies 120 and the two second driven wheel assemblies 1302 correspond to the four corners of the second convex quadrilateral P4, respectively. This effectively utilizes the outer peripheral space of the chassis body 110, maximizing the support area to approach the projected range of the chassis body 110, further enhancing anti-tipping performance. Furthermore, when the robot 9000 performs complex actions such as turning or obstacle avoidance, the arrangement of the drive wheel assemblies 120 and the second driven wheel assemblies 1302 effectively disperses inertial forces, avoids localized stress concentration, and extends the service life of the chassis assembly 1000.

[0125] In yet another possible example, refer to Figure 17 As shown, the chassis assembly 1000 includes a chassis body 110, a first walking assembly 101, and a second walking assembly 102.

[0126] The first traveling assembly 101 includes a connecting frame 140, a third drive wheel assembly 123, and a third driven wheel assembly 1304. The connecting frame 140 is rotatably connected to the chassis body 110, and the third drive wheel assembly 123 and the third driven wheel assembly 1304 are rotatably connected to the first end 141 and the second end 142 of the connecting frame, respectively. The second traveling assembly 102 includes a fourth drive wheel assembly 124 and a fourth driven wheel assembly 1305, both of which are rotatably connected to the chassis body 110. For example, the structure of the third drive assembly 630 is the same as that of the first drive assembly 2000.

[0127] Among them, reference Figures 17 to 19 The grounding portions of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305, when projected onto the first direction X, form a third quadrilateral P5. The line connecting the grounding portions of the third drive wheel assembly 123 and the fourth drive wheel assembly 124, when projected onto the first direction X, forms one diagonal of the third quadrilateral P5. The line connecting the grounding portions of the third driven wheel assembly 1304 and the fourth driven wheel assembly 1305, when projected onto the first direction X, forms the other diagonal of the third quadrilateral P5. Therefore, this embodiment of the present disclosure can increase the support area of ​​the chassis assembly 1000 of the robot 9000, improve the robot 9000's anti-tipping ability, and enhance the stability of the robot 9000 during asymmetrical loads or dynamic operations. Furthermore, the number of drive wheel assemblies 120 can be further reduced, which is beneficial for further reducing the dimension of the chassis assembly 1000 along the third direction Z, enabling the robot 9000 to operate in confined spaces.

[0128] It should be noted that the grounding portion of the third drive wheel assembly 123 refers to the part of the third drive wheel assembly 123 that contacts the working surface when the robot 9000 is placed on the working surface. The grounding portion of the third driven wheel assembly 1304 refers to the part of the third driven wheel assembly 1304 that contacts the working surface when the robot 9000 is placed on the working surface. The grounding portion of the fourth drive wheel assembly 124 refers to the part of the fourth drive wheel assembly 124 that contacts the working surface when the robot 9000 is placed on the working surface. The grounding portion of the fourth driven wheel assembly 1305 refers to the part of the fourth driven wheel assembly 1305 that contacts the working surface when the robot 9000 is placed on the working surface. The working surface can be the ground, a table, etc., and the grounding portion can be a point, a line, or a surface.

[0129] When the grounding portion of the third drive wheel assembly 123 is a line or a surface, the grounding portion of the third driven wheel assembly 1304 is a line or a surface, the grounding portion of the fourth drive wheel assembly 124 is a line or a surface, and the grounding portion of the fourth driven wheel assembly 1305 is a line or a surface, the line connecting the orthographic projections of the grounding portions of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 in the first direction X can be understood as: the line connecting the centers of the grounding portions of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 in the first direction X.

[0130] In this embodiment, by making the line connecting the ground portion of the third drive wheel assembly 123, the ground portion of the third driven wheel assembly 1304, the ground portion of the fourth drive wheel assembly 124, and the ground portion of the fourth driven wheel assembly 1305 in the first direction X form a third quadrilateral P5, 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 triangle P0 but inside the third quadrilateral P5, the robot 9000 can remain stable and will not overturn. This effectively improves the robot 9000's anti-overturning ability and enhances its overall stability during asymmetrical load or dynamic operation.

[0131] refer to Figure 19 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 triangle P0, and the support area of ​​the robot 9000 is the area of ​​triangle P0 (e.g., the first area S1). In this embodiment, by connecting the grounding portions of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 in the orthogonal projection in the first direction X, a third quadrilateral P5 is formed, making the support area of ​​the robot 9000 the area of ​​the third quadrilateral P5 (e.g., the third area S3). The third area S3 is larger than the first area S1, effectively increasing the support area of ​​the robot 9000, thereby effectively improving the robot 9000's anti-tipping ability. In this embodiment, the support area of ​​robot 9000 refers to the area of ​​the third quadrilateral P5 formed by the line connecting the grounded portions of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 in the first direction X direction.

[0132] refer to Figure 19The third drive wheel assembly 123 and the fourth drive wheel assembly 124 are arranged along one diagonal of the third quadrilateral P5, so that no matter which direction the robot 9000 moves, there are components that provide driving capability on both the left and right sides of the robot 9000's forward direction, which effectively prevents the robot 9000 from deviating during the movement process and improves the reliability of the robot 9000.

[0133] In some embodiments, reference Figure 20 The outer periphery of the chassis body 110 in the first direction X is a fourth quadrilateral P6; the orthographic projections of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124 and the fourth driven wheel assembly 1305 in the first direction X are located at the four corners of the fourth quadrilateral P6 respectively.

[0134] The outer periphery of the chassis body 110 in the orthographic projection in the first direction X is a quadrilateral P6, including: the outer periphery of the chassis body 110 in the orthographic projection in the first direction X is generally a quadrilateral P6, that is, one side of the quadrilateral P6 can have a certain curvature or bend, and the corners of the quadrilateral P6 can be rounded, etc.

[0135] The third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 correspond to the four corners of the fourth quadrilateral P6, effectively utilizing the outer peripheral space of the chassis body 110 to maximize the support area, approaching the projection range of the chassis body 110 and further enhancing anti-tipping performance. Furthermore, when the robot 9000 performs complex actions such as turning or obstacle avoidance, the arrangement of the third drive wheel assembly 123, the third driven wheel assembly 1304, the fourth drive wheel assembly 124, and the fourth driven wheel assembly 1305 effectively disperses inertial forces, avoids localized stress concentration, and extends the service life of the chassis assembly 1000.

[0136] For example, both the third quadrilateral P5 and the fourth quadrilateral P6 are convex quadrilaterals. Furthermore, both the third quadrilateral P5 and the fourth quadrilateral P6 are rectangles. Specifically, the fact that both the third quadrilateral P5 and the fourth quadrilateral P6 are rectangles includes: they are generally rectangular, meaning that one side of either the third quadrilateral P5 or the fourth quadrilateral P6 may have a certain curvature or bend, and the corners of either the third quadrilateral P5 or the fourth quadrilateral P6 may be rounded, etc.

[0137] In some embodiments, the third driven wheel assembly 1304 includes a floating wheel assembly 1300. The floating wheel assembly 1300 enables the third driven wheel assembly 1304 to rotate freely in the horizontal plane, thereby making the robot 9000 more flexible during turning or driving and better able to adapt to complex walking paths. It should be noted that the floating wheel assembly 1300 of this embodiment has the same structure as the floating wheel assembly 1300 in other embodiments.

[0138] In some embodiments, reference Figure 21 and Figure 22 The first walking assembly 101 also includes at least one damper 150. The first end 151 of the damper is connected to the connecting frame 140, and the second end 152 of the damper is rotatably connected to the chassis body 110. The damper 150 can effectively dissipate the swaying energy of the connecting frame 140 caused by ground impact or sudden changes in the motion state of the robot 9000, thereby suppressing the vibration of the first walking assembly 101 and improving the stability of the chassis assembly 1000 during driving and operation.

[0139] In some embodiments, the connecting frame 140 has a connecting portion 143 located between a first end 141 and a second end 142 of the connecting frame, and the connecting portion 143 is rotatably connected to the chassis body 110. For example, the damper 150 includes two dampers, one of which has its first end 151 connected to the portion of the connecting frame 140 located between the connecting portion 143 and the first end, and the other damper has its first end 151 connected to the portion of the connecting frame 140 located between the connecting portion 143 and the second end. The two dampers 150 can work together to reduce the rotational speed and amplitude of the connecting frame 140, while suppressing abnormal displacement at both ends of the first traveling assembly 101, effectively avoiding severe shaking caused by the simultaneous presence of bumps and depressions on the road surface, and further improving the ride comfort and operational stability of the chassis assembly 1000 in complex uneven road surface environments.

[0140] In some embodiments, reference Figure 21 and Figure 22 The chassis body 110 includes a base plate 111 and a fixed seat 112. The fixed seat 112 protrudes from the top of the base plate 111 and is connected to the base plate 111. The connecting frame 140 is rotatably connected to the fixed seat 112. The base plate 111 is provided with a first opening 113 and a second opening 114. A portion of the third drive wheel assembly 123 passes through the first opening 113 to connect with the connecting frame 140, and a portion of the third driven wheel assembly 1304 passes through the second opening 114 to connect with the connecting frame 140.

[0141] Specifically, the base plate 111 is a plate-like structure that constitutes the main load-bearing surface of the chassis body 110. The mounting base 112 is a protruding structure that provides a specific mounting interface and can be welded, bolted, or integrally cast with the base plate 111. The mounting base 112 protrudes from the top of the base plate 111, indicating that its dimension X in the first direction is greater than the thickness of the base plate 111, making it higher than the upper surface of the base plate 111. The first opening 113 on the base plate 111 makes way for the third drive wheel assembly 123, and the second opening 114 makes way for the third driven wheel assembly 1304, so that the movement stroke of the third drive wheel assembly 123 and the third driven wheel assembly 1304 in the direction perpendicular to the base plate 111 is not interfered with by the base plate 111, and makes the chassis body 110 compact, which helps to reduce the weight of the chassis body 110 and reduce production costs.

[0142] In some implementations, reference Figure 1 The robot 9000 also includes a camera device 6000, which is connected to the chest support assembly 3000. The camera device 6000 faces the first side C1 of the first drive assembly 2000 (i.e. the side where the robotic arm 7000 is located), so as to use the camera device 6000 to capture the actions of the user operating the robotic arm 7000 to pick up and put down items.

[0143] refer to Figure 23 and Figure 24 The 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 fifth direction V, which is perpendicular to both the first direction X and the 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 is also 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 second axis L2. 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 third axis L3. The third axis L3 is parallel to the second axis L2.

[0144] 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.

[0145] For example, the first direction X can be perpendicular to the fifth direction V, where the fifth direction V 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 fifth direction V.

[0146] In some embodiments, reference Figure 24 and Figure 25 The 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 is collinear with the third axis L3. The support 622 is fixedly connected to the first connecting shaft 621, and the first surface 6221 of the support 622 is coplanar with the third axis L3. The camera element 623 is mounted on the side of the support 622 away from the first surface 6221.

[0147] In the above embodiment, the rotating surface (first surface 6221) of the support 622 is designed to be coplanar with the third axis L3, 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.

[0148] 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 third axis L3. "Coplanar" here can be understood as the third axis L3 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 third axis L3.

[0149] For example, refer to Figure 26The 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.

[0150] For example, the driven wheel assembly described above may include a swivel wheel. The drive wheel may include a steering wheel.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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: A chassis assembly for enabling the robot to move; A first drive assembly is disposed on the chassis assembly. The shape of the first drive assembly includes a column extending along a first direction. A first side and a second side of the first drive assembly 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; 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.

2. The robot according to claim 1, characterized in that, 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.

3. The robot according to claim 1, characterized in that, The third side and the fourth side of the first drive assembly are arranged opposite to each other along the first direction, wherein the third side of the first drive assembly is the side closer to the chassis assembly. The robot also includes: 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 third side of the first drive assembly and is connected to the first drive assembly. It is used to drive the first drive assembly to rotate around a first 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.

4. The robot according to claim 3, characterized in that, 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 first axis. The first shaft is connected to the first drive assembly and is used to drive the first drive assembly to rotate about the first 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.

5. The robot according to claim 1, characterized in that, The dimension of the chassis assembly along the third direction is smaller than the dimension of the chassis assembly along the fourth direction. The third direction, the fourth direction, and the first direction are perpendicular to each other. The chassis assembly is used to enable the robot to move at least along the third direction and the fourth direction.

6. The robot according to claim 5, characterized in that, The geometric center of the first drive assembly is close to one of the opposite sides of the chassis assembly along the fourth direction.

7. The robot according to claim 5, characterized in that, The outer contour shape of the chassis assembly as an orthographic projection onto a plane perpendicular to the first direction includes one of the following shapes: rectangle, ellipse, waist shape, and trapezoid.

8. The robot according to claim 1, characterized in that, Also includes: A camera device is disposed on the chest support assembly, the camera device facing a first side of the first drive assembly.

9. The robot according to claim 8, 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 fifth direction, which is perpendicular to both the first and second directions. 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 second 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 third axis. The third axis is parallel to the second axis.

10. The robot according to claim 9, characterized in that, The camera component includes: The first connecting shaft is coaxially connected to the driven pulley, and the axis of the first connecting shaft is collinear with the third axis. A support base is fixedly connected to the first connecting shaft, and the first surface of the support base is coplanar with the third axis. The camera element is mounted on the side of the support away from the first surface.

11. The robot according to claim 1, characterized in that, The travel distance of the chest support assembly along the first direction is greater than or equal to 750 mm and less than or equal to 1400 mm. And / or, The ratio of the dimension of the first drive assembly along the first direction to the dimension of the chassis assembly along the first direction is greater than or equal to 4:1 and less than or equal to 7:

1.

12. The robot according to any one of claims 1 to 11, characterized in that, The chassis components include: Chassis body; 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.

13. The robot according to claim 12, characterized in that, 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; And / or, The drive wheel assembly includes a steering drive and a drive wheel, the steering drive being used to drive the drive wheel to rotate about an axis parallel to the first direction.

14. The robot according to claim 12, characterized in that, At least two of the drive wheel assemblies are first drive wheel assemblies, and at least one of the drive wheel assemblies is a second drive wheel assembly. The at least two first drive wheel assemblies are arranged at intervals along a third direction, and the second drive wheel assembly and the first driven wheel assembly are disposed on the same side of the first drive wheel assembly in a fourth direction.

15. The robot according to any one of claims 1 to 11, characterized in that, The chassis components include: Chassis body; Two drive wheel assemblies are rotatably connected to the chassis body; Two second driven wheel assemblies are rotatably connected to the chassis body, and at least one second driven wheel assembly includes a floating wheel assembly, which is connected to the chassis body via a sliding pair so that the floating wheel assembly is movable along the first direction; The line connecting the grounding portions of the two drive wheel assemblies and the grounding portions of the two second driven wheel assemblies forms a first convex quadrilateral. The grounding portions of the two drive wheel assemblies are arranged along one diagonal of the first convex quadrilateral, and the grounding portions of the two second driven wheel assemblies are arranged along the other diagonal of the first convex quadrilateral.

16. The robot according to claim 15, characterized in that, The outer periphery of the chassis body as an orthographic projection in the first direction is a second convex quadrilateral. The orthographic projections of the two drive wheel assemblies and the two second driven wheel assemblies in the first direction are respectively located at the four corners of the second convex quadrilateral.

17. The robot according to any one of claims 1 to 11, characterized in that, The chassis components include: Chassis body; The first walking assembly includes a connecting frame, a third drive wheel assembly, and a third driven wheel assembly. The connecting frame is rotatably connected to the chassis body, and the third drive wheel assembly and the third driven wheel assembly are rotatably connected to a first end and a second end of the connecting frame, respectively. The second walking assembly includes a fourth drive wheel assembly and a fourth driven wheel assembly, both of which are rotatably connected to the chassis body; Wherein, the grounding portion of the third drive wheel assembly, the third driven wheel assembly, the fourth drive wheel assembly, and the grounding portion of the fourth driven wheel assembly form a first quadrilateral when their orthogonal projections are directed in the first direction; The line connecting the grounded portions of the third drive wheel assembly and the fourth drive wheel assembly in the first direction forms a diagonal of the first quadrilateral. The line connecting the grounded portions of the third driven wheel assembly and the fourth driven wheel assembly in the first direction forms another diagonal of the first quadrilateral.

18. The robot according to claim 17, characterized in that, The first walking assembly further includes at least one damper, the first end of which is connected to the connecting frame, and the second end of which is rotatably connected to the chassis body.

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