A humanoid robot and a posture stabilization method thereof

Abstract

The application provides a body robot and a posture stabilizing method thereof. The body robot comprises a moving chassis and a body. The moving chassis comprises a chassis body and at least one traveling wheel set arranged on the chassis body. At least two traveling wheels of the same traveling wheel set are connected through a linkage mechanism. The linkage mechanism is rotationally connected with the chassis body, so that when one traveling wheel is lifted up due to an obstacle, the other traveling wheel is pressed down and supported on the ground. The body comprises a base, a robot body and at least two connecting segments. The base is fixedly connected with the moving chassis. The connecting segments are connected in series between the base and the robot body. Each connecting segment is rotationally connected with the base, the robot body and the adjacent connecting segments. A plurality of limiting units are arranged between the base and the adjacent connecting segments, between the adjacent connecting segments and between the robot body and the adjacent connecting segments. The body robot has the advantages of compact structure and high reliability through the cooperation of the chassis passive obstacle crossing and the body multi-stage limiting.

Description

Technical Field

[0001] This invention relates to the technical field of filtration equipment, and in particular to an embodied robot and its posture stabilization method. Background Technology

[0002] Body-bound robots are increasingly used in fields such as inspection, logistics, service, and detection. They typically consist of a mobile chassis, a main body, and a connecting structure that links the two. The main body carries functional modules such as sensors and robotic arms, the mobile chassis is responsible for the movement of the entire machine, and the connecting structure is used to adjust the body's posture during movement.

[0003] Currently, the posture stability of embodied robots in complex terrain still faces many challenges.

[0004] In terms of obstacle crossing, existing wheeled chassis typically equip each wheel with an independent elastic element, allowing the wheel to float up and down within a certain range to maintain contact with the ground. However, such solutions are complex in structure, have many parts, and occupy a lot of space. Furthermore, when a wheel is significantly lifted by an obstacle, the restoring force of the elastic element may not be sufficient to effectively press the wheel back to the ground, resulting in the wheel being suspended in the air, losing traction, and the impact and shaking transmitted from the chassis directly affecting the main body of the aircraft.

[0005] In terms of body posture control, existing android body connection structures typically use multiple series-connected segments to achieve multi-segment motion. However, the rotation between these segments and between the segments and the base / body lacks effective limiting constraints, causing undesirable free swaying during movement. Especially when traversing obstacles or traveling on rough terrain, the swaying transmitted from the chassis is amplified rather than attenuated by the connection structure, severely affecting the sensor accuracy and the operational stability of actuators such as robotic arms.

[0006] In summary, there is an urgent need for a systematic solution that can organically coordinate chassis obstacle crossing, multi-level body restraint, and miniaturized walking mechanism in a compact spatial layout, so as to balance passability, posture stability, and space utilization efficiency. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing an embodied robot and its posture stabilization method.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A hybrid robot, comprising: A mobile chassis includes a chassis body and at least one set of travel wheels on the chassis body. At least two travel wheels in the same set of travel wheels are connected by a linkage mechanism. The linkage mechanism is rotatably connected to the chassis body so that when one travel wheel in the set of travel wheels encounters an obstacle and is lifted, the other travel wheel is pressed down and supported on the ground. The body body includes a base, a robot body, and at least two connecting segments. The base is fixedly connected to the mobile chassis, and the connecting segments are connected in series between the base and the robot body. The connecting segments are rotatably connected to each other and to the base and the robot body. Multiple limiting units are respectively disposed between the base and the adjacent connecting segments, between the adjacent connecting segments, and between the robot body and the adjacent connecting segments. Each limiting unit is used to limit the rotational stroke of the corresponding connection.

[0009] In the above scheme, at least two travel wheels of the same travel wheel group are coupled into a linked body through a linkage mechanism and rotatedly connected to the chassis body. When a travel wheel encounters an obstacle and is forced to rise, the linkage mechanism rotates around the rotating connection point, forcing the other travel wheel in the same group to press down and touch the ground. This achieves full-time grounding of both travel wheels without relying on elastic elements or active control, effectively preventing wheels from dangling and losing traction. At the same time, the base, connecting section, and robot body form a multi-level series rotational structure, with independent limiting units configured at each connection point. This disperses the potential swaying of the body to multiple joints for constraint, avoiding concentrated swaying at a single point and providing a structural foundation for posture stability.

[0010] Furthermore, the linkage mechanism and the limiting unit work together: the mobile chassis absorbs and mitigates the impact of the terrain during obstacle crossing, while the multi-level limiting system of the main body gradually attenuates the residual shaking transmitted from the chassis, enabling the robot body to maintain high posture stability in complex terrain and providing a stable working platform for the sensors, actuators and other components mounted on the body.

[0011] Preferably, the linkage mechanism is a bridge frame, with both ends of the bridge frame fixedly connected to the two travel wheels respectively, and the middle part of the bridge frame rotatably connected to the chassis body through a slewing bearing.

[0012] In the above solution, a slewing bearing is used to achieve the rotational connection between the cable tray and the chassis body. The slewing bearing has a small axial dimension and can be embedded in the connection area, eliminating the need for outward-protruding shafts or bearing seats. This results in a compact structure at the rotational connection, reducing the space occupied by the chassis. At the same time, rolling friction is achieved through rolling elements inside the slewing bearing, ensuring flexible rotation and high load-bearing capacity, thus guaranteeing stable and reliable swinging of the cable tray during obstacle crossing.

[0013] Furthermore, the combination of the cable tray and the slewing bearing makes the linkage mechanism more compact in overall structure while also having the function of a seesaw linkage, which is conducive to the miniaturization and lightweight design of the mobile chassis.

[0014] Preferably, a chassis limiting structure is provided between the chassis body and the cable tray. The chassis limiting structure includes a first limiting block, which is fixedly connected to the chassis body and extends toward the cable tray. When the cable tray rotates to the lower limit of its stroke, it abuts against the first limiting block to limit the rotation stroke of the cable tray.

[0015] In the above solution, a first limiting block fixed to the chassis body provides a clear lower limit reference for the cable tray. When the cable tray swings to the preset lower limit of its travel, the cable tray abuts against the first limiting block, preventing it from continuing to rotate and preventing the cable tray from overturning in extreme terrain, which could cause the travel wheels to fail to return to the ground normally or collide with and be damaged by the chassis body.

[0016] Furthermore, the first limit block has a simple structure, is easy to install, and is firmly connected to the chassis body. It can reliably withstand the impact load of the bridge frame when it is in the extreme position, extend the service life of the linkage mechanism, and improve the reliability of the chassis in complex terrain.

[0017] Preferably, the limiting unit disposed between the base and the adjacent connecting segment includes two second limiting blocks, which are disposed opposite to each other on both sides of the swing direction of the connecting segment, and abut against the corresponding second limiting block when the connecting segment swings to the end of its stroke.

[0018] In the above solution, a second limiting block is set on each side of the connection between the base and the adjacent connecting section. When the connecting section swings to the left or right to the end of its stroke, the connecting section abuts against the corresponding second limiting block, thereby limiting its continued swing. This double-sided limiting method has a simple structure and direct response. It can achieve bidirectional rotational stroke constraint only through mechanical abutment, without the need for sensors or controllers, and has high reliability. The two second limiting blocks are set opposite each other, and the force is balanced, preventing unbalanced load due to unilateral limiting.

[0019] Preferably, the limiting unit disposed between the robot body and the adjacent connecting segment includes a sliding groove and a slider. The sliding groove is formed on the periphery of the connection between the robot body and the corresponding connecting segment. The slider is fixedly disposed on the corresponding connecting segment and extends into the sliding groove. The two ends of the sliding groove form closed ends to limit the sliding range of the slider.

[0020] In the above scheme, the rotational limitation between the robot body and the adjacent connecting section is achieved through the cooperation of the sliding groove and the slider. The slider slides along an arc trajectory within the sliding groove, and the closed ends at both ends of the sliding groove form mechanical stops for the slider, thereby limiting the extreme stroke of the body's swing. This limiting method integrates the limiting structure inside the rotational connection, without protruding additional components, resulting in a compact structure and small footprint. Simultaneously, the slider's sliding process within the sliding groove is smooth with low frictional resistance, and it does not significantly hinder the normal swinging of the body.

[0021] It should be understood that the arc length of the sliding groove determines the swing range of the robot body. By adjusting the position of the closed ends at both ends of the sliding groove, the maximum swing angle of the body can be flexibly set to adapt to the swing amplitude requirements of different application scenarios.

[0022] Preferably, in two adjacent connecting segments, one is a rod-shaped structure and the other is a frame structure. One end of the frame structure has an opening to accommodate the rotation of the rod-shaped structure. The limiting unit between the adjacent connecting segments includes a third limiting block on the surface of the rod-shaped structure and a limiting scraper on the frame structure located on the side of the opening. When one side is turned and limited, the third limiting block abuts against the limiting scraper. When the other side is turned and limited, the frame structure abuts against the other end of the rod-shaped structure away from the opening.

[0023] In the above scheme, adjacent connecting sections are connected by a combination of a rod-like structure and a frame structure. The limiting unit adopts an asymmetrical bidirectional limiting design: one side is limited by the contact between a third limiting block and a limiting scraper, while the other side is limited by the contact between the inner wall of the frame structure and the other end of the rod-like structure. This design fully utilizes the existing contour of the frame structure to achieve the limiting function on one side, eliminating the need for additional symmetrical limiting blocks, reducing the number of parts, and making the structure simpler and more compact.

[0024] Preferably, the mobile chassis further includes a walking mechanism, which includes a drive wheel, a drive unit, and a rotation unit. The drive unit is used to drive the drive wheel to rotate around its own axis, and the rotation unit is used to drive the drive wheel and / or the drive unit to rotate around a vertically arranged steering axis. On the vertical projection plane, at least a portion of the structure of the drive unit and / or the rotation unit overlaps with the projection area of ​​the drive wheel.

[0025] In the above scheme, by converging at least part of the structure of the drive unit and / or the rotating unit into the vertical projection area of ​​the drive wheel, the overall outer contour size of the walking mechanism in the horizontal direction is greatly reduced, the structure is more compact, which is conducive to the deployment and passage of the mobile chassis in narrow spaces, while providing more space for the layout of the main body above the chassis.

[0026] In addition, the structure of the drive unit and the rotation unit converges within the projection area of ​​the drive wheel, which allows for a smaller horizontal distance between multiple walking mechanisms when they are arranged together on the chassis, making the overall outer contour of the chassis more compact and further improving the space utilization efficiency of the whole machine.

[0027] Preferably, the rotation unit includes a steering motor, a steering connecting frame, and a steering transmission assembly. The steering transmission assembly includes a first friction wheel and a second friction wheel. The first friction wheel is driven to the output shaft of the steering motor, and the second friction wheel is driven to the first friction wheel and fixedly connected to the steering connecting frame. The steering connecting frame is used to support the drive unit and the drive wheel.

[0028] In the above scheme, the steering transmission assembly adopts a friction transmission method with the cooperation of a first friction wheel and a second friction wheel. This method is simple in structure, eliminates the need for a gearbox, and features overload slippage characteristics, protecting the steering motor and transmission components when steering encounters resistance. The steering connecting frame simultaneously supports the drive unit and the drive wheel, integrating drive, steering, and load-bearing functions into one unit, reducing the number of intermediate connecting parts and resulting in a more compact structure.

[0029] Preferably, the rotation unit further includes a steering limiting structure, which includes a first limiting protrusion and a second limiting protrusion. The first limiting protrusion is fixed on a stationary reference member, and the second limiting protrusion is fixedly connected to the second friction wheel. The first limiting protrusion and the second limiting protrusion cooperate to limit the rotation of the second friction wheel.

[0030] In the above solution, the cooperation of the first and second limiting protrusions forms a rigid mechanical stop when the second friction wheel rotates to a preset limit angle, preventing the steering angle from exceeding the safe range and protecting the steering transmission components and connecting lines. This steering limiting structure is integrated into the transmission space between the first and second friction wheels, without occupying additional horizontal peripheral space, consistent with the compact design concept of the running gear.

[0031] A method for stabilizing the posture of an embodied robot, applied to the aforementioned embodied robot, the method comprising: When the mobile chassis travels on uneven ground, one of the travel wheels in the travel wheel set is lifted when it encounters an obstacle, and the other travel wheel in the same group is forced to press down and stick to the ground through the linkage mechanism, so as to keep the travel wheels on both sides ground at all times. The swaying torque generated during the movement of the mobile chassis is transmitted to the main body, driving each of the connecting segments to swing around the corresponding rotational connection point along the direction of travel. Multiple limiting units are installed between the base and adjacent connecting sections, between adjacent connecting sections, and between the robot body and adjacent connecting sections. These units independently constrain the swing stroke at each connection point, and transmit the swaying energy to the robot body after it is gradually attenuated through multiple levels of limiting, so as to maintain the stability of the robot body's posture.

[0032] In the above scheme, the method organically links the passive obstacle crossing of the chassis, the multi-stage body swaying, and the independent constraints of the limiting units into a complete attitude stabilization process. The swaying torque generated when the chassis crosses obstacles is not directly and rigidly transmitted to the body. Instead, the linkage mechanism first absorbs part of the impact, and then the swaying energy is attenuated layer by layer along the transmission path through the graded swaying of each connecting section and the step-by-step constraints of the limiting units. In the end, only a residual small sway reaches the robot body. The entire process relies entirely on the passive coordination of the mechanical structure and can maintain body attitude stability without active control or external energy supply.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. A linkage mechanism couples at least two travel wheels from the same travel wheel group into a linked body, which is rotatably connected to the chassis body. When one travel wheel encounters an obstacle and is forced to rise, the linkage mechanism forces the other travel wheel in the same group to press down to the ground. This achieves full-time grounding of both travel wheels without relying on elastic elements or active control, effectively preventing wheels from suspending in the air and losing traction, thus improving the chassis's obstacle-crossing ability and travel stability. Simultaneously, the base, connecting sections, and robot body form a multi-level series rotational structure, with independent limiting units configured at each connection point. This disperses potential body swaying to multiple joints for progressive constraint, attenuating sway energy layer by layer along the transmission path and preventing concentrated swaying at a single point. Structurally, this ensures the robot body's posture stability in complex terrain, providing a stable working platform for the sensors and actuators mounted on the body.

[0034] 2. Passive obstacle crossing of the mobile chassis and multi-level limiting coordination of the main body: The swaying torque generated when the chassis crosses obstacles is not directly and rigidly transmitted to the body. Instead, the linkage mechanism first absorbs and mitigates part of the terrain impact. Then, through the graded swing of each connecting section and the independent constraint of the limiting unit, the residual sway is further attenuated during the transmission process. In the end, only a small sway reaches the robot body. The entire posture stabilization process relies entirely on the passive coordination of the mechanical structure. No active control or external energy supply is required. The structure is simple and highly reliable.

[0035] 3. At least a portion of the drive unit and / or rotation unit of the walking mechanism converges within the vertical projection area of ​​the drive wheel, significantly reducing the horizontal outer contour dimension of a single walking mechanism. This facilitates the deployment and movement of the chassis in confined spaces. The chassis obstacle-crossing structure, the multi-level body restraint system, and the compact design of the walking mechanism support each other, achieving a balance of high passability, high posture stability, and high space utilization efficiency within a limited space. This provides a system-level solution for the application of embodied robots in various scenarios such as inspection, logistics, and service. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a first-view schematic diagram of the mobile chassis provided in this application.

[0038] Figure 2 This is a second-view schematic diagram of the mobile chassis provided in this application.

[0039] Figure 3 A third-view schematic diagram of the mobile chassis provided in this application.

[0040] Figure 4 A first-person perspective diagram of the embodied subject provided in this application.

[0041] Figure 5 for Figure 4 A magnified schematic diagram of part A in the middle.

[0042] Figure 6 for Figure 4 A magnified view of part B in the middle.

[0043] Figure 7 A second-view diagram of the embodied subject provided in this application.

[0044] Figure 8 A third-person perspective diagram of the embodied subject provided in this application.

[0045] Figure 9 A schematic diagram of the first travel restriction provided for this application.

[0046] Figure 10 A schematic diagram of the second travel restriction provided for this application.

[0047] Figure 11A first-person view diagram of the walking mechanism provided in this application.

[0048] Figure 12 A first-view structural diagram of the drive wheel provided in this application.

[0049] Figure 13 A schematic diagram of the second-view structure of the drive wheel provided in this application.

[0050] Figure 14 A third-view structural diagram of the drive wheel provided in this application.

[0051] Figure 15 for Figure 14 A magnified schematic diagram of point C in the middle section.

[0052] Figure 16 A schematic diagram of the overall structure of the embodied robot provided in this application.

[0053] Explanation of reference numerals in the attached figures: 100. Mobile chassis; 110. Chassis body; 120. Traveling wheel assembly; 122. Linkage mechanism; 123. Slewing bearing; 130. Chassis limiting structure; 131. First limiting block; 200. Main body; 210. Base; 220. Robot body; 230. Connecting section; 241. Second limiting block; 251. Sliding groove; 252. Slider; 261. Third limiting block; 262. Limiting scraper; 300. Walking mechanism; 310. Drive wheel; 320. Drive unit; 321. First motor; 322. First transmission assembly; 330. Rotation unit; 331. Steering motor; 332. Steering connecting frame; 333. Steering transmission assembly; 334. First friction wheel; 335. Second friction wheel; 340. Steering limiting structure; 341. First limiting protrusion; 342. Second limiting protrusion; 343. Position sensor; 344. Approach ring. Detailed Implementation

[0054] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0057] Example 1 See Figures 1 to 16 This embodiment provides a embodied robot, including a mobile chassis 100 and an embodied body 200.

[0058] Please refer to Figures 1 to 3 The mobile chassis 100 includes a chassis body 110 and at least one set of travel wheels 120 mounted on the chassis body 110. The chassis body 110 is a plate-like or frame-like structure, serving as the load-bearing base of the mobile chassis 100. The main body 200 is mounted on top of the chassis body, and the travel wheels 120 are mounted on the bottom or sides. In this embodiment, two sets of travel wheels 120 are used as an example. The two sets of travel wheels 120 are respectively arranged in front of and behind the chassis body 110 in the direction of travel, forming a four-wheel layout. It should be noted that the number of travel wheels 120 can also be three or more sets to adapt to different load-bearing capacities and obstacle-crossing requirements.

[0059] The same travel wheel assembly 120 includes two oppositely arranged travel wheels and a linkage mechanism 122. The two travel wheels are arranged opposite each other along the left-right direction of the chassis body 110, namely, a left travel wheel on the left and a right travel wheel on the right. The travel wheels can be drive wheels, directly driven by a hub motor; or they can be driven wheels, connected to a drive motor mounted on the chassis body 110 via a transmission shaft. The linkage mechanism 122 is a bridge frame, which is a long, rigid component made of steel, aluminum alloy, or other metal materials with sufficient strength and rigidity. The bridge frame extends laterally along the chassis body 110, with its left end fixedly connected to the axle of the left travel wheel and its right end fixedly connected to the axle of the right travel wheel, so that the two travel wheels and the bridge frame form an integral rigid structure, and the two travel wheels are kinematically coupled through the bridge frame.

[0060] The cable tray is rotatably connected to the chassis body 110 via a slewing bearing 123 at its center. The slewing bearing 123 is an annular slewing bearing with a small axial height, allowing it to be compactly fitted into the connection area between the cable tray and the chassis body 110. The slewing bearing 123 includes a first ring, a second ring, and rolling elements disposed between the first and second rings. The first ring is fixedly connected to the chassis body 110 by bolts or other fasteners. The second ring is embedded within the inner ring of the first ring and is also fixedly connected to the cable tray by bolts or other fasteners. The rolling elements are several steel balls or cylindrical rollers, evenly distributed circumferentially within the annular raceway between the first and second rings. The rolling elements are separated by cages to ensure uniform spacing and smooth movement between them.

[0061] When the mobile chassis 100 travels on uneven ground, if one of the travel wheels encounters a protruding obstacle and is forced to rise, that travel wheel drives the bridge frame to rotate around the slewing bearing 123. The other end of the bridge frame then moves downwards, forcing the opposite travel wheel, connected to the other end of the bridge frame, to press down onto the ground until it contacts the ground and forms support. Thus, a passive linkage similar to a seesaw is formed between the two opposing travel wheels. Regardless of how the terrain on both sides undulates, the two travel wheels can always simultaneously contact and support the ground, preventing the wheels from being suspended in the air.

[0062] A chassis limiting structure 130 is also provided between the chassis body 110 and the cable tray. The chassis limiting structure 130 includes a first limiting block 131, which is fixedly connected to the chassis body 110 and extends toward the cable tray. The first limiting block 131 is a block-shaped component, and its material can be metal or hard engineering plastic. When the cable tray swings to the preset lower limit of the stroke driven by the travel wheels, the upper surface or side surface of the cable tray abuts against the lower end face or front end face of the first limiting block 131. The first limiting block 131 applies a reverse supporting force to the cable tray, preventing the cable tray from continuing to rotate downward, thereby limiting the downward swing of the cable tray within a safe range and preventing the cable tray from overturning, which would cause the travel wheels to fail to return to the ground normally, or the cable tray to collide and be damaged with the chassis body 110. The contact surface of the first limiting block 131 facing the cable tray can be set as an inclined surface or an arc surface, so that the cable tray can make contact with the first limiting block 131 more smoothly when it approaches the limit position, reducing rigid impact and collision noise.

[0063] Please refer to Figures 4 to 8 The embodied body 200 includes a base 210, a robot body 220, and at least two connecting sections 230. The base 210 is a plate-like or frame-like structure, which is fixedly connected to the chassis body 110 of the mobile chassis 100 by bolts, welding, or other means, serving as the mounting base for the embodied body 200. The robot body 220 is located above the base 210, and the robot body 220 can carry sensor modules (such as LiDAR, depth cameras, ultrasonic sensors, etc.), a control motherboard, a power module, and actuators (such as robotic arms, gimbals, etc.).

[0064] Connecting segments 230 are connected in series between the base 210 and the robot body 220. This embodiment uses two connecting segments 230 as an example. The two connecting segments 230 are a first connecting segment 231 rotatably connected to the base 210, and a last connecting segment 232 rotatably connected to the robot body 220. The lower end of the first connecting segment 231 is rotatably connected to the base 210 via a connecting shaft. The axis of the connecting shaft extends perpendicular to the travel direction of the movable chassis 100, allowing the first connecting segment 231 to swing back and forth relative to the base 210 in the travel direction around the connecting shaft. The lower end of the last connecting segment 232 is rotatably connected to the upper end of the first connecting segment 231 via a connecting shaft. The axis of this connecting shaft also extends perpendicular to the travel direction, allowing the last connecting segment 232 to swing back and forth relative to the first connecting segment 231 in the travel direction around the connecting shaft. The bottom of the robot body 220 is rotatably connected to the upper end of the final connecting segment 232 via a connecting shaft. The axis of this connecting shaft also extends perpendicular to the direction of travel. The robot body 220 can swing back and forth about this connecting shaft relative to the final connecting segment 232 in the direction of travel. The axes of each connecting shaft do not coincide in space, so that the rotation centers of each swing stage are staggered, avoiding motion interference.

[0065] Multiple limiting units are respectively located between the base 210 and the adjacent connecting section 230, between the adjacent connecting sections 230, and between the robot body 220 and the adjacent connecting section 230. Each limiting unit is used to limit the rotation stroke of the corresponding connection.

[0066] Specifically, the limiting unit located between the base 210 and the first connecting section 231 includes two second limiting blocks 241. The two second limiting blocks 241 are positioned opposite each other on the front and rear sides of the first connecting section 231 in its swing direction, i.e., on the front and rear sides of the first connecting section 231, respectively. The second limiting blocks 241 are block-shaped components, fixedly connected to the base 210, and extend towards the first connecting section 231. When the first connecting section 231 swings forward to the end of its stroke, its front surface abuts against the front second limiting block 241; when the first connecting section 231 swings backward to the end of its stroke, its rear surface abuts against the rear second limiting block 241. The distance between the two second limiting blocks 241 determines the swing stroke range of the first connecting section 231, and the maximum swing angle can be flexibly set by adjusting the distance.

[0067] The limiting unit located between the robot body 220 and the end-segment connecting section 232 includes a sliding groove 251 and a slider 252. A rotating shaft is fixedly mounted on the bottom of the robot body 220, and the rotating shaft is rotatably connected to the upper end of the end-segment connecting section 232 via a bearing. The sliding groove 251 is formed on one end face of the rotating shaft, extending in an arc shape along the rotation direction of the robot body 220 relative to the end-segment connecting section 232, with the two ends of the sliding groove 251 spaced apart to form closed ends. The slider 252 is a columnar protrusion structure, fixedly mounted on the upper surface of the end-segment connecting section 232 facing the robot body 220, and extends into the sliding groove 251. When the robot body 220 swings back and forth, the slider 252 slides along an arc trajectory within the sliding groove 251, and is blocked when it reaches the closed end, thereby limiting the maximum stroke of the body's swing.

[0068] The limiting unit located between the first connecting section 231 and the last connecting section 232 includes a third limiting block 261 and a limiting scraper 262. The first connecting section 231 is a rod-shaped structure, and the last connecting section 232 is a frame structure. The lower end of the frame structure forms an opening to accommodate the rotation of the rod-shaped structure. The third limiting block 261 is fixedly mounted on the surface of the rod-shaped structure, and the limiting scraper 262 is fixedly mounted on one edge of the frame structure located at the opening. When the first connecting section 231 swings forward relative to the last connecting section 232 to its limit angle, the third limiting block 261 abuts against the limiting scraper 262; when the first connecting section 231 swings backward to its limit angle, the inner wall of the frame structure abuts against the other end of the rod-shaped structure away from the opening, forming an asymmetrical bidirectional limiting mechanism.

[0069] Multiple limiting units work together to form a multi-level swing limiting system. During obstacle crossing, the mobile chassis 100 absorbs and mitigates terrain impacts through the passive linkage of the bridge, keeping the wheels in constant contact with the ground. The residual swaying torque from the chassis is transmitted to the main body 200, driving the first connecting section 231 and the last connecting section 232 to swing back and forth around their respective connecting axes along the direction of travel. Each limiting unit independently constrains the swing stroke at the corresponding connection point, so that the swaying energy is attenuated layer by layer along the transmission path, and only a small residual sway reaches the robot body 220, thereby maintaining the posture stability of the robot body 220 and ensuring the accuracy of the sensors and actuators mounted on the body. The entire posture stabilization process relies entirely on the passive coordination of the mechanical structure, without the need for active control or external energy supply, resulting in a simple structure and high reliability.

[0070] Example 2 See Figures 9 to 9 Figure 15 Based on Example 1, this example further describes in detail the specific structure of the walking mechanism 300.

[0071] The mobile chassis 100 also includes a traveling mechanism 300. The traveling mechanism 300 is mounted below the chassis body 110 and is used to drive the mobile chassis 100 to move and steer. The traveling mechanism 300 includes a drive wheel 310, a drive unit 320, and a rotation unit 330.

[0072] The drive wheel 310 is the component of the traveling mechanism 300 that directly contacts the traveling surface, and consists of a hub and a tire. The hub is made of metal, such as aluminum alloy or steel, and has sufficient structural strength. The tire is fitted onto the outer circumference of the hub and is made of elastic and wear-resistant materials such as rubber or polyurethane to provide sufficient grip and shock absorption. The drive wheel 310 achieves its traveling function by rotating around its own horizontal axis, which is set in the horizontal direction.

[0073] The drive unit 320 drives the drive wheel 310 to rotate around its own horizontal axis. The drive unit 320 includes a first motor 321 and a first transmission assembly 322. The first motor 321 is the power source for driving the drive wheel 310 to rotate; preferably, it is a brushless DC motor or a servo motor, characterized by its small size, fast response, and high control precision. The first motor 321 is suspended on the side of the drive wheel 310 away from the travel surface, i.e., above the drive wheel 310, with its output shaft extending horizontally. The first transmission assembly 322 connects the output shaft of the first motor 321 to the axle of the drive wheel 310, and is used to transmit the power of the first motor 321 to the drive wheel 310. The first transmission assembly 322 can be in the form of belt drive, chain drive, or gear drive. In this embodiment, the first transmission assembly 322 is preferably a synchronous belt drive mechanism, including a first transmission wheel, a second transmission wheel, and a transmission belt. The first transmission wheel is fixedly mounted on the output shaft of the first motor 321, and the second transmission wheel is fixedly mounted on the shaft of the drive wheel 310. A transmission belt is tensioned and wound between the first and second transmission wheels. The transmission belt is preferably a synchronous belt, and the first and second transmission wheels are corresponding synchronous pulleys to ensure accurate transmission ratios and prevent slippage. When the first motor 321 rotates, it drives the first transmission wheel to rotate, which in turn drives the second transmission wheel to rotate synchronously via the transmission belt, thereby causing the drive wheel 310 to roll around its own axis, achieving propulsion.

[0074] The drive unit 320 also includes a first connecting frame, which extends vertically and is plate-shaped or frame-shaped. The lower end of the first connecting frame is the first end, and the upper end is the second end. A bearing is embedded inside the first end, and the inner ring of the bearing cooperates with the shaft of the drive wheel 310, so that the drive wheel 310 is rotatably supported on the first end of the first connecting frame through the bearing. The first motor 321 is fixed to the second end of the first connecting frame by bolts or other fasteners, and its output shaft extends horizontally after passing through a through hole in the first connecting frame and is fixedly connected to the first transmission wheel. The first connecting frame integrates the first motor 321, the first transmission assembly 322, and the drive wheel 310 into a single drive module, which has a compact structure and reduces the number of additional connecting parts.

[0075] The rotation unit 330 drives the drive wheel 310 and the drive unit 320 to rotate as a whole around a vertically set steering axis, thereby achieving steering adjustment. The steering axis is a virtual axis that is generally perpendicular to the running surface. The rotation unit 330 includes a steering motor 331, a steering connecting frame 332, and a steering transmission assembly 333.

[0076] The steering motor 331 is the power source for driving the drive wheel 310 to steer, and is preferably a brushless DC motor or a servo motor. The steering motor 331 is vertically arranged with its output shaft facing upwards. The steering connecting frame 332 is used to support the drive unit 320 and the drive wheel 310. The steering connecting frame 332 extends vertically and is plate-shaped or frame-shaped. The steering connecting frame 332 and the first connecting frame of the drive unit 320 have the same structure, that is, the first connecting frame is the steering connecting frame 332, so that when the steering connecting frame 332 rotates, it can drive the entire drive unit 320 and the drive wheel 310 to rotate together around the vertical steering axis. The upper end of the steering connecting frame 332 is connected to the steering transmission assembly 333.

[0077] The steering transmission assembly 333 includes a first friction wheel 334 and a second friction wheel 335. The first friction wheel 334 is fixedly sleeved on the output shaft of the steering motor 331 and rotates synchronously with the output shaft of the steering motor 331. The second friction wheel 335 is located on one side of the first friction wheel 334, and its outer edge is tightly pressed against the outer edge of the first friction wheel 334, achieving power transmission through friction. The contact surfaces of the first friction wheel 334 and the second friction wheel 335 are made of a high-friction coefficient material, such as polyurethane or rubber, to ensure sufficient friction to transmit steering torque. The second friction wheel 335 is fixedly connected to the upper end of the steering connecting frame 332 by bolts, flanges, or key connections.

[0078] When the steering motor 331 rotates, the output shaft drives the first friction wheel 334 to rotate. The first friction wheel 334 drives the second friction wheel 335 to rotate through friction, which in turn drives the steering connecting frame 332 and the drive unit 320 and the drive wheel 310 mounted on it to rotate around the vertical steering axis, thereby realizing steering adjustment. The friction transmission structure is simple, requires no gearbox, has small axial and radial dimensions, and has overload slippage characteristics, which can automatically slip when steering encounters resistance, protecting the steering motor 331 and transmission components from damage.

[0079] On the vertical projection plane, i.e., when viewed from top to bottom in the vertical direction, at least a portion of the structures of the first motor 321 of the drive unit 320, the first transmission wheel, the second transmission wheel, and the transmission belt in the first transmission assembly 322, as well as the steering motor 331, the first friction wheel 334, and the second friction wheel 335 of the rotation unit 330, are all located within the horizontal projection outline of the drive wheel 310. In other words, the core components of the drive unit 320 and the rotation unit 330 do not significantly expand outwards from the drive wheel 310 in the horizontal direction, but rather converge within the outline area of ​​the drive wheel 310. This layout significantly reduces the overall horizontal outer contour size of the walking mechanism 300, making the structure more compact and facilitating the deployment and movement of the mobile chassis 100 in narrow spaces. When multiple walking mechanisms 300 are arranged together on the chassis, the horizontal distance between them can be smaller, the overall outer contour of the chassis is more compact, and the space utilization efficiency of the entire machine is further improved.

[0080] Example 3 See Figures 12 to 15 Based on Embodiment 2, this embodiment further describes in detail the steering limit structure 340 and the position warning module in the rotation unit 330.

[0081] The rotation unit 330 also includes a steering limiting structure 340. The steering limiting structure 340 is used to mechanically limit the rotation angle of the second friction wheel 335 to prevent the steering angle from exceeding a preset safety range. The steering limiting structure 340 includes a first limiting protrusion 341 and a second limiting protrusion 342.

[0082] The first limiting protrusion 341 is fixed to the stationary reference component. The stationary reference component is a fixed part that does not rotate with the first friction wheel 334 or the second friction wheel 335, such as the mounting base of the steering motor 331, a bracket fixedly connected to the chassis body 110, or a fixed structure on the base plate. The first limiting protrusion 341 is a block-shaped or columnar protrusion structure, which is fixed to the stationary reference component by welding, bolting, or integral molding, and extends protruding in the direction of the second friction wheel 335.

[0083] The second limiting protrusion 342 is fixed to the end face or side of the second friction wheel 335 and rotates together with the second friction wheel 335. The second limiting protrusion 342 is a block-shaped or columnar protrusion structure, which is fixedly connected to the second friction wheel 335 by welding, bolting, or integral molding. The relative positions of the first limiting protrusion 341 and the second limiting protrusion 342 in the circumferential direction are preset so that within the normal turning angle range, the two maintain a distance in the circumferential direction and do not interfere with each other.

[0084] When the steering motor 331 drives the first friction wheel 334 to rotate, the first friction wheel 334 drives the second friction wheel 335 to rotate through friction. The second friction wheel 335 then drives the steering connecting frame 332, the drive unit 320, and the drive wheel 310 to rotate together around the vertical steering axis. When the steering angle reaches a preset limit angle, the second limiting protrusion 342 rotates with the second friction wheel 335 to abut against the first limiting protrusion 341, forming a rigid mechanical stop and preventing the second friction wheel 335 from continuing to rotate. Thus, the steering angle of the drive wheel 310 is limited to a preset safety range, preventing problems such as tangled connecting cables, damage to transmission components, or chassis instability caused by excessive steering angle.

[0085] The steering limiting structure 340 is integrated into the transmission space between the first friction wheel 334 and the second friction wheel 335. That is, the first limiting protrusion 341 and the second limiting protrusion 342 are both located in the gap area between the end face of the second friction wheel 335 and the stationary reference member. It does not occupy additional horizontal peripheral space of the traveling mechanism 300, which is consistent with the compact design concept of the traveling mechanism 300.

[0086] Furthermore, the rotation unit 330 also includes a position warning module. The position warning module includes a position sensor 343 and a proximity ring 344. The position sensor 343 is fixed to a stationary reference member, with its detection end facing the end face of the second friction wheel 335. The position sensor 343 can be a photoelectric sensor, a Hall sensor, or a micro switch, etc. The proximity ring 344 is an arc-shaped strip, its center coinciding with the rotation axis of the second friction wheel 335, and its arc length corresponding to the allowable rotational stroke of the drive wheel 310. The proximity ring 344 is fixedly mounted on the end face of the second friction wheel 335 and rotates synchronously with it. The proximity ring 344 has a discontinuous opening located at the notch between the two ends of its arc length.

[0087] Within the normal steering stroke range, the detection end of the position sensor 343 faces the arc surface of the approach ring 344, continuously detecting the presence of the approach ring 344 and outputting a first signal state. When the second friction wheel 335 rotates to near its limit angle, the opening edge of the approach ring 344 reaches the detection position of the position sensor 343, and the detection end of the position sensor 343 no longer detects the approach ring 344, the signal state changes, and a steering edge warning signal is generated. This warning signal is sent to the robot's control system, which can decelerate or stop the steering motor 331 in advance to avoid a violent collision between the second limiting protrusion 342 and the first limiting protrusion 341, and also to avoid fatigue damage to the transmission components caused by frequent rigid mechanical stops.

[0088] The electronic warning system, formed by the position sensor 343 and the approach ring 344, together with the mechanical limiting system formed by the first limiting protrusion 341 and the second limiting protrusion 342, constitutes a dual protection mechanism. The electronic warning serves as the first layer of protection, decelerating in advance when approaching the limit angle; the mechanical limiting system serves as the second layer of protection, providing a reliable hard stop in case the electronic warning fails or the response is untimely, ensuring steering safety. The position warning module is also integrated into the space between the first friction wheel 334 and the second friction wheel 335, without occupying additional horizontal peripheral space, and is consistent with the overall compact layout of the traveling mechanism 300.

[0089] Example 4 See Figures 4 to 8 Based on Embodiment 1, this embodiment further describes in detail the specific structure and installation method of the limiting unit located between the base 210 and the adjacent connecting section 230.

[0090] The limiting unit between the base 210 and the first connecting section 231 includes two second limiting blocks 241. The two second limiting blocks 241 are positioned opposite each other on both sides of the swing direction of the first connecting section 231, that is, on the front and rear sides of the first connecting section 231, respectively. The second limiting blocks 241 are block-shaped components, and their material can be metal (such as steel, aluminum alloy) or hard engineering plastic, with sufficient strength and wear resistance.

[0091] The base 210 is also equipped with two crossbeams, located at the front and rear sides of the first connecting section 231 in the swing direction, respectively. The crossbeams are long, strip-shaped structural members, with cross-sections that can be rectangular, I-shaped, or channel-shaped, etc., possessing high bending stiffness. The crossbeams extend along the left-right direction of the base 210 (i.e., perpendicular to the direction of travel) and can be fixedly connected to the base 210 by welding, bolting, or integral molding. The front crossbeam is located in front of the first connecting section 231, and the rear crossbeam is located behind the first connecting section 231.

[0092] Two second limiting blocks 241 are fixedly mounted on their respective crossbeams and extend towards the first connecting section 231. Specifically, the front second limiting block 241 is fixedly installed on the lower surface of the front crossbeam or on the side facing the first connecting section 231, and the rear second limiting block 241 is fixedly installed on the lower surface of the rear crossbeam or on the side facing the first connecting section 231. The second limiting blocks 241 can be fixedly connected to the corresponding crossbeams by welding, bolting, or integral molding. The extension length of the crossbeam can be greater than the width of the second limiting block 241, allowing for a certain left-right adjustment margin in the installation position of the second limiting block 241 on the crossbeam. This facilitates fine-tuning during assembly based on the actual position of the first connecting section 231 to precisely control the limiting point.

[0093] The crossbeam not only provides an independent and stable mounting base for the second limiting block 241, but also enhances the structural rigidity of the base 210. When the second limiting block 241 is subjected to the limiting impact of the first connecting section 231, the impact load is distributed to a larger area of ​​the base 210 through the crossbeam, preventing local stress concentration that could lead to deformation or damage to the base 210. Simultaneously, the crossbeam allows the second limiting block 241 to be installed without being directly on the main surface of the base 210; its installation position and angle can be flexibly adjusted according to the swing trajectory of the first connecting section 231, thus enabling more precise control of the limiting point.

[0094] When the mobile chassis 100 accelerates or decelerates during movement, or traverses undulating terrain, the first connecting section 231 swings back and forth around the connecting shaft between itself and the base 210. If the first connecting section 231 swings forward to its travel limit, the front surface of the first connecting section 231 abuts against the front second limiting block 241, preventing the first connecting section 231 from continuing to rotate forward. If the first connecting section 231 swings backward to its travel limit, the rear surface of the first connecting section 231 abuts against the rear second limiting block 241, preventing the first connecting section 231 from continuing to rotate backward. The distance between the two second limiting blocks 241 determines the range of the forward and backward swing of the first connecting section 231. This distance can be flexibly set according to design requirements by adjusting the installation position of the crossbeam or the fixed position of the second limiting blocks 241 on the crossbeam.

[0095] The second limiting block 241 has an abutting surface that abuts against the first connecting section 231. This abutting surface is the side of the second limiting block 241 facing the first connecting section 231. This abutting surface is not perpendicular to the horizontal plane of the base 210 or the crossbeam, but is processed or formed into an inclined surface with a certain angle. The inclination direction of the inclined surface is approximately tangent to or at a small angle to the swing trajectory of the first connecting section 231 when it is near the end of its stroke, so that when the first connecting section 231 swings to the end of its stroke, the surface of the first connecting section 231 and the abutting surface of the second limiting block 241 can fit together in a surface contact manner, rather than in point contact or line contact at the edges or corners.

[0096] The increased surface contact area significantly reduces the stress per unit area on the contact surface under the same limiting force. This mitigates surface wear, plastic deformation, or indentation during long-term repeated contact between the second limiting block 241 and the first connecting section 231, extending the service life of the limiting structure. Furthermore, the inclined surface provides guidance and cushioning. When the first connecting section 231 approaches its limit position, its surface initially contacts the inclined surface near the root. As the swing angle increases, the contact position gradually transitions towards the end of the inclined surface. This process is relatively gentle, reducing rigid impact and collision noise. The inclination angle of the inclined surface can be designed according to the required limiting and cushioning effect, typically forming an angle of 5° to 30° with the swing tangent direction of the first connecting section 231 at its limit position.

[0097] Furthermore, a buffer pad layer can be embedded or adhered to the abutment surface of the second limiting block 241. The buffer pad layer can be made of elastic materials such as rubber, polyurethane, or silicone, and is fixed to the abutment surface by means of bonding, snap-fitting, or vulcanization. The buffer pad layer can further absorb the impact energy when the first connecting section 231 abuts, reduce collision noise, reduce direct impact wear between metal parts, and at the same time provide a certain degree of flexible buffering for the limiting process, thereby improving the overall service life and smooth operation of the limiting structure.

[0098] In an optional embodiment, a mounting base may also be provided between the second limiting block 241 and the crossbeam. The mounting base is an independent connecting component, with one side fixedly connected to the crossbeam by bolts or welding, and the other side extending towards the first connecting section 231. The second limiting block 241 is fixedly connected to the mounting base. By providing the mounting base, the installation position and angle of the second limiting block 241 can be designed independently, without being limited by the structural shape of the crossbeam itself. This allows for more flexible adjustment of the relative position between the second limiting block 241 and the first connecting section 231, and precise control of the limiting point. The mounting base has an extension body of a certain length in the height direction of the chassis body 110. This extension body increases the cross-sectional dimensions of the mounting base in the height direction, thereby improving the bending section modulus of the mounting base itself, making it less prone to bending deformation when subjected to the impact force transmitted from the second limiting block 241. There is a gap between the side wall of the mounting base facing the first connecting section 231 and the corresponding surface of the first connecting section 231. This gap provides the first connecting section 231 with interference-free movement space within its normal swing range, ensuring that the first connecting section 231 can swing freely before reaching the end of its stroke without rubbing or colliding with the mounting base.

[0099] Example 5 See Figures 4 to 8 Based on Embodiment 1, this embodiment further describes in detail the specific structure of the limiting unit provided between adjacent connecting segments 230, as well as the construction details of the connecting segments 230.

[0100] Of two adjacent connecting segments 230, the lower one is a rod-like structure, and the upper one is a frame structure. Taking the first connecting segment 231 and the last connecting segment 232 as examples, the first connecting segment 231 is a rod-like structure with a circular, rectangular, or irregular cross-section, having a small lateral dimension to facilitate insertion into the opening of the frame structure. The material of the first connecting segment 231 can be steel or aluminum alloy, or other metal materials with sufficient strength and rigidity. The last connecting segment 232 is a frame structure, with an opening formed in the middle or lower part of the frame structure to accommodate the rotation of the rod-like structure. This opening extends along the height direction, and its width is greater than the lateral dimension of the rod-like structure, allowing the rod-like structure to rotate freely around the connecting axis within the opening at a certain angle. The inner walls on both sides of the opening respectively constitute the limiting boundaries for the rod-like structure to swing in the front-back direction.

[0101] The limiting unit located between adjacent connecting sections 230 includes a third limiting block 261 and a limiting scraper 262. The third limiting block 261 is a block-shaped protrusion fixedly disposed on the surface of the rod-shaped structure. Specifically, the third limiting block 261 can be disposed on the side wall of the rod-shaped structure facing the opening, or on the front or back of the rod-shaped structure, and its position is determined according to the required limiting direction and stroke. The material of the third limiting block 261 can be the same as that of the rod-shaped structure, and it can be fixedly connected to the rod-shaped structure by welding, threaded connection, or integral molding to ensure a firm connection and withstand repeated limiting impacts.

[0102] The limiting scraper 262 is a plate-shaped component, fixedly mounted on one edge of the frame structure at the opening. One end of the limiting scraper 262 is fixedly connected to the frame body of the frame structure, and the connection method can be welding, bolting, or integral molding. The other end of the limiting scraper 262 extends into the opening, so that the extended end of the limiting scraper 262 is located on the swing path of the third limiting block 261 on the rod-shaped structure. The extension length and extension angle of the limiting scraper 262 can be designed according to the required swing stroke. By adjusting the fixed position or extension length of the limiting scraper 262 at the edge of the opening, the swing stroke limit on that side can be flexibly changed.

[0103] When the rod-like structure swings to one side (e.g., forward) relative to the frame structure to its limit angle, the third limiting block 261 moves with the rod-like structure to abut against the extended end of the limiting scraper 262. The limiting scraper 262 prevents the third limiting block 261 from continuing to move, thereby restricting the rod-like structure from swinging forward further. When the rod-like structure swings to the other side (e.g., backward) relative to the frame structure to its limit angle, the other end of the rod-like structure away from the opening (i.e., the outer wall of the rod-like structure opposite the opening) directly abuts against the inner wall of the frame structure. The inner wall of the frame structure prevents the rod-like structure from swinging backward further.

[0104] This asymmetrical bidirectional limiting method utilizes the cooperation of the third limiting block 261 and the limiting scraper 262 on one side to achieve precise limiting, while the inner wall of the frame structure itself serves as the limiting surface on the other side. This fully reuses the existing contour of the frame structure, eliminating the need for separate limiting blocks and scrapers on both sides, reducing the number of parts, and resulting in a simpler and more compact structure. Furthermore, the contact surface between the inner wall of the frame structure and the other end of the rod-like structure can be designed as an inclined or curved surface to increase the contact area, reduce contact stress, and extend service life.

[0105] In actual assembly, the swing stroke limits on both sides can be flexibly set by adjusting the fixed position of the third limiting block 261 on the rod-shaped structure, or by adjusting the installation angle and extension length of the limiting scraper 262 at the edge of the opening, to adapt to the swing amplitude requirements of the connecting section in different application scenarios. The entire limiting unit is integrated at the rotational connection of the adjacent connecting sections 230 without adding extra external dimensions, maintaining the structural compactness of the main body 200. Figure 9 and Figure 10 As shown, these are the extreme positions of the two travel limits of the embodied robot.

[0106] Example 6 See Figures 1 to 16 Based on any of the above embodiments, this embodiment further describes in detail the overall collaborative working method and posture stabilization process of the embodied robot.

[0107] When the embodied robot travels on uneven ground in scenarios such as inspection, logistics, and service, the mobile chassis 100 and the embodied body 200 work together to maintain the stability of the robot body 220.

[0108] Specifically, when the mobile chassis 100 travels on uneven ground, one of the travel wheels in the travel wheel assembly 120 rises upon encountering an obstacle. For example, if the left travel wheel encounters a raised obstacle, it is forced to rise, causing the bridge frame to rotate around the slewing bearing 123. Since the bridge frame is a rigid component, its right end moves downwards, forcing the right travel wheel to press down onto the ground until it contacts and provides support. During this process, the impact generated by the chassis overcoming obstacles is absorbed and mitigated by the passive linkage of the bridge frame, rather than being entirely rigidly transmitted to the upper structure. Regardless of the undulations of the terrain on both sides, both travel wheels can always simultaneously adhere to and support the ground, preventing the wheels from dangling and losing traction.

[0109] Rolling friction is achieved between the inner and outer rings of the slewing bearing 123 through rolling elements, making the bridge frame swing flexibly and smoothly with low frictional resistance. The first limit block 131 of the chassis limiting structure 130 provides a mechanical stop when the bridge frame swings to the lower limit of its stroke, ensuring that the bridge frame does not overturn and guaranteeing the reliability of the chassis in extreme terrain.

[0110] The swaying torque generated during the movement of the mobile chassis 100 is transmitted to the main body 200. Since the rotation axes of each connecting segment 230 are perpendicular to the direction of travel, the swaying torque drives the first connecting segment 231 and the last connecting segment 232 to swing back and forth along the direction of travel around their respective connecting axes. The graded swinging of each connecting segment 230 decomposes the swaying torque into multiple small-amplitude movements, rather than concentrating it in a single joint, thus reducing the amplitude of swaying at its source. The axes of each connecting shaft are not spatially coincident, ensuring that the rotation centers of each stage of swinging are staggered, avoiding motion interference.

[0111] During this process, two second limiting blocks 241 located between the base 210 and the first connecting section 231 respectively limit the forward and backward swing limits of the first connecting section 231. When the first connecting section 231 swings forward or backward to the end of its stroke, it abuts against the corresponding second limiting block 241, preventing it from continuing to swing. The second limiting block 241 is fixedly connected to the base 210 via a crossbeam, which distributes the limiting impact load to a larger area of ​​the base 210, avoiding local stress concentration. The contact surface of the second limiting block 241 is inclined, forming a surface contact with the first connecting section 231, reducing wear and impact noise.

[0112] The limiting unit located between the first connecting section 231 and the last connecting section 232 achieves limiting on one side through the abutment of the third limiting block 261 and the limiting scraper 262, and on the other side through the abutment of the inner wall of the frame structure of the last connecting section 232 with the end of the first connecting section 231 away from the opening. This asymmetrical bidirectional limiting method makes full use of the existing contour of the frame structure and reduces the number of parts.

[0113] A sliding groove 251 and a slider 252, located between the robot body 220 and the end-segment connecting section 232, integrate the limiting structure inside the rotating connection. The slider 252 slides along an arc trajectory within the sliding groove 251, and is blocked when it reaches the closed end, limiting the maximum stroke of the body's swing. The sliding groove 251 is formed on the end face of the rotating shaft, which serves as both a rotating connector and a limiting carrier, simplifying the structure with its multi-functional design.

[0114] Each limiting unit restricts the swing angle of the corresponding connecting segment within a preset safety range, so that the swaying energy is gradually attenuated through multiple limiting stages before being transmitted to the robot body 220. Ultimately, only a small residual sway reaches the robot body 220, thereby maintaining the stability of the robot body 220's posture. This provides a stable sensing platform for sensors such as LiDAR and depth cameras mounted on the body, and provides a precise operating basis for actuators such as robotic arms.

[0115] Meanwhile, during travel and steering, at least a portion of the structures of the first motor 321 and first transmission assembly 322 of the drive unit 320, the steering motor 331 of the rotation unit 330, the first friction wheel 334, and the second friction wheel 335 are always located within the contour area of ​​the drive wheel 310 on the vertical projection plane. This results in a compact overall chassis profile without increasing the horizontal footprint of the chassis, providing more space for the layout of the upper main body 200. The steering limit structure 340 and the position warning module together constitute dual protection to ensure safe and reliable steering.

[0116] The aforementioned three systems work in concert: the passive obstacle-crossing mechanism of the mobile chassis 100, the multi-stage swing limiting mechanism of the main body 200, and the compact design of the walking mechanism 300. The swaying torque generated when the chassis crosses obstacles is not directly and rigidly transmitted to the body. Instead, the passive linkage of the bridge first absorbs and mitigates part of the terrain impact. Then, through the graded swinging of each connecting section 230 and the progressive constraint of the limiting units, the swaying energy is attenuated layer by layer along the transmission path, ultimately resulting in only a small sway reaching the robot body 220. The entire process relies entirely on the passive coordination of the mechanical structure, requiring no active control or external energy supply, thus ensuring the posture stability of the robot body 220 in complex terrain.

[0117] Example 7 Based on any of the above embodiments, this embodiment further illustrates a method for stabilizing the posture of an embodied robot.

[0118] The attitude stabilization method provided in this embodiment is applied to the automaton robot in any of the above embodiments. The method includes the following steps: In the first step, when the mobile chassis 100 travels on uneven ground, one of the travel wheels in the travel wheel set 120 is lifted when it encounters an obstacle. Through the linkage mechanism 122, the other travel wheel in the same set is forced to press down and stick to the ground, so as to keep the travel wheels on both sides in contact with the ground at all times.

[0119] Specifically, when one of the travel wheels encounters a protruding obstacle and is forced to rise, the travel wheel drives the bridge frame to rotate around the slewing bearing 123, and the other end of the bridge frame moves downward, forcing the opposite travel wheel to press down onto the ground. The slewing bearing 123 allows the bridge frame to swing flexibly and smoothly, and the chassis limiting structure 130 provides a mechanical stop when the bridge frame swings to the lower limit of its stroke to prevent excessive overturning.

[0120] The second step involves transmitting the swaying torque generated during the movement of the mobile chassis 100 to the main body 200, which in turn drives each connecting segment 230 to swing around its corresponding rotating connection point along the direction of travel.

[0121] Specifically, the swaying torque drives the first connecting segment 231 to sway back and forth around the connecting axis between it and the base 210, drives the last connecting segment 232 to sway back and forth around the connecting axis between it and the first connecting segment 231, and drives the robot body 220 to sway back and forth around the connecting axis between it and the last connecting segment 232. The axes of each connecting axis extend perpendicularly to the direction of travel and do not coincide with each other, so that the rotation centers of each sway are staggered to avoid motion interference.

[0122] The third step involves setting multiple limiting units between the base 210 and the adjacent connecting section 230, between adjacent connecting sections 230, and between the robot body 220 and the adjacent connecting section 230, to independently constrain the swing stroke at each connection point, and to transmit the swaying energy to the robot body 220 after being attenuated step by step through multiple limiting levels, so as to maintain the stability of the robot body 220's posture.

[0123] Specifically, two second limiting blocks 241 located between the base 210 and the first connecting segment 231 respectively limit the forward and backward swing limits of the first connecting segment 231; a third limiting block 261 and a limiting scraper 262 located between the first connecting segment 231 and the last connecting segment 232 limit the relative swing stroke between the two connecting segments in an asymmetrical bidirectional limiting manner; and a sliding groove 251 and a slider 252 located between the robot body 220 and the last connecting segment 232 limit the body swing within the range defined by the closed ends of the sliding groove 251.

[0124] The three steps described above are organically linked into a complete attitude stabilization process. The swaying torque generated when the chassis overcomes obstacles is not directly and rigidly transmitted to the body. Instead, the linkage mechanism 122 first absorbs and mitigates part of the terrain impact. Then, through the graded swinging of each connecting section 230 and the progressive constraints of the limiting units, the swaying energy is attenuated layer by layer along the transmission path, ultimately resulting in only a residual small sway reaching the robot body 220. The entire process relies entirely on the passive coordination of the mechanical structure, requiring no active control or external energy supply, thus ensuring the attitude stability of the robot body 220 in complex terrain and providing a stable working platform for the sensors and actuators mounted on the body.

[0125] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A body-worn robot, characterized in that, include: A mobile chassis (100) includes a chassis body (110) and at least one set of driving wheels (120) disposed on the chassis body (110). At least two driving wheels of the same set of driving wheels (120) are connected by a linkage mechanism (122). The linkage mechanism (122) is rotatably connected to the chassis body (110) so that when one driving wheel of the set of driving wheels (120) encounters an obstacle and is lifted, the other driving wheel is linked down and supported on the ground. The body body (200) includes a base (210), a robot body (220), and at least two connecting segments (230). The base (210) is fixedly connected to the mobile chassis (100). The connecting segments (230) are connected in series between the base (210) and the robot body (220). The connecting segments (230) are rotatably connected to each other and to the base (210) and the robot body (220). Multiple limiting units are respectively disposed between the base (210) and the adjacent connecting segment (230), between the adjacent connecting segments (230), and between the robot body (220) and the adjacent connecting segment (230), and each limiting unit is used to limit the rotation stroke of the corresponding connection.

2. The embodied robot according to claim 1, characterized in that, The linkage mechanism (122) is a bridge frame, with its two ends fixedly connected to the two traveling wheels respectively, and its middle part rotatably connected to the chassis body (110) through a slewing bearing (123).

3. The embodied robot according to claim 2, characterized in that, A chassis limiting structure (130) is provided between the chassis body (110) and the cable tray. The chassis limiting structure (130) includes a first limiting block (131). The first limiting block (131) is fixedly connected to the chassis body (110) and extends toward the cable tray. When the cable tray rotates to the lower limit of its stroke, it abuts against the first limiting block (131) to limit the rotation stroke of the cable tray.

4. The embodied robot according to claim 1, characterized in that, The limiting unit located between the base (210) and the adjacent connecting segment (230) includes two second limiting blocks (241). The two second limiting blocks (241) are disposed opposite each other on both sides of the swing direction of the corresponding connecting segment (230). When the connecting segment (230) swings to the end of its stroke, it abuts against the corresponding second limiting block (241).

5. The embodied robot according to claim 1, characterized in that, The limiting unit located between the robot body (220) and the adjacent connecting segment (230) includes a sliding groove (251) and a slider (252). The sliding groove (251) is formed on the periphery of the connection between the robot body (220) and the corresponding connecting segment (230). The slider (252) is fixedly mounted on the corresponding connecting segment (230) and extends into the sliding groove (251). The two ends of the sliding groove (251) form closed ends to limit the sliding range of the slider (252).

6. The embodied robot according to claim 1, characterized in that, Of the two adjacent connecting segments (230), one is a rod-shaped structure and the other is a frame structure. One end of the frame structure has an opening to accommodate the rotation of the rod-shaped structure. The limiting unit between the adjacent connecting segments (230) includes a third limiting block (261) on the surface of the rod-shaped structure and a limiting scraper (262) on the frame structure located on the side of the opening. When one side is turned and limited, the third limiting block (261) abuts against the limiting scraper (262). When the other side is turned and limited, the frame structure abuts against the other end of the rod-shaped structure away from the opening.

7. The embodied robot according to claim 1, characterized in that, The mobile chassis (100) also includes a walking mechanism (300), which includes a drive wheel (310), a drive unit (320), and a rotation unit (330). The drive unit (320) is used to drive the drive wheel (310) to rotate around its own axis, and the rotation unit (330) is used to drive the drive wheel (310) and / or the drive unit (320) to rotate around a vertically arranged steering axis. On the vertical projection plane, at least a portion of the structure of the drive unit (320) and / or the rotation unit (330) overlaps with the projection area of ​​the drive wheel (310).

8. The embodied robot according to claim 7, characterized in that, The rotating unit (330) includes a steering motor (331), a steering connecting frame (332), and a steering transmission assembly (333). The steering transmission assembly (333) includes a first friction wheel (334) and a second friction wheel (335). The first friction wheel (334) is driven to the output shaft of the steering motor (331), and the second friction wheel (335) is driven to the first friction wheel (334) and fixedly connected to the steering connecting frame (332). The steering connecting frame (332) is used to support the drive unit (320) and the drive wheel (310).

9. The embodied robot according to claim 8, characterized in that, The rotating unit (330) further includes a steering limiting structure (340), which includes a first limiting protrusion (341) and a second limiting protrusion (342). The first limiting protrusion (341) is fixed on a stationary reference member, and the second limiting protrusion (342) is fixedly connected to the second friction wheel (335). The first limiting protrusion (341) and the second limiting protrusion (342) cooperate to limit the rotation of the second friction wheel (335).

10. A method for stabilizing the posture of an embodied robot, characterized in that, Applied to the animate robot as described in any one of claims 1-9, the method comprises: When the mobile chassis (100) travels on uneven ground, one of the travel wheels in the travel wheel set (120) is lifted when it encounters an obstacle, and the other travel wheel in the same set is forced to press down and stick to the ground through the linkage mechanism (122) so as to keep the two travel wheels on both sides ground at all times. The swaying torque generated by the mobile chassis (100) during its movement is transmitted to the main body (200), driving each of the connecting segments (230) to swing around the corresponding rotational connection point along the direction of travel. Multiple limiting units are provided between the base (210) and the adjacent connecting section (230), between the adjacent connecting sections (230), and between the robot body (220) and the adjacent connecting section (230), respectively constraining the swing stroke at each connection point, and transmitting the swaying energy to the robot body (220) after being attenuated step by step through multiple limiting levels, so as to maintain the stability of the robot body (220).

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