Multifunctional robot

Abstract

According to the multifunctional robot, a base body is driven to move through a movable part, one end of a transmission part is connected with the base body, the other end of the transmission part is connected with an executing mechanism, and the tail end of the executing mechanism is used for installing an image collecting part. The driving mechanism is used for adjusting the position relation of at least one of the base body, the movable part and the transmission part so that the multifunctional robot can conduct image collection in different environments. The position or angle of at least one of the base body, the movable part and the transmission part is adjusted through the driving mechanism, so that the multifunctional robot can adjust the angle and height of the image acquisition part, the supporting position of the base body and the like by adjusting the position or angle between the base body and the transmission part and the positions of the base body and the movable part; and the flexibility of the multifunctional robot is high, so that the multifunctional robot can perform image acquisition in different application scenes, and the practicability of the multifunctional robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a multifunctional robot. Background Art

[0002] With the rapid development of science and technology, electronic technology is constantly developing, and intelligent devices are attracting more and more attention from people. Science and technology and intelligence make people's lives more and more convenient. Existing household robots, such as remote monitoring robots and pet entertainment robots, are usually only focused on a certain function due to their poor flexibility. They cannot meet people's requirements for improving the quality of life in an all-round way, reduce the user experience, and are not conducive to the further development of robots. Utility Model Content

[0003] In order to solve the technical problem of poor flexibility in the prior art, the present application provides a multifunctional robot.

[0004] In order to solve the technical problems existing in the prior art, the present application provides a multifunctional robot, including a base, a movable part, a transmission part, an actuator and a driving mechanism. The movable part is arranged on the base to drive the base to move; the end of the actuator is used to install an image acquisition part; one end of the transmission part is connected to the base, and the other end of the transmission part is connected to the actuator; the driving mechanism is used to adjust the position or angle of at least one of the base, the movable part and the transmission part.

[0005] Optionally, the driving mechanism is used to adjust the angle between the base and the transmission member so that the base is located in the first state or the second state.

[0006] Optionally, when the base is in the first state, the base is used to support the actuator and the transmission member; when the base is in the second state, the movable member is used to support the base.

[0007] Optionally, the base includes a first support member, a second support member and a third support member, the second support member is arranged at one end of the first support member, the third support member is arranged at the other end of the first support member, the movable member is arranged on the first support member, and the actuator is respectively connected to the second support member and the third support member through the transmission member; the driving mechanism is used to adjust the angle between the second support member, the third support member and the transmission member.

[0008] Optionally, the multifunctional robot includes two transmission members, the driving mechanism includes a second motor, the two transmission members are respectively connected to the second support member and the third support member through the second motor, and the second motor is used to adjust the angle between the base and the transmission member.

[0009] Optionally, the multifunctional robot is in the first state, the multifunctional robot is used to be loaded on an external device and to perform mobile acquisition through the image acquisition component, and the base is detachably connected to the external device.

[0010] Optionally, the driving mechanism further includes a first motor, the first motor is connected to the movable part, and the first motor is used to drive the movable part to rotate, so as to drive the multifunctional robot to move.

[0011] Optionally, the multifunctional robot further includes a control panel, which is respectively connected to the driving mechanism and the actuator, and is used to control the rotation of the first motor based on a driving instruction so that the image acquisition component can acquire images based on a preset subject.

[0012] Optionally, the movable part comprises two driving wheels and a driven wheel, the two driving wheels are respectively connected to opposite sides of the base, and the driven wheel is connected to the base and is located between the two driving wheels.

[0013] Optionally, the driving mechanism further includes a third motor, and the other end of the transmission member is connected to the actuator via the third motor, and the third motor is used to rotate the actuator.

[0014] Compared with the prior art, the multifunctional robot of the present application drives the base to move through the movable part, one end of the transmission part is connected to the base, the other end of the transmission part is connected to the actuator, the end of the actuator is used to install the image acquisition part, and the driving mechanism is used to adjust the position relationship of at least one of the base, the movable part and the transmission part, so that the multifunctional robot can perform image acquisition in different environments. The present application adjusts the position or angle of at least one of the base, the movable part and the transmission part through the driving mechanism, so that the multifunctional robot can adjust the angle, height, support position of the base, etc. of the image acquisition part by adjusting the position or angle between the base and the transmission part, the position of the base and the movable part. The multifunctional robot has high flexibility, so that the multifunctional robot can perform image acquisition in different application scenarios, thereby improving the practicality of the multifunctional robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a structural schematic diagram of a first embodiment of the multifunctional robot provided by the present application;

[0017] Figure 2 is a structural schematic diagram of a second embodiment of the multifunctional robot provided by the present application;

[0018] Figure 3 yes Figure 1 Schematic diagram of the structure of the multifunctional robot loaded with external equipment. DETAILED DESCRIPTION

[0019] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present application.

[0020] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "set", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, the directional indications are only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0022] See also Figure 1 , Figure 1Schematic diagram of the structure of the first embodiment of the multifunctional robot provided by the present application. Figure 1 As shown, the multifunctional robot 10 of the embodiment of the present application includes a base 11, a movable part 12, a transmission part 13, an actuator 14 and a driving mechanism (not shown).

[0023] The movable part 12 is arranged on the base 11, and is used to drive the base 11 to move; one end of the transmission member 13 is connected to the base 11, and the other end of the transmission member 13 is connected to the actuator 14, and the end of the actuator 14 is used to install an image acquisition component (not shown); the driving mechanism is used to adjust the position or angle of at least one of the base 11, the movable part 12 and the transmission member 13.

[0024] Specifically, the movable part 12 includes but is not limited to a structure that drives the base 11 to move by power, such as a power wheel, a Mecanum wheel, and a bionic joint. Exemplarily, when the movable part 12 is a power wheel, the movable part 12 can drive the base 11 to move by wheeled movement. The movable part 12 can also be provided with two power wheels or four power wheels to move according to the corresponding kinematic principles; or, the movable part 12 is a bionic multi-legged joint, and the movable part 12 drives the base 11 to move by foot-like movement. The transmission part 13 is used to connect the base 11 and the actuator 14. The end of the actuator 14 is equipped with an image acquisition part. The image acquisition part includes but is not limited to mobile phones, tablet computers, cameras, industrial cameras and other devices capable of image acquisition.

[0025] In one embodiment, the multifunctional robot 10 is placed on a plane, and the driving mechanism is connected to the base 11 and / or the transmission member 13. The driving mechanism is used to adjust the position or angle between the base 11 and the transmission member 13 to change the acquisition angle and height of the image acquisition member, or change the support position of the base 11 and the plane, so that the multifunctional robot 10 is placed on the plane in different postures. In another embodiment, the driving mechanism is connected to the movable member 12, and the driving mechanism is used to drive the movable member 12 to rotate to adjust the position of the movable member 12 and drive the base 11 to move, and the image acquisition member is used to perform image acquisition or video recording during the movement. In another embodiment, the driving mechanism is connected to the base 11, the transmission member 13 and the movable member 12, and the driving mechanism is used to adjust the position or angle between the base 11 and the transmission member 13 to adjust the support position of the multifunctional robot 10, and realize the movement of the multifunctional robot 10 by driving the movable member 12, so that the multifunctional robot 10 of this embodiment can be applied to a variety of scenes at different support positions, with high flexibility.

[0026] In the embodiment of the present application, the multifunctional robot 10 adjusts the position or angle of at least one of the base 11, the movable part 12 and the transmission part 13 through the driving mechanism, so that the multifunctional robot 10 can adjust the angle, height, support position of the base 11, etc. of the image acquisition part by adjusting the position or angle between the base 11 and the transmission part 13, and the position of the base 11 and the movable part 12. The multifunctional robot 10 has high flexibility, so that the multifunctional robot 10 can perform image acquisition in different application scenarios, thereby improving the practicality of the multifunctional robot 10.

[0027] In one embodiment, the driving mechanism is used to adjust the angle between the base 11 and the transmission member 13 so that the base 11 is located in the first state or the second state.

[0028] Specifically, the driving mechanism may be connected to at least one of the base 11 and the transmission member 13. For example, the driving mechanism may be connected to the base 11, and the driving mechanism is used to drive the base 11 to rotate along the transmission member 13. Alternatively, the driving mechanism may also be connected to the transmission member 13, and the driving mechanism is used to drive the transmission member 13 to rotate along the base 11. Alternatively, the driving mechanism may be arranged between the transmission member 13 and the base 11, and the driving mechanism is used to drive the base 11 and the transmission member 13 to rotate relative to each other. The first state and the second state of the base 11 are used to indicate the supporting position of the base 11 when the base 11 and the transmission member 13 are in different states. For example, the first state may indicate that the base 11 is supported on a certain plane, and the second state may indicate that the base 11 is supported on a certain plane through the movable member 12, and the movable member 12 contacts the plane and drives the base 11 to move.

[0029] In the embodiment of the present application, the angle between the base 11 and the transmission member 13 is adjusted by the driving mechanism, so that the base 11 is in a first state supported on a plane, or the base 11 is in a second state supported by the movable member 12; in the first state, the multifunctional robot 10 can be suitable for application scenarios where it is fixedly placed at a certain position for image acquisition, and in the second state, the multifunctional robot 10 can be moved to different positions by the movable member 12, which is suitable for application scenarios where mobile shooting is required. Therefore, the multifunctional robot 10 of this embodiment can perform image acquisition in different application scenarios, with high flexibility and strong practicality.

[0030] Optionally, see Figure 2 and Figure 3 , Figure 2 is a structural schematic diagram of a second embodiment of the multifunctional robot provided by the present application, Figure 3 yes Figure 1 Schematic diagram of the structure of the multifunctional robot loaded with external equipment. Figure 1As shown, when the base 11 is in the first state, the base 11 is used to support the actuator 14 and the transmission member 13, so that the multifunctional robot 10 can be placed on a certain plane. At this time, the contact surface of the base 11 with the ground can be a side of the base 11 away from the movable member 12, so as to improve the support stability of the base 11.

[0031] For example, Figure 3 As shown, in the first state, the multifunctional robot 10 can be loaded on the external device 20, the base 11 is supported on the external device 20, and the multifunctional robot 10 is used to be loaded on the external device 20 and perform mobile acquisition through the image acquisition component. The external device 20 drives the multifunctional robot 10 during the movement, so that the multifunctional robot 10 performs mobile acquisition through the image acquisition component. The external device 20 can be, but is not limited to, a mobile device such as a sweeping robot, a household robot, etc. In other embodiments, the multifunctional robot 10 can be placed on a flat position such as a desktop or the ground for image acquisition, which is not specifically limited here.

[0032] like Figure 2 As shown, when the base 11 is in the second state, the movable member 12 is used to support the base 11, and the movable member 12 is also used to drive the base 11 to move, so that the multifunctional robot 10 can perform mobile acquisition through the image acquisition member. It can be understood that at this time, the multifunctional robot 10 can be placed on a flat ground or a desktop, and the user can control it through an application program, a control interface, etc. that has a communication connection with it, so that the multifunctional robot 10 can perform image acquisition on the ground or the desktop according to user requirements. For example, the driving mechanism can adjust the positional relationship between the base 11 and the transmission member 13, so as to acquire and shoot images of preset characters, objects or environments through a specified camera movement method, so as to improve the acquisition flexibility of the multifunctional robot 10.

[0033] In other embodiments, the driving mechanism can continue to adjust the angle between the base 11 and the transmission member 13 based on the support position defined by the first state and the second state, so that the image acquisition component of the actuator 14 can be located at different heights or angles for image acquisition, thereby further improving the flexibility of the multifunctional robot 10 and improving the image acquisition effect of the multifunctional robot 10.

[0034] In the embodiment of the present application, the multifunctional robot 10 can switch between the first state and the second state so that the multifunctional robot 10 can perform mobile shooting in different application scenarios. The multifunctional robot 10 has high flexibility and good environmental adaptability, which improves the practicality of the multifunctional robot 10.

[0035] Optionally, the base 11 includes a first support member 111, a second support member 112 and a third support member 113, the second support member 112 is arranged at one end of the first support member 111, the third support member 113 is arranged at the other end of the first support member 111, the movable member 12 is arranged at the first support member 111, and the actuator 14 is respectively connected to the second support member 112 and the third support member 113 through the transmission member 13. The driving mechanism is used to adjust the angle between the second support member 112, the third support member 113 and the transmission member 13.

[0036] Specifically, the first support member 111 serves as a crossbar, and the second support member 112 and the third support member 113 are respectively arranged at both ends of the first support member 111 to form a stable support structure. In a possible embodiment, the first support member 111 can be a cube, so that multiple faces of the first support body can be used as support faces. The movable member 12 is arranged on the first support member 111; when the movable member 12 is a plurality of power wheels, the first support member 111 can be divided into multiple sections, so that a rotating wheel is arranged corresponding to each section, or the power wheel is arranged according to the side shape of the first support member 111, which is not specifically limited here. Among them, the first support member 111, the second support member 112 and the third support member 113 can be arranged in an integrated manner or in sections, for example, the first support member 111, the second support member 112 and the third support member 113 are formed in one piece, or the first support member 111, the second support member 112 and the third support member 113 are connected by a fixing member.

[0037] Furthermore, the multifunctional robot 10 is in a first state, the multifunctional robot 10 is used to be loaded on an external device and perform mobile acquisition through an image acquisition component, and the base 11 is detachably connected to the external device 20 .

[0038] Specifically, when the multifunctional robot 10 is adjusted to the first state, the base 11 is, the multifunctional robot 10 is loaded on the external device 20, and follows the movement of the external device 20 to perform image acquisition. Among them, the detachable connection between the base 11 and the external device 20 includes but is not limited to a snap connection, a magnetic connection, a pin connection or a key connection. In one embodiment, a snap can be provided on the base 11, and the snap is used for detachable connection with the external device 20; in another embodiment, at least part of the structure of the base 11 can be set as a magnetic material, and the external device 20 can be magnetically connected to the base 11 through the magnetic attraction of the electromagnet, so that the base 11 is stably placed at a certain position of the external device 20.

[0039] In the embodiment of the present application, the base 11 of the multifunctional robot 10 is detachably connected to the external device 20 to reduce accidents such as falling due to the movement of the external device 20, improve the stability and safety of the multifunctional robot 10, and further improve the collection effect of the multifunctional robot 10.

[0040] Furthermore, the driving mechanism also includes a first motor (not shown), which is connected to the movable part 12 and is used to drive the movable part 12 to rotate, so as to drive the multifunctional robot 10 to move.

[0041] Specifically, the movable part 12 may include a driving wheel 121 and a driven wheel 122, and the first motor is used to drive the driving wheel 121 to rotate, so that the base 11 moves in a wheeled manner and drives the driven wheel 122 to rotate. When the multifunctional robot 10 is provided with two driving wheels 121, two first motors may be provided to be connected to the driving wheels 121 respectively, so that the two driving wheels 121 can be controlled by different motors, so that acceleration, deceleration, steering and other operations can be realized through the two driving wheels 121, thereby improving the flexibility of the multifunctional robot 10.

[0042] Furthermore, the multifunctional robot 10 also includes a control panel (not shown), which is respectively connected to the driving mechanism and the actuator 14, and is used to control the rotation of the first motor based on the driving instruction so that the image acquisition component can perform image acquisition based on the preset subject.

[0043] Specifically, the control board can be an integrated circuit chip integrated with one or more control chips for signal processing; or, the control board can also be a general-purpose processor, a digital signal processor, a programmable logic device, etc. for signal processing, which is not specifically limited here. The control board is connected to the drive mechanism and the actuator 14 respectively. The control board can obtain drive instructions based on the user's operation, and control at least one first motor to rotate based on the drive instructions, so that the multifunctional robot 10 moves according to the trajectory required by the user, so as to capture images of the preset subject during the movement and obtain the image or video data required by the user. The preset subject can be a person, animal, object, etc. that needs to be tracked and photographed, which is not specifically limited here.

[0044] Optionally, the multifunctional robot 10 includes two transmission members 13, and the driving mechanism includes a second motor (not shown). The two transmission members 13 are respectively connected to the second support member 112 and the third support member 113 through the second motor, and the second motor is used to adjust the angle between the base 11 and the transmission member 13.

[0045] Specifically, two transmission members 13 are respectively provided corresponding to the second support member 112 and the third support member 113, and each transmission member 13 is connected to the base 11 through a second motor. For example, the first transmission member 13 is connected to the second support member 112 through a second motor, and the second transmission member 13 is connected to the third support member 113 through a second motor. The second motor is used to adjust the angle between the base 11 and the transmission member 13 to adjust the height of the actuator 14, so that the actuator 14 can capture images of the preset subject at different heights and angles. In a possible implementation, the two transmission members 13 can be driven jointly by a second motor, or driven separately by two second motors, so as to achieve precise angle control, which is not specifically limited here.

[0046] In the embodiment of the present application, the multifunctional robot 10 adjusts the angle between the base 11 and the transmission member 13 through the second motor to adjust the acquisition height of the actuator 14, so that the multifunctional robot 10 can perform image acquisition at different heights and angles. The multifunctional robot 10 can be applied to different shooting environments with high flexibility, thereby improving the practicality of the multifunctional robot 10 and the user experience.

[0047] In one embodiment, the movable member 12 includes two driving wheels 121 and a driven wheel 122 . The two driving wheels 121 are respectively connected to opposite sides of the base 11 , and the driven wheel 122 is connected to the base 11 and is located between the two driving wheels 121 .

[0048] Specifically, when the multifunctional robot 10 is in the second state, the first motor is used to drive the two driving wheels 121 to perform differential motion to achieve the steering and movement of the multifunctional robot 10. The driven wheel 122 is located between the two driving wheels 121, so that three-point support is formed by the two driving wheels 121 and one driven wheel 122 to ensure the stability of the base 11, so as to improve the shooting stability during the moving process and improve the shooting effect of the finished product.

[0049] In other embodiments, the movable part 12 may also include four driving wheels 121 to drive the base 11 to move through four-wheel differential motion, or the movable part 12 may also perform foot-like motion through other bionic joints, etc., which is not specifically limited here.

[0050] In one embodiment, the driving mechanism further includes a third motor (not shown), and the other end of the transmission member 13 is connected to the actuator 14 via the third motor, and the third motor is used to rotate the actuator 14 .

[0051] Specifically, the third motor is a rotary motor, which is used to rotate the actuator 14 so that the image acquisition component can perform rotational shooting, so that the multifunctional robot 10 can perform image acquisition at different angles. The multifunctional robot 10 can be used in different shooting environments with high flexibility, thereby improving the practicality of the multifunctional robot 10 and the user experience.

[0052] Optionally, the multifunctional robot 10 can adjust the positional relationship among the base 11, the movable part 12, the transmission part 13 and the actuator 14 through the first motor, the second motor and the third motor, so that the base 11 can drive the image acquisition part to move and turn, and the image acquisition part can perform image acquisition at different heights and angles, thereby improving the camera movement flexibility of the multifunctional robot 10, and the multifunctional robot 10 can be applied to different shooting environments.

[0053] In one embodiment, the multifunctional robot 10 further includes a control panel, which is connected to the actuator 14, and is used to control the image acquisition component to perform video recording based on video instructions, or to control the image acquisition component to perform projection operations based on projection instructions.

[0054] Specifically, the multifunctional robot 10 can be placed on a desktop when it is in the first state or the second state. The image acquisition component loaded on the actuator 14 can be used for video recording. When the control panel receives the user's video command, it starts the video recording so that the multifunctional robot 10 can perform mobile shooting or fixed shooting on the desktop. The multifunctional robot 10 can be used as a conference assistant or a live broadcast assistant. The actuator 14 can also be used for projection operations. The image acquisition component can be a camera equipped with a projection optical component. After receiving the user's projection command, the control panel controls the image acquisition component to perform the projection operation, and the multifunctional robot 10 is used as a desktop projector.

[0055] Optionally, when the multifunctional robot 10 is in the first state and is loaded on an external device 20 such as a sweeping robot, the multifunctional robot 10 can be connected to the sweeping robot through a corresponding electrical interface or Bluetooth, and the control panel is used to obtain the moving path of the sweeping robot and control the image acquisition component to perform image acquisition to achieve tracking and shooting of the surrounding environment, or the user monitors and interacts with the pet through the acquired images or videos. The movement of the sweeping robot can make the field of view of the multifunctional robot 10 larger, and can be used for tracking and monitoring.

[0056] Therefore, the multifunctional robot 10 of the embodiment of the present application can adjust the positional relationship of at least one of the base 11, the movable part 12, the transmission part 13 and the actuator 14 through the driving mechanism, so that the multifunctional robot 10 can be in different states and applied in different scenarios. The multifunctional robot 10 has high flexibility, can adapt to different environments and perform image acquisition, thereby improving the practicality of the multifunctional robot 10.

[0057] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multifunctional robot, characterized in that: include: matrix; A movable part, disposed on the base, and used to drive the base to move; An actuator, the end of which is used to install an image acquisition component; A transmission member, one end of which is connected to the base, and the other end of which is connected to the actuator; A driving mechanism is used to adjust the position or angle of at least one of the base, the movable member and the transmission member.

2. The multifunctional robot according to claim 1, characterized in that: The driving mechanism is used to adjust the angle between the base and the transmission member so that the base is in the first state or the second state.

3. The multifunctional robot according to claim 2, characterized in that: When the base is in the first state, the base is used to support the actuator and the transmission member; when the base is in the second state, the movable member is used to support the base.

4. The multifunctional robot according to claim 2, characterized in that: The base includes a first support member, a second support member and a third support member, the second support member is arranged at one end of the first support member, the third support member is arranged at the other end of the first support member, the movable member is arranged on the first support member, and the actuator is respectively connected to the second support member and the third support member through the transmission member; the driving mechanism is used to adjust the angle between the second support member, the third support member and the transmission member.

5. The multifunctional robot according to claim 4, characterized in that: The multifunctional robot comprises two transmission members, the driving mechanism comprises a second motor, the two transmission members are respectively connected to the second support member and the third support member through the second motor, and the second motor is used to adjust the angle between the base and the transmission member.

6. The multifunctional robot according to claim 2, characterized in that: The multifunctional robot is in the first state, the multifunctional robot is used to be loaded on an external device and to perform mobile acquisition through the image acquisition component, and the base is detachably connected to the external device.

7. The multifunctional robot according to claim 2, characterized in that: The driving mechanism further includes a first motor, which is connected to the movable part and is used to drive the movable part to rotate so as to drive the multifunctional robot to move.

8. The multifunctional robot according to claim 7, characterized in that: The multifunctional robot also includes a control panel, which is connected to the driving mechanism and the actuator respectively, and is used to control the rotation of the first motor based on a driving instruction so that the image acquisition component can perform image acquisition based on a preset subject.

9. The multifunctional robot according to claim 1 or 2, characterized in that: The movable part comprises two driving wheels and a driven wheel. The two driving wheels are respectively connected to the opposite sides of the base body, and the driven wheel is connected to the base body and is located between the two driving wheels.

10. The multifunctional robot according to claim 1, characterized in that: The driving mechanism further includes a third motor, and the other end of the transmission member is connected to the actuator via the third motor, and the third motor is used to rotate the actuator.

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