Robot

Abstract

The utility model relates to a robot, which comprises a robot body; the rotating part is connected to the machine body; the mechanical leg assembly can rotate relative to the machine body through the rotating part; and the guide assembly is connected between the machine body and the mechanical leg assembly, and when the mechanical leg assembly rotates relative to the machine body, the guide assembly is used for limiting the axial movement of the mechanical leg assembly towards the rotating part. Therefore, due to the arrangement of the guide assembly, the mechanical leg assembly can rotate on the preset rotation track all the time, so that the situation that the mechanical leg assembly shakes due to deviation from the preset track during rotation is avoided as much as possible, and the robot is more stable during walking.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, serving human life and expanding or extending the scope of human activities and capabilities.

[0003] When existing robots perform walking actions, they usually complete the action through the movement of their legs. Therefore, the stability of the legs is particularly important. If the legs shake during movement, the entire body is likely to shake or even tilt, causing the robot to walk unsteadily and there is a risk of the robot tipping over, causing losses to users. Utility Model Content

[0004] In view of the above existing situation, the present invention provides a robot that is more stable when walking.

[0005] To this end, the utility model provides a robot, comprising: a body; a rotating part connected to the body; a mechanical leg assembly, wherein the mechanical leg assembly can rotate relative to the body through the rotating part; and a guide assembly connected between the body and the mechanical leg assembly, wherein when the mechanical leg assembly rotates relative to the body, the guide assembly is used to limit the axial movement of the mechanical leg assembly toward the rotating part.

[0006] In the robot involved in the utility model, optionally, the guide assembly includes: a first guide member, the first guide member is provided with a guide groove; a second guide member, the second guide member is provided with a guide portion, the guide portion is at least partially located in the guide groove, and the outer surface of the guide portion fits with the inner surface of the guide groove; wherein, one of the first guide member and the second guide member is connected to the fuselage, and the other of the first guide member and the second guide member is connected to the mechanical leg assembly, when the mechanical leg assembly rotates relative to the fuselage, the guide portion and the guide groove move relative to each other, and the guide portion is at least partially restricted in the guide groove to limit the axial movement of the mechanical leg assembly toward the rotating portion.

[0007] In the robot involved in the utility model, optionally, the first guide member is connected to the fuselage, and the second guide member is connected to the mechanical leg assembly; the first guide member includes a plurality of guide wheels, the guide grooves are opened on the circumferential surfaces of the guide wheels, and the guide wheels are rotatably connected to the fuselage; the second guide member also includes a connecting portion, the guide portion is connected to the edge of the connecting portion, and the connecting portion is connected to the mechanical leg assembly, wherein the guide portion is an arc-shaped structure, and the center of the guide portion is coaxial with the rotation center of the mechanical leg assembly.

[0008] In the robot involved in the utility model, optionally, the first guide member is located above the second guide member; the plurality of guide wheels include a first guide wheel, a second guide wheel and a third guide wheel, the second guide wheel is located between the first guide wheel and the second guide wheel, and the lowest point of the second guide wheel is higher than the lowest point of the first guide wheel and the lowest point of the second guide wheel.

[0009] In the robot involved in the utility model, optionally, the first guide member also includes a connecting frame, the guide wheel is rotatably connected to the connecting frame, and the connecting frame is connected to the fuselage.

[0010] In the robot involved in the utility model, optionally, the mechanical leg assembly includes: a first leg mechanism, which is used to rotate and is connected to the body of the robot; a second leg mechanism, which is slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly in a first direction relative to the first leg mechanism, and the first direction is the extension direction of the first leg mechanism; a driving mechanism, which can drive the first leg mechanism and the second leg mechanism of the leg mechanism to rotate as a whole relative to the body, and drive the second leg mechanism to move linearly in the first direction relative to the first leg mechanism, so as to assist the robot to maintain self-balance when moving or standing.

[0011] In the robot involved in the utility model, optionally, the driving mechanism includes a first driving member and a second driving member; wherein, the first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and the first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

[0012] In the robot involved in the utility model, optionally, the first driving component includes a first motor and a first transmission assembly, and the second driving component includes a second motor and a second transmission assembly; the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; the first transmission assembly is connected to the output shaft of the first motor and is connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and is connected to the second leg mechanism; the rotation axis of the first leg mechanism is coaxial with the rotation axis of the first motor and the second motor.

[0013] In the robot involved in the utility model, optionally, the first transmission assembly includes a first transmission wheel, a second transmission wheel and a first belt, the first transmission wheel and the second transmission wheel are rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first transmission wheel is connected to the output shaft of the first motor, the first belt is rotatably wrapped around the first transmission wheel and the second transmission wheel and is connected to the second leg mechanism; the second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt; the second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt, the third transmission wheel and the fourth transmission wheel are rotatably connected to the first leg mechanism and are spaced apart along the first direction, the third transmission wheel is connected to the output shaft of the second motor, and The first transmission wheel is coaxially arranged with the third transmission wheel, the second belt is rotatably wrapped around the third transmission wheel and the fourth transmission wheel and is connected to the second leg mechanism; the second leg mechanism is connected to one side of the first belt on one side in the second direction, and the second leg mechanism is connected to one side of the second belt on the other side in the second direction, and the first direction is perpendicular to the second direction; the first leg mechanism has a first side and a second side opposite to each other in the second direction, and the second direction is perpendicular to the first direction; the first motor and the second motor are arranged opposite to each other and are respectively located on the first side and the second side of the first leg mechanism; the first transmission wheel and the second transmission wheel are arranged on the first side, and the third transmission wheel and the fourth transmission wheel are arranged on the second side.

[0014] In the robot involved in the utility model, optionally, the first motor and the second motor respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, and the first leg mechanism drives the second leg mechanism to rotate relative to the body; or, the first motor and the second motor respectively drive the first belt and the second belt to rotate in opposite directions and at the same speed, and the second leg mechanism moves linearly along the first direction relative to the first leg mechanism; or, the first motor and the second motor respectively drive the first belt and the second belt to rotate in the same direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, while driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, the first motor and the second motor respectively drive the first belt and the second belt to rotate in opposite directions and at different speeds, thereby driving the second leg mechanism and the first leg mechanism to rotate as a whole, while driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

[0015] In the robot involved in the utility model, optionally, the body includes a frame, the frame includes a base plate, the base plate is provided with a through hole, the guide assembly is connected to the base plate, and the guide assembly is at least partially located in the through hole; the frame also includes a first side panel and a second side panel connected to the base plate; the first side panel and the second side panel extend in a direction perpendicular to the base plate and are arranged opposite to each other, the first side panel is provided with a first mounting position for installing the first motor, the second side panel is provided with a second mounting position for installing the second motor, and the first mounting position and the second mounting position are arranged opposite to each other; in plane projection, the guide assembly is located between the first motor and the second motor.

[0016] The robot involved in the utility model includes a body, a rotating part, a mechanical leg assembly and a guide assembly, wherein the mechanical leg is rotatably connected to the body, and when the mechanical leg assembly rotates relative to the body, the guide assembly is used to limit the axial movement of the mechanical leg assembly toward the rotating part. Thus, the mechanical leg assembly can always rotate on a preset rotation trajectory, so as to avoid shaking of the mechanical leg assembly due to deviation from the preset trajectory when rotating, so that the robot can walk more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Embodiments of the present invention will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0018] Figure 1 It is a schematic diagram showing the overall structure of the robot involved in the present application.

[0019] Figure 2It is a schematic diagram showing the partial structure of the robot involved in the present application.

[0020] Figure 3 is an exploded view showing a local structure of the robot involved in the present application.

[0021] Figure 4 is an exploded view showing another partial structure of the robot involved in the present application.

[0022] Figure 5 is an exploded view showing another partial structure of the robot involved in the present application.

[0023] Figure 6 It is a schematic diagram showing the overall structure of the first guide member involved in the present application.

[0024] Figure 7 is an exploded view showing the first guide member involved in the present application.

[0025] Figure 8 It is a schematic diagram showing the overall structure of the second guide member involved in the present application.

[0026] Fig. 9 It is a schematic diagram showing the overall structure of the first leg mechanism involved in the present application.

[0027] Fig.10 It is a schematic diagram showing the overall structure of the rack involved in the present application.

[0028] 1. a first guide member; 2. a second guide member; 3. a third guide wheel; 4. a fourth guide wheel; 5. a second guide groove; 6. a connecting frame; 7. a second guide member; 8. a first guide portion; 9. a second guide portion; 10. a second guide member; 11. a first guide portion; 12. a second guide portion; 13. a third guide portion; 14. a first guide portion; 15. a second guide portion; 16. a second guide portion; 17. a second guide portion; 18. a first guide portion; 19. a second guide portion; 20. a second guide portion; 21. a first guide portion; 22. a second guide portion; 23. a first drive member; 231. a first motor; 232. a first transmission wheel; 233. a second transmission wheel; 234. a first belt; 24. a second drive member; 241. a second motor; 242. a third transmission wheel; 243. a fourth transmission wheel; 244. a second belt; 3. a guide assembly; 31. a first guide member; 311. a first guide wheel; 312. a second guide wheel; 313. a third guide wheel; 314. a guide groove; 315. a connecting frame; 32. a second guide member; 321. a guide portion; 322. a connecting portion. DETAILED DESCRIPTION

[0029] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention will be described in detail. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components or the shapes of the components may be different from the actual ones.

[0030] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0031] Reference Figures 1 to 4 The utility model provides a robot 100, comprising: a body 1; a rotating part (not shown in the figure), connected to the body 1; a mechanical leg assembly 2, the mechanical leg assembly 2 can rotate relative to the body 1 through the rotating part; a guide assembly 3, connected between the body 1 and the mechanical leg assembly 2, when the mechanical leg assembly 2 rotates relative to the body 1, the guide assembly 3 is used to limit the axial movement of the mechanical leg assembly 2 toward the rotating part.

[0032] The robot 100 involved in the utility model includes a body 1, a rotating part, a mechanical leg assembly 2 and a guide assembly 3, wherein the mechanical leg is rotatably connected to the body 1, and when the mechanical leg assembly 2 rotates relative to the body 1, the guide assembly 3 is used to limit the axial movement of the mechanical leg assembly 2 toward the rotating part. In this way, the mechanical leg assembly 2 can always rotate on a preset rotation trajectory, so as to avoid the mechanical leg assembly 2 from shaking due to deviation from the preset trajectory during rotation as much as possible, so that the robot 100 can walk more smoothly. Specifically, in some examples, the rotating part can be a positioning shaft, and the positioning shaft can be provided on the mechanical leg assembly 2. When the driving mechanism drives the mechanical leg assembly 2 to rotate, the mechanical leg assembly 2 can rotate around the axis of the positioning shaft.

[0033] Reference Figure 4 and Figure 5As an embodiment, the guide assembly 3 includes: a first guide member 31, the first guide member 31 is provided with a guide groove 314; a second guide member 32, the second guide member 32 is provided with a guide portion 321, the guide portion 321 is at least partially located in the guide groove 314, and the outer surface of the guide portion 321 fits with the inner surface of the guide groove 314; wherein, one of the first guide member 31 and the second guide member 32 is connected to the fuselage 1, and the other of the first guide member 31 and the second guide member 32 is connected to the mechanical leg assembly 2, when the mechanical leg assembly 2 rotates relative to the fuselage 1, the guide portion 321 and the guide groove 314 move relative to each other, and the guide portion 321 is at least partially restricted in the guide groove 314 to limit the axial movement of the mechanical leg assembly 2 toward the rotating part. Specifically, when the mechanical leg assembly 2 rotates relative to the fuselage 1, the fuselage 1 and the mechanical leg assembly 2 respectively drive the first guide member 31 and the second guide member 32 to move relative to each other, and the guide portion 321 and the guide groove 314 move relative to each other. At this time, the guide portion 321 can slide in the guide groove 314. Since the outer surface of the guide portion 321 fits with the inner surface of the guide groove 314, the guide portion 321 fits more compactly in the guide groove 314, so that the movement of the guide portion 321 on the axis can be limited as much as possible. It should be noted that in order to enable the guide portion 321 and the guide groove 314 to move relative to each other, there is still a small gap between the guide portion 321 and the guide groove 314.

[0034] Reference Figures 5 to 8 As an embodiment, the first guide member 31 is connected to the fuselage 1, and the second guide member 32 is connected to the mechanical leg assembly 2; the first guide member 31 includes a plurality of guide wheels, and the guide groove 314 is provided on the circumferential surface of the guide wheel, and the guide wheel is rotatably connected to the fuselage 1; the second guide member 32 also includes a connecting portion 322, the guide portion 321 is connected to the edge of the connecting portion 322, and the connecting portion 322 is connected to the mechanical leg assembly 2, wherein the guide portion 321 is an arc-shaped structure, and the center of the guide portion 321 is coaxial with the rotation center of the mechanical leg assembly 2. Specifically, when the mechanical leg assembly 2 rotates relative to the fuselage 1, the guide portion 321 and the guide groove 314 move relative to each other. Since the guide groove 314 is provided on the circumferential surface of the guide wheel, the guide portion 321 can drive the guide wheel to roll under the action of friction when sliding in the guide groove 314. Accordingly, the friction of the guide wheel is small when rolling, which also makes the resistance of the first guide member and the second guide member smaller when moving relative to each other, so that the mechanical leg assembly 2 can move more smoothly when rotating relative to the fuselage 1. In some examples, the guide portion 321 may be integrally formed with the connection portion 322 , and the connection portion 322 may also be welded to the guide portion 321 .

[0035] Reference Figure 6 and Figure 7As an embodiment, the first guide member 31 is located above the second guide member 32; the plurality of guide wheels include a first guide wheel 311, a second guide wheel 312 and a third guide wheel 313, the second guide wheel 312 is located between the first guide wheel 311 and the second guide wheel 312, and the lowest point of the second guide wheel 312 is higher than the lowest point of the first guide wheel 311 and the lowest point of the second guide wheel 312. Thus, the arrangement of the three guide wheels also forms three guide grooves 314, and more guide grooves 314 cooperate with the guide portion 321 to strengthen the restriction on the guide portion 321 and make the guidance more stable. In addition, referring to Figure 5 Since the first guide member 31 is located above the second guide member 32, the arrangement of the first guide wheel 311, the second guide wheel 312 and the third guide wheel 313 can make the line connecting the lowest points of the three close to an arc, thereby, the first guide wheel 311, the second guide wheel 312 and the third guide wheel 313 can better cooperate with the guide part 321 with an arc-shaped structure.

[0036] In some examples, the number of guide wheels may be two, thereby making the structure of the first guide member 31 simpler and saving costs. It should be noted that when the first guide member 31 is provided with two guide wheels, the two guide wheels may be spaced apart, thereby making it more compatible with the guide portion 321 having an arc-shaped structure, so that the guide portion 321 having an arc-shaped structure may partially protrude between the two guide wheels. Of course, in some examples, the number of guide wheels may be more than three, which is not limited here.

[0037] Reference Figure 6 and Figure 7 As an embodiment, the first guide member 31 further includes a connecting frame 315, the guide wheel is rotatably connected to the connecting frame 315, and the connecting frame 315 is connected to the fuselage 1. Specifically, when the first guide member 31 is installed, multiple guide wheels can be first installed on the connecting frame 315, and then the first connecting frame 315 can be connected to the fuselage 1. Therefore, when the guide wheel is small in size and there are multiple guide wheels, this method of pre-installing some parts can save more time, reduce the difficulty of installation, and improve the work efficiency of installing the robot 100. The connecting frame 315 can be threadedly connected to the fuselage 1.

[0038] Reference Figure 2 and Figure 3The mechanical leg assembly 2 includes: a first leg mechanism 21, which is used to rotate and connect to the body 1 of the robot 100; a second leg mechanism 22, which is slidably connected to the first leg mechanism 21, so that the second leg mechanism 22 can move linearly along a first direction relative to the first leg mechanism 21, and the first direction is the extension direction of the first leg mechanism 21; a driving mechanism, which can drive the first leg mechanism 21 and the second leg mechanism 22 to rotate as a whole relative to the body 1, and drive the second leg mechanism 22 to move linearly along the first direction relative to the first leg mechanism 21, so as to assist the robot 100 to maintain self-balance when walking or standing. Therefore, the mechanical leg assembly 2 proposed in the embodiment of the present application realizes the extension and retraction of the mechanical leg assembly 2 through the relative linear motion of the second leg mechanism 22 and the first leg mechanism 21, so that sufficient extension and retraction can be achieved without increasing the lateral volume of the robot 100, effectively improving the mobility of the robot 100 in a limited space, and through the setting of linear extension and retraction, the force arm of the load on the power source of the driving mechanism is kept constant during the extension and retraction process of the mechanical leg assembly 2, simplifying the control model, improving the accuracy and response speed of the movement of the robot 100, and generally, the force arm of the load on the power source is short, and the power source power consumption is low. The first leg mechanism 21 is driven by the driving mechanism to rotate relative to the fuselage 1, and the second leg mechanism 22 is driven to move linearly relative to the first leg mechanism 21, so as to assist the robot 100 in maintaining self-balance when walking or standing, thereby facilitating the self-balancing control of the robot 100.

[0039] In addition, due to the linear telescopic arrangement between the first leg mechanism 21 and the second leg mechanism 22, the energy efficiency of the robot 100 at any telescopic position is improved, thereby reducing energy consumption.

[0040] At the same time, due to the linear telescopic movement mode, the force arm of the mechanical leg assembly 2 remains unchanged during the telescopic process, that is, the load force arm of the power source remains unchanged, and under normal circumstances, the load force arm of the power source is shorter, the power source has low power consumption, strong load capacity and better stability.

[0041] It should be noted that in the prior art, the robot 100 with a connecting rod structure has a connecting rod angle that keeps changing during the extension and retraction process of its legs, and the lever arm of the load on the power source keeps changing, which makes the control model complex. The robot 100 with a connecting rod structure has a relatively short lever arm, except when the leg extension is at or close to the longest. Most of the time, the robot 100 has a certain extension and retraction amount of its legs, and is not in the longest state. Its lever arm is relatively long, and the robot 100 consumes more energy when standing, walking, and retracting.

[0042] In some embodiments, the power source of the driving mechanism is disposed on the body 1 of the robot 100. Exemplarily, the power source of the driving mechanism may be a motor, and compared with being disposed on the mechanical leg assembly 2, disposing the power source on the body 1 of the robot 100 can reduce the moment of inertia, thereby reducing power consumption and reducing the use cost.

[0043] Exemplarily, when the robot 100 walks on a flat road, the driving mechanism can only drive the first leg mechanism 21 and the second leg mechanism 22 to rotate relative to the body 1 to adjust the center of gravity of the robot 100 to assist in maintaining the self-balance of the robot 100. When the robot 100 walks on an uneven road or an obstacle-filled road, the driving mechanism needs to drive the first leg mechanism 21 and the second leg mechanism 22 to rotate as a whole relative to the body 1, while driving the second leg mechanism 22 to move linearly in the first direction relative to the first leg mechanism 21 to assist in maintaining the self-balance of the robot 100. Of course, in other special scenarios, the driving mechanism can also only drive the second leg mechanism 22 to move linearly in the first direction relative to the first leg mechanism 21 to assist in maintaining the self-balance of the robot 100 by adjusting the height of the mechanical legs.

[0044] Reference Figures 2 to 5 As an embodiment, the driving mechanism includes a first driving member 23 and a second driving member 24; wherein the first driving member 23 and the second driving member 24 are used to work together to drive the first leg mechanism 21 and the second leg mechanism 22 to rotate relative to the body 1 as a whole, and the first driving member 23 and the second driving member 24 are also used to work together to drive the second leg mechanism 22 to move linearly along the first direction relative to the first leg mechanism 21. Therefore, the first driving member 23 and the second driving member 24 need to cooperate with each other to drive the mechanical leg assembly 2 to rotate or retract independently, or to perform a compound movement of rotation and retraction. The first driving member 23 and the second driving member 24 work together to cooperate with driving the rotation and / or retraction of the mechanical leg, so that the power sources of the first driving member 23 and the second driving member 24 are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 100, and reduce the use cost.

[0045] Reference Figures 2 to 5As an embodiment, the first driving member 23 includes a first motor 231 and a first transmission assembly, and the second driving member 24 includes a second motor 241 and a second transmission assembly; the first motor 231 and the second motor 241 are used to be connected to the fuselage 1, and the first motor 231 and the second motor 241 are coaxially arranged; the first transmission assembly is connected to the output shaft of the first motor 231 and connected to the second leg mechanism 22, and the second transmission assembly is connected to the output shaft of the second motor 241 and connected to the second leg mechanism 22; the rotation axis of the first leg mechanism 21 is coaxial with the rotation axis of the first motor 231 and the second motor 241. Therefore, the rotation axes of the first motor 231 and the second motor 241 are coaxially arranged with the rotation axis of the first leg mechanism 21, so that the two motors can be connected in parallel, thereby driving the first transmission assembly and the second transmission assembly to work together to drive the mechanical leg to rotate and / or extend, which can reduce the parameters required for motor driving, reduce errors, improve the running speed of the robot 100, and reduce the use cost.

[0046] Reference Fig. 9 As an embodiment, the first transmission assembly includes a first transmission wheel 232, a second transmission wheel 233 and a first belt 234, the first transmission wheel 232 and the second transmission wheel 233 are rotatably connected to the first leg mechanism 21 and are spaced apart in the first direction, the first transmission wheel 232 is connected to the output shaft of the first motor 231, the first belt 234 is rotatably surrounded by the first transmission wheel 232 and the second transmission wheel 233 and connected to the second leg mechanism 22; the second transmission assembly includes a third transmission wheel 242, a fourth transmission wheel 243 and a second belt 244; the second transmission assembly includes a third transmission wheel 242, a fourth transmission wheel 243 and a first belt 244 The second belt 244, the third transmission wheel 242 and the fourth transmission wheel 243 are rotatably connected to the first leg mechanism 21 and are arranged at intervals along the first direction. The third transmission wheel 242 is connected to the output shaft of the second motor 241, and the first transmission wheel 232 and the third transmission wheel 242 are coaxially arranged. The second belt 244 is rotatably surrounded by the third transmission wheel 242 and the fourth transmission wheel 243 and is connected to the second leg mechanism 22; one side of the second leg mechanism 22 in the second direction is connected to one side of the first belt 234, and the other side of the second leg mechanism 22 in the second direction is connected to one side of the second belt 244, and the first direction is perpendicular to the second direction.

[0047] During operation, the first motor 231 can drive the first transmission wheel 232 to rotate through the reducer, thereby driving the first belt 234 to move, and the second transmission wheel 233 rotates accordingly, so that the first belt 234 can move between the first transmission wheel 232 and the second transmission wheel 233; at the same time, the second motor 241 can drive the third transmission wheel 242 to rotate through the reducer, thereby driving the second belt 244 to move, and the fourth transmission wheel 243 rotates accordingly, so that the second belt 244 can move between the third transmission wheel 242 and the fourth transmission wheel 243, thereby driving the first leg mechanism 21 to rotate relative to the fuselage 1 and / or driving the second leg mechanism 22 to move linearly relative to the first leg mechanism 21 through the cooperation of the first belt 234 and the second belt 244. Among them, the first belt 234 and the second belt 244 can play a buffering role as a flexible transmission member, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0048] Reference Figure 3 and Fig. 9 As an embodiment, the first leg mechanism 21 has a first side and a second side opposite to each other in a second direction, and the second direction is perpendicular to the first direction; the first motor 231 and the second motor 241 are arranged opposite to each other and are respectively located on the first side and the second side of the first leg mechanism 21; the first transmission wheel 232 and the second transmission wheel 233 are arranged on the first side, and the third transmission wheel 242 and the fourth transmission wheel 243 are arranged on the second side. Through the above arrangement, the first leg mechanism 21 is arranged between the first motor 231 and the second motor 241, and the first transmission assembly and the second transmission assembly are respectively arranged on both sides of the first leg mechanism 21 in the second direction, so that the structure is compact and the volume is reduced.

[0049] As an embodiment, the first motor 231 and the second motor 241 respectively drive the first belt 234 and the second belt 244 to rotate in the same direction and at the same speed, and the first leg mechanism 21 drives the second leg mechanism 22 to rotate relative to the body 1; or, the first motor 231 and the second motor 241 respectively drive the first belt 234 and the second belt 244 to rotate in the opposite direction and at the same speed, and the second leg mechanism 22 moves linearly along the first direction relative to the first leg mechanism 21; or, the first motor 231 and the second motor 241 respectively drive the first belt 234 and the second belt 244 to rotate in the same direction and at the same speed, and the second leg mechanism 22 moves linearly along the first direction relative to the first leg mechanism 21. The belt 244 rotates in the same direction and at different speeds, thereby driving the second leg mechanism 22 to move linearly in the first direction relative to the first leg mechanism 21, while driving the first leg mechanism 21 and the second leg mechanism 22 to rotate as a whole; or, the first motor 231 and the second motor 241 drive the first belt 234 and the second belt 244 to rotate in opposite directions and at different speeds, thereby driving the second leg mechanism 22 and the first leg mechanism 21 to rotate as a whole, while driving the second leg mechanism 22 to move linearly in the first direction relative to the first leg mechanism 21. Specifically, the robot 100 can be divided into the following three different driving states when working.

[0050] In the first driving state, the first motor 231 and the second motor 241 rotate in opposite directions, and the torques of the first motor 231 and the second motor 241 are the same, respectively driving the first belt 234 and the second belt 244 to rotate in the same direction and at the same speed, so that the forces acting on the second leg mechanism 22 in the first direction are opposite in direction and of the same magnitude, thereby locking the linear motion of the second leg mechanism 22 in the first direction. At the same time, the torques acting on the first leg mechanism 21 are in the same direction, thereby driving the first leg mechanism 21 to drive the second leg mechanism 22 to rotate relative to the body 1 around the third direction.

[0051] In the second driving state, the first motor 231 and the second motor 241 rotate in the same direction, and the torque of the first motor 231 and the second motor 241 are the same, respectively driving the first belt 234 and the second belt 244 to rotate in opposite directions and at the same speed, so that the torques on the first leg mechanism 21 are opposite in direction and the same in magnitude, thereby locking the rotational movement of the first leg mechanism 21. At the same time, the force direction of the second leg mechanism 22 in the first direction is the same, thereby driving the second leg mechanism 22 to move linearly along the first direction relative to the first leg mechanism 21.

[0052] In the third driving state, the first motor 231 and the second motor 241 respectively drive the first belt 234 and the second belt 244 to rotate in the same direction and at different speeds, thereby driving the second object to move linearly relative to the first object in the first direction, and driving the first object and the second object to rotate as a whole. Specifically, the first motor 231 and the second motor 241 have the same rotation direction but different torques, and respectively drive the first belt 234 and the second belt 244 to rotate in the same direction and at different speeds, so that the force directions of the second leg mechanism 22 in the first direction are opposite, but different in magnitude, thereby driving the second leg mechanism 22 to move linearly relative to the first leg mechanism 21 in the first direction. At the same time, the torque direction of the first leg mechanism 21 is the same, thereby driving the first leg mechanism 21 to drive the second leg mechanism 22 to rotate relative to the fuselage 1 around the third direction. In addition, in the third driving state, the first motor 231 and the second motor 241 can also drive the first belt 234 and the second belt 244 to rotate in opposite directions and at different speeds, respectively, so as to drive the first object and the second object to rotate as a whole, and drive the second object to move linearly in the first direction relative to the first object. Specifically, the first motor 231 and the second motor 241 rotate in opposite directions and have different torques, respectively driving the first belt 234 and the second belt 244 to rotate in opposite directions and at different speeds, so that the torques on the first leg mechanism 21 are opposite in direction but different in magnitude, thereby driving the first leg mechanism 21 to drive the second leg mechanism 22 to rotate relative to the fuselage 1 around the third direction. At the same time, the force direction of the second leg mechanism 22 in the first direction is the same, thereby driving the second leg mechanism 22 to move linearly in the first direction relative to the first leg mechanism 21.

[0053] Reference Fig.10 As an embodiment, the body 1 includes a frame, the frame includes a base plate 11, the base plate 11 is provided with a through hole 111, the guide assembly 3 is connected to the base plate 11, and the guide assembly 3 is at least partially located in the through hole 111. Therefore, the guide assembly 3 is located in the through hole 111, which can fully utilize the space of the frame, so that the structure of the robot 100 can be more compact. In addition, the provision of the through hole 111 can also reduce the weight of the frame, so that the body 1 can be lighter.

[0054] As an embodiment, the frame further includes a first side plate 12 and a second side plate 13 connected to the base plate 11; the first side plate 12 and the second side plate 13 extend in a direction perpendicular to the base plate 11 and are arranged opposite to each other; the first side plate 12 is provided with a first mounting position 14 for mounting the first motor 231; the second side plate 13 is provided with a second mounting position 15 for mounting the second motor 241; the first mounting position 14 and the second mounting position 15 are arranged opposite to each other. Thus, the first connecting plate and the second connecting plate are arranged opposite to each other, which can facilitate the installation of the first motor 231 and the second motor 241, and can also make the first motor 231 and the second motor 241 also arranged opposite to each other, that is, the output shaft of the first motor 231 and the output shaft of the second motor 241 can be opposite to each other.

[0055] Reference Figure 3 and Figure 4 As an embodiment, in plane projection, the guide assembly 3 is located between the first motor 231 and the second motor 241. Therefore, it can be understood that the distances from the guide assembly 3 to the first motor 231 and the second motor 241 are equal, so that when the first motor 231 and the second motor 241 drive the mechanical leg assembly 2 to rotate relative to the fuselage 1, the position of the guide assembly 3 can guide the rotation of the mechanical leg assembly 2 more smoothly.

[0056] Although the utility model is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the utility model in any form. Those skilled in the art can modify and change the utility model as needed without departing from the essential spirit and scope of the utility model, and these modifications and changes all fall within the scope of the utility model.

Claims

1. A robot, characterized in that: include: body; A rotating part connected to the fuselage; A mechanical leg assembly, wherein the mechanical leg assembly can rotate relative to the fuselage through the rotating part; The guide assembly is connected between the fuselage and the mechanical leg assembly. When the mechanical leg assembly rotates relative to the fuselage, the guide assembly is used to limit the axial movement of the mechanical leg assembly toward the rotating part.

2. The robot according to claim 1, characterized in that: The guide assembly comprises: a first guide member, wherein the first guide member is provided with a guide groove; A second guide member, wherein the second guide member is provided with a guide portion, wherein the guide portion is at least partially located in the guide groove, and an outer surface of the guide portion is matched with an inner surface of the guide groove; Among them, one of the first guide member and the second guide member is connected to the fuselage, and the other of the first guide member and the second guide member is connected to the mechanical leg assembly. When the mechanical leg assembly rotates relative to the fuselage, the guide portion and the guide groove move relative to each other, and the guide portion is at least partially restricted in the guide groove to limit the axial movement of the mechanical leg assembly toward the rotating portion.

3. The robot according to claim 2, characterized in that: The first guide member is connected to the fuselage, and the second guide member is connected to the mechanical leg assembly; The first guide member includes a plurality of guide wheels, the guide grooves are formed on the circumferential surfaces of the guide wheels, and the guide wheels are rotatably connected to the fuselage; The second guide member also includes a connecting portion, the guiding portion is connected to the edge of the connecting portion, and the connecting portion is connected to the mechanical leg assembly, wherein the guiding portion is an arc-shaped structure, and the center of the guiding portion is coaxial with the rotation center of the mechanical leg assembly.

4. The robot according to claim 3, characterized in that: The first guide member is located above the second guide member; The plurality of guide wheels include a first guide wheel, a second guide wheel and a third guide wheel, the second guide wheel is located between the first guide wheel and the second guide wheel, and the lowest point of the second guide wheel is higher than the lowest points of the first guide wheel and the second guide wheel.

5. The robot according to claim 3, characterized in that: The first guide member also includes a connecting frame, the guide wheel is rotatably connected to the connecting frame, and the connecting frame is connected to the fuselage.

6. The robot according to claim 1, characterized in that: The mechanical leg assembly comprises: A first leg mechanism, used for rotating a body connected to the robot; a second leg mechanism, slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly along a first direction relative to the first leg mechanism, the first direction being an extension direction of the first leg mechanism; A driving mechanism, wherein the driving mechanism is capable of driving the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot in maintaining self-balance when walking or standing.

7. The robot according to claim 6, characterized in that: The drive mechanism comprises a first drive member and a second drive member; Among them, the first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and the first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

8. The robot according to claim 7, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the second driving member includes a second motor and a second transmission assembly; The first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; The first transmission assembly is connected to the output shaft of the first motor and connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second leg mechanism; The rotation axis of the first leg mechanism is coaxial with the rotation axes of the first motor and the second motor.

9. The robot according to claim 8, characterized in that The first transmission assembly includes a first transmission wheel, a second transmission wheel and a first belt, the first transmission wheel and the second transmission wheel are rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first transmission wheel is connected to the output shaft of the first motor, and the first belt is rotatably wrapped around the first transmission wheel and the second transmission wheel and connected to the second leg mechanism; The second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt; The second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt, the third transmission wheel and the fourth transmission wheel are rotatably connected to the first leg mechanism and are arranged at intervals along the first direction, the third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are coaxially arranged, and the second belt is rotatably surrounded by the third transmission wheel and the fourth transmission wheel and connected to the second leg mechanism; One side of the second leg mechanism in the second direction is connected to one side of the first belt, and the other side of the second leg mechanism in the second direction is connected to one side of the second belt, and the first direction is perpendicular to the second direction; The first leg structure has a first side and a second side opposite each other in a second direction, the second direction being perpendicular to the first direction; The first motor and the second motor are arranged opposite to each other and are respectively located on a first side and a second side of the first leg mechanism; The first transmission wheel and the second transmission wheel are arranged on the first side, and the third transmission wheel and the fourth transmission wheel are arranged on the second side.

10. The robot according to claim 9, characterized in that: The first motor and the second motor respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, and the first leg mechanism drives the second leg mechanism to rotate relative to the body; or, The first motor and the second motor drive the first belt and the second belt to rotate in opposite directions and at the same speed respectively, and the second leg mechanism moves linearly along the first direction relative to the first leg mechanism; or, The first motor and the second motor respectively drive the first belt and the second belt to rotate in the same direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, while driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, The first motor and the second motor respectively drive the first belt and the second belt to rotate in opposite directions and at different speeds, thereby driving the second leg mechanism to rotate as a whole with the first leg mechanism and driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

11. The robot according to claim 9, characterized in that: The body includes a frame, the frame includes a base plate, the base plate is provided with a through hole, the guide assembly is connected to the base plate, and the guide assembly is at least partially located in the through hole; The frame further includes a first side plate and a second side plate connected to the base plate; The first side plate and the second side plate extend in a direction perpendicular to the base plate and are arranged opposite to each other, the first side plate is provided with a first mounting position for mounting the first motor, the second side plate is provided with a second mounting position for mounting the second motor, and the first mounting position and the second mounting position are arranged opposite to each other; In plane projection, the guide assembly is located between the first motor and the second motor.

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