Drive device and robot

Abstract

The utility model relates to the field of robots, in particular to a driving device and a robot, and the driving device comprises a first fixing seat, a first connecting rod, a second connecting rod and a driving structure. The first connecting rod comprises a first connecting part, a second connecting part and a third connecting part, the first connecting part is rotationally connected with the first fixing seat so that the first connecting rod can rotate relative to the first fixing seat, the second connecting rod is connected with the third connecting part, and the extending direction of the second connecting rod intersects with the extending direction of the first connecting rod; the driving structure is rotationally connected with the second connecting part and is configured to drive the first connecting rod to rotate, and the first connecting rod drives the second connecting rod to move in the height direction and / or the front-back direction in the rotating process. The driving structure can drive the second connecting rod to move in the height direction, or move in the front-back direction, or move backwards and upwards at the same time, or move backwards and downwards at the same time, or move forwards and upwards at the same time, or move forwards and downwards at the same time through the first connecting rod, so that the driving device has high action flexibility in the front-back and up-down space.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly relates to a driving device and a robot. Background Art

[0002] Mobile robots are widely used in various fields such as industry, service, aviation, and daily life. During the application process of mobile robots, there are certain requirements for the "squatting", "standing up", "leaning forward", and "leaning backward" actions of mobile robots in many application scenarios. However, traditional robots have certain limitations in spatial movement and operation. Therefore, how to improve the movement flexibility of mobile robots has become a technical problem to be solved. Utility Model Content

[0003] The present application provides a driving device and a robot for improving the movement flexibility of a mobile robot.

[0004] In a first aspect, a driving device provided by the present application includes:

[0005] A first fixed seat;

[0006] A first connecting rod, the first connecting rod includes a first connecting portion, a second connecting portion, and a third connecting portion, and the first connecting portion is rotatably connected to the first fixed seat;

[0007] A second connecting rod, the second connecting rod is connected to the third connecting portion, and the extending direction of the second connecting rod intersects with the extending direction of the first connecting rod; and

[0008] A driving structure, the driving structure is rotatably connected to the second connecting portion, and the driving structure is configured to drive the first connecting rod to rotate and drive the second connecting rod to move in the height direction and / or the front-back direction.

[0009] A driving device provided by the present application includes a first fixed seat, a first connecting rod, a second connecting rod, and a driving structure. The first connecting rod includes a first connecting portion, a second connecting portion, and a third connecting portion. The first connecting portion is rotatably connected to the first fixed seat, enabling the first connecting rod to rotate relative to the first fixed seat. The second connecting rod is connected to the third connecting portion, and the extending direction of the second connecting rod intersects with the extending direction of the first connecting rod. The driving structure is rotatably connected to the second connecting portion. The driving structure is configured to drive the first connecting rod to rotate. During the rotation of the first connecting rod, it drives the second connecting rod to move in the height direction and / or the front-back direction. In other words, the driving structure can drive the second connecting rod to move in the height direction, or in the front-back direction, or simultaneously backward and upward, or simultaneously backward and downward, or simultaneously forward and upward, or simultaneously forward and downward through the first connecting rod, realizing that the driving device has a high movement flexibility in the front-back and up-down spaces.

[0010] In an alternative embodiment, the second connecting portion, the first connecting portion, and the third connecting portion are arranged in sequence.

[0011] In an alternative embodiment, between the second connecting portion and the first connecting portion is a first connecting segment, between the first connecting portion and the third connecting portion is a second connecting segment, and the angle between the straight line where the first connecting segment is located and the reference plane is greater than the angle between the straight line where the second connecting segment is located and the reference plane.

[0012] In an alternative embodiment, the length of the first connecting segment is less than the length of the second connecting segment.

[0013] In an alternative embodiment, the first connecting portion, the second connecting portion, and the third connecting portion are arranged in sequence.

[0014] In an alternative embodiment, the driving device further includes a second fixing seat and a support seat. Both the second fixing seat and the first fixing seat are provided on the support seat. One end of the driving structure is rotatably connected to the second fixing seat, and the other end of the driving structure is rotatably connected to the second connecting portion.

[0015] In an alternative embodiment, the driving structure includes a driving member and a telescopic push rod. One end of the driving member is rotatably connected to the support seat, the other end of the driving member is connected to one end of the telescopic push rod. The driving member is configured to drive the telescopic push rod to expand and contract relative to the driving member, and the other end of the telescopic push rod is rotatably connected to the second connecting portion.

[0016] In an alternative embodiment, the driving device further includes a support seat and a support member. The first fixing seat is provided on the support seat. One end of the support member is rotatably connected to the support seat;

[0017] The second connecting rod includes a fourth connecting portion and a fifth connecting portion arranged at intervals. The fourth connecting portion is rotatably connected to the third connecting portion, and the fifth connecting portion is connected to the other end of the support member.

[0018] In an alternative embodiment, the second connecting rod further includes a sixth connecting portion. The sixth connecting portion, the fourth connecting portion, and the fifth connecting portion are arranged in sequence; or, the sixth connecting portion, the fifth connecting portion, and the fourth connecting portion are arranged in sequence. The distance between the sixth connecting portion and the support seat is greater than the distance between the fourth connecting portion and the support seat, and the sixth connecting portion is used to connect the upper body skeleton assembly.

[0019] In an alternative embodiment, the second link further includes a bent portion located between the sixth connecting portion and the fourth connecting portion. A third connecting section is provided between the sixth connecting portion and the bent portion, and a fourth connecting section is provided between the bent portion and the fourth connecting portion. The angle between the straight line where the third connecting section is located and the reference plane is greater than the angle between the straight line where the fourth connecting section is located and the reference plane.

[0020] In a second aspect, the present application provides a robot, including a chassis driving assembly, an upper body skeleton assembly, a waist rotation connection assembly, and the driving device as described in the first aspect. The bottom end of the driving device is provided on the chassis driving assembly, and the waist rotation connection assembly is connected between the top end of the driving device and the upper body skeleton assembly. The waist rotation connection assembly is configured to drive the upper body skeleton assembly to rotate relative to the driving device.

[0021] A robot provided by the present application includes a chassis driving assembly, an upper body skeleton assembly, a waist rotation connection assembly, and the driving device as described in the first aspect. The driving device includes a first fixed seat, a first link, a second link, and a driving structure. The first link includes a first connecting portion, a second connecting portion, and a third connecting portion. The first connecting portion is rotatably connected to the first fixed seat, enabling the first link to rotate relative to the first fixed seat. The second link is connected to the third connecting portion, and the extending direction of the second link intersects with the extending direction of the first link. The driving structure is rotatably connected to the second connecting portion. The driving structure is configured to drive the first link to rotate. During the rotation of the first link, the second link is driven to move in the height direction and / or the front-back direction. The bottom end of the driving device is provided on the chassis driving assembly, and the waist rotation connection assembly is connected between the top end of the driving device and the upper body skeleton assembly. The driving structure drives the waist rotation connection assembly and the upper body skeleton assembly to move in the height direction, or in the front-back direction, or simultaneously backward and upward, or simultaneously backward and downward, or simultaneously forward and upward, or simultaneously forward and downward through the first link and the second link, so as to enable the waist rotation connection assembly and the upper body skeleton assembly to have high movement flexibility in the front-back, up-down space. On this basis, the upper body skeleton assembly can rotate around the waist rotation connection assembly. Therefore, the upper body skeleton assembly can move with multiple degrees of freedom in the front-back, up-down space. The movement ability of a robot, generally, the higher the degrees of freedom of a robot, the more complex the control. Moreover, in the present application, only by controlling the driving structure and the waist rotation connection assembly, the robot can move with multiple degrees of freedom in the front-back, up-down space, and the control is simple while achieving multiple degrees of freedom. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below.

[0023] Figure 1 It is a schematic three-dimensional structure diagram of a robot provided by an embodiment of the present application;

[0024] Figure 2 It is a schematic three-dimensional structure diagram of the internal structure of the robot provided by an embodiment of the present application;

[0025] Figure 3 It is a schematic side view structure diagram of the driving device provided by Embodiment 1 of the present application;

[0026] Figure 4 It is a schematic side view structure diagram of the driving device provided by Embodiment 2 of the present application in the standing state Figure 1 ;

[0027] Figure 5 It is a schematic side view structure diagram of the driving device provided by Embodiment 2 of the present application in the standing state Figure 2 ;

[0028] Figure 6 It is a schematic side view structure diagram of the driving device provided by Embodiment 2 of the present application in the squatting state;

[0029] Figure 7 It is a schematic side view structure diagram of the driving device provided by Embodiment 3 of the present application in the standing state;

[0030] Figure 8 It is a schematic side view structure diagram of the driving device provided by Embodiment 4 of the present application in the standing state;

[0031] Figure 9 It is a schematic side view structure diagram of the internal structure of a robot provided by an embodiment of the present application;

[0032] Figure 10 It is a schematic diagram of a robot provided by an embodiment of the present application in the upright highest posture;

[0033] Figure 11 It is a schematic diagram of a robot provided by an embodiment of the present application in the semi-squat height posture;

[0034] Figure 12 It is a schematic diagram of a robot provided by an embodiment of the present application in the fully squatted posture;

[0035] Figure 13 It is a schematic diagram of a robot provided by an embodiment of the present application in the body forward movement posture;

[0036] Figure 14 It is a schematic diagram of a robot provided by an embodiment of the present application in the body backward movement posture;

[0037] Figure 15It is a schematic diagram of a robot in a forward-leaning body posture provided by an embodiment of the present application;

[0038] Figure 16 It is a schematic diagram of a robot in a forward-leaning body posture to the maximum limit provided by an embodiment of the present application.

[0039] Explanation of the reference numerals in the drawings:

[0040] Robot 1000; driving device 100; support base 1; bearing surface 1a; first fixing base 2; second fixing base 3; first connecting rod 4; second connecting rod 9; driving structure 7; first connecting portion 41; second connecting portion 42; third connecting portion 43; mobile end 4a; supporting end 9a; first rotating shaft 411; first connecting section 44; second connecting section 45; second fixing base 3; driving member 71; telescopic push rod 72; fourth connecting portion 91; fifth connecting portion 92; supporting member 8; third fixing base 20; sixth connecting portion 93; bending portion 94; third connecting section 95; fourth connecting section 96; chassis driving assembly 15; upper body skeleton assembly 12; waist rotating connection assembly 11; chassis driving wheel 151; battery module 16; robotic arm 14; display 13. Detailed implementation manners

[0041] Next, the technical solutions of the present application will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts belong to the protection scope of the present application.

[0042] Referring to "embodiment" in the present application means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an exclusive, independent or alternative embodiment to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0043] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example: a component or device including one or more components is not limited to the one or more components listed, but optionally further includes one or more components not listed but inherent to the product shown, or one or more components that should be had based on the described function.

[0044] Please refer toFigure 1 and Figure 2 , this application provides a driving device 100 and a robot 1000 that improve the movement flexibility of the mobile robot and have simple control.

[0045] Please refer to Figure 3 and Figure 4 , an embodiment of this application provides a driving device 100. The driving device 100 can be applied to devices that require multi-degree-of-freedom movement in space, such as two-dimensional motion platforms, robots, drones, transportation devices, etc.

[0046] Please refer to Figure 3 and Figure 4 , the driving device 100 includes a first fixed seat 2, a first link 4, a second link 9, and a driving structure 7.

[0047] Optionally, please refer to Figure 3 , the driving device 100 is arranged on the support seat 1. The support seat 1 has a bearing surface 1a, and the bearing surface 1a is parallel to or substantially parallel to the X-Y plane. The bearing surface 1a can also be referred to as a horizontal plane in this article.

[0048] The first fixed seat 2 is installed on the support seat 1, and the first fixed seat 2 is arranged along the Z direction (the up-down direction, or the height direction).

[0049] Please refer to Figure 3 and Figure 4 , the first link 4 includes a first connection portion 41, a second connection portion 42, and a third connection portion 43.

[0050] This application is not limited to the first link 4 being a straight rod, or a bent rod, or a curved rod, etc. In an optional implementation manner, the first link 4 is a straight rod. In another optional implementation manner, the first link 4 is a bent rod.

[0051] Optionally, the first connection portion 41, the second connection portion 42, and the third connection portion 43 are respectively different parts of the first link 4.

[0052] This application is not limited to the order, specific positions, etc. of the first connection portion 41, the second connection portion 42, and the third connection portion 43. In an optional implementation manner, the first connection portion 41, the second connection portion 42, and the third connection portion 43 are arranged in sequence. In another optional implementation manner, the second connection portion 42, the first connection portion 41, and the third connection portion 43 are arranged in sequence.

[0053] Please refer to Figure 3 and Figure 4 , the first connection portion 41 is rotatably connected to the first fixed seat 2, so that the first link 4 can rotate relative to the first fixed seat 2.

[0054] Optionally, when the first connecting portion 41 is the end of the first connecting rod 4, the end of the first connecting rod 4 is rotatably connected to the first fixing seat 2. Further optionally, when the first connecting portion 41 is at a non-end position of the first connecting rod 4, the non-end position of the first connecting rod 4 is connected to the first fixing seat 2.

[0055] Please refer to Figure 3 and Figure 4 , the second connecting rod 9 is connected to the third connecting portion 43. The extending direction of the second connecting rod 9 intersects the extending direction of the first connecting rod 4.

[0056] In an alternative embodiment, one end of the second connecting rod 9 is connected to the third connecting portion 43. In another alternative embodiment, the non-end position of the second connecting rod 9 is connected to the third connecting portion 43.

[0057] The connection manner between the second connecting rod 9 and the third connecting portion 43 includes, but is not limited to, rotational connection, fixed connection, etc.

[0058] Please refer to Figure 3 and Figure 4 , the driving structure 7 is rotatably connected to the second connecting portion 42.

[0059] This application does not make specific limitations on the driving structure 7. Optionally, the driving structure 7 includes, but is not limited to, driving by a motor, hydraulics, pneumatics, electromagnetics, etc. Further optionally, the driving structure 7 is a linear push rod mechanism for pushing the rotation of the first connecting rod 4, and the driving structure 7 can also use a hydraulic push rod or a cable structure to achieve the same function.

[0060] Please refer to Figure 3 and Figure 4 , the driving structure 7 is configured to drive the first connecting rod 4 to rotate. During the rotation of the first connecting rod 4, the second connecting rod 9 is driven to move in the height direction and / or the front-back direction.

[0061] For the sake of convenience of description, in this embodiment, the driving device 100 is applied to a robot as an example. The front side is the side facing the display 13 of the robot 1000, and the rear side is the side facing away from the display 13 of the robot 1000. The lower side is the side close to the support base 1, and the upper side is the side away from the support base 1.

[0062] Further, the driving structure 7 drives the first connecting rod 4 to rotate according to a control signal, and the rotation of the first connecting rod 4 drives the end of the second connecting rod 9 to move in the Z-Y plane.

[0063] Specifically, please refer to Figure 3 and Figure 4 , the angle between the first connecting rod 4 and the bearing surface 1a is an acute angle. The first connecting rod 4 extends towards the rear side of the driving device 100. The end of the first connecting rod 4 away from the bearing surface 1a is the mobile end 4a.

[0064] The driving structure 7 drives the angle between the first connecting rod 4 and the bearing surface 1a to increase under the action of the first control signal, so that the moving end 4a of the first connecting rod 4 moves forward and upward.

[0065] The driving structure 7 drives the angle between the first connecting rod 4 and the bearing surface 1a to decrease under the action of the second control signal, so that the moving end 4a of the first connecting rod 4 moves backward and downward.

[0066] Optionally, please refer to Figure 3 and Figure 4 , the moving end 4a of the first connecting rod 4 is rotatably connected to the second connecting rod 9. The moving end 4a is the first rotation center. The front upper side end of the second connecting rod 9 is the supporting end 9a, and the supporting end 9a is arranged at an interval from the moving end 4a. The supporting end 9a is used to support the component to be driven. When the driving device 100 is applied to the robot 1000, the supporting end 9a of the second connecting rod 9 is used to carry the upper body skeleton component, the robotic arm, the display and other upper body parts of the robot 1000.

[0067] The whole of the second connecting rod 9 moves forward and upward (or backward and downward) along with the moving end 4a (the first rotation center). The second connecting rod 9 can also rotate relative to the moving end 4a. The extending direction of the second connecting rod 9 intersects with the extending direction of the first connecting rod 4, so that the supporting end 9a of the second connecting rod 9 can also move forward and downward, backward and upward. Therefore, the degree of freedom of movement of the supporting end 9a of the second connecting rod 9 is a composite degree of freedom. The degree of freedom of movement of the supporting end 9a is the superposition of the degree of freedom of movement of the moving end 4a and the degree of freedom of movement of the second connecting rod 9, so that the supporting end 9a of the second connecting rod 9 can move freely upward vertically, or downward vertically, or forward and upward, or forward and downward, or horizontally forward, or horizontally backward, or backward and upward, or backward and downward, etc. compared with the first fixed seat 2. In other words, the supporting end 9a of the second connecting rod 9 can move to any position within a certain range in the Y-Z plane.

[0068] In other words, the first connecting rod 4 enables the moving end 4a to have the degree of freedom of two-dimensional space movement in the Y-Z plane, and the second connecting rod 9 enables the supporting end 9a to also have the degree of freedom of two-dimensional space movement in the Y-Z plane compared with the moving end 4a. The supporting end 9a has a double degree of freedom. The increase in the degree of freedom can improve the flexibility and adaptability of the robot 1000, enabling the robot 1000 to work in more complex environments and tasks. In the general art, the increase in the degree of freedom will lead to an increase in the complexity of the control system. However, in this application, only through one driving structure 7, the supporting end 9a of the second connecting rod 9 can move arbitrarily within a certain range in the Y-Z plane, which not only meets the requirement of multiple degrees of freedom but also simplifies the control.

[0069] Specifically, the support end 9a of the second link 9 moves vertically upward relative to the first fixed seat 2: the displacement of the mobile end 4a in the front-back direction cancels out the displacement of the support end 9a in the front-back direction, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is upward. It should be noted that, without special instructions, the movement of the support end 9a described in this article refers to the movement of the support end 9a relative to the mobile end 4a.

[0070] The support end 9a of the second link 9 moves vertically downward relative to the first fixed seat 2: the displacement of the mobile end 4a in the front-back direction cancels out the displacement of the support end 9a in the front-back direction, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is downward.

[0071] The support end 9a of the second link 9 moves forward and upward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is forward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is upward.

[0072] The support end 9a of the second link 9 moves forward and downward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is forward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is downward.

[0073] The support end 9a of the second link 9 moves horizontally forward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is forward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction cancels out.

[0074] The support end 9a of the second link 9 moves horizontally backward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is backward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction cancels out.

[0075] The support end 9a of the second link 9 moves backward and upward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is backward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is upward.

[0076] The support end 9a of the second link 9 moves backward and downward relative to the first fixed seat 2: the resultant displacement of the mobile end 4a and the support end 9a in the front-back direction is backward, and the resultant displacement of the mobile end 4a and the support end 9a in the vertical direction is downward.

[0077] As can be seen from the above, in the embodiment of the present application, only by controlling the driving structure 7, the supporting end 9a of the second link 9 can be moved with multiple degrees of freedom in the Z-Y plane, so as to move in the height direction, or move in the front-back direction, or move backward and upward, or move backward and downward, or move forward and upward, or move forward and downward relative to the first fixed seat 2, realizing that the driving device 100 has high movement flexibility in the front-back, up-down space.

[0078] In addition, since the movement of the moving end 4a of the first link 4 in the forward and upward direction is restricted to move along a fixed trajectory, that is, the displacement in the Y direction is associated with the displacement in the Z direction, while the supporting end 9a of the second link 9 can decouple the displacement in the Y direction from the displacement in the Z direction to realize movement at any position in the Z-Y plane.

[0079] A driving device 100 provided in the present application includes a first fixed seat 2, a first link 4, a second link 9 and a driving structure 7. The first link 4 includes a first connecting portion 41, a second connecting portion 42 and a third connecting portion 43. The first connecting portion 41 is rotatably connected to the first fixed seat 2 so that the first link 4 can rotate relative to the first fixed seat 2. The second link 9 is connected to the third connecting portion 43, and the extending direction of the second link 9 intersects with the extending direction of the first link 4. The driving structure 7 is rotatably connected to the second connecting portion 42, and the driving structure 7 is configured to drive the first link 4 to rotate. During the rotation of the first link 4, the second link 9 is driven to move in the height direction and / or the front-back direction. In other words, the driving structure 7 can drive the second link 9 to move in the height direction, or move in the front-back direction, or move backward and upward, or move backward and downward, or move forward and upward, or move forward and downward through the first link 4, realizing that the driving device 100 has high movement flexibility in the front-back, up-down space and has a simple structure and convenient control.

[0080] The following takes the accompanying drawings as an example to illustrate the specific structure of the first link 4.

[0081] In a first alternative embodiment of the first link 4, please refer to Figure 3 and Figure 4 , the second connecting portion 42, the first connecting portion 41, and the third connecting portion 43 are arranged in sequence.

[0082] Specifically, the second connecting portion 42 and the third connecting portion 43 are respectively located at the positions where the two ends of the first link 4 are located. The moving end 4a of the first link 4 can be the end of the third connecting portion 43.

[0083] One end of the first fixing seat 2 away from the support seat 1 is rotatably connected to the first connecting portion 41. Specifically, a first rotating shaft hole is provided on the first fixing seat 2. The first connecting portion 41 is rotatably connected to the first rotating shaft hole through a first rotating shaft 411 (blocked by the first rotating shaft 411 in Figure 3 ).

[0084] The first rotating shaft hole has a certain height, so that the first connecting portion 41 has a certain height relative to the bearing surface 1a, reserving a part of the space for the accommodation of the second connecting portion 42. The application does not specifically limit the height of the first rotating shaft hole. Optionally, the height of the first rotating shaft hole is greater than the distance between the first connecting portion 41 and the second connecting portion 42, so that the first connecting rod 4 can smoothly rotate around the first fixing seat 2 through the first rotating shaft 411.

[0085] In an alternative embodiment, please refer to Figure 5 . The first connecting rod 4 is a bent rod. Specifically, a first connecting section 44 is provided between the second connecting portion 42 and the first connecting portion 41. A second connecting section 45 is provided between the first connecting portion 41 and the third connecting portion 43. The angle between the straight line where the first connecting section 44 is located and the reference plane (bearing surface 1a) is greater than the angle between the straight line where the second connecting section 45 is located and the reference plane (bearing surface 1a).

[0086] Specifically, the first connecting rod 4 is inclined relative to the support seat 1. The third connecting portion 43 is inclined backward. In other words, the angle between the first connecting section 44 and the bearing surface 1a is an acute angle. The angle between the second connecting section 45 and the bearing surface 1a is an acute angle. And the angle between the straight line where the first connecting section 44 is located and the reference plane (bearing surface 1a) is greater than the angle between the straight line where the second connecting section 45 is located and the reference plane (bearing surface 1a). The angle between the first connecting section 44 and the second connecting section 45 is an obtuse angle. The application does not specifically limit the angle between the first connecting section 44 and the second connecting section 45. For example, the angle between the first connecting section 44 and the second connecting section 45 is close to 110° - 170°.

[0087] Please refer to Figure 6 . When the robot 1000 is in a squatting posture, the first connecting rod 4 rotates to the first position, the first connecting section 44 is located in front of the first fixing seat 2, the second connecting section 45 is located behind the first fixing seat 2, and the second connecting section 45 is close to being parallel to the bearing surface 1a. The mobile end 4a is located at the end of the third connecting portion 43. The mobile end 4a moves to the rear side and is located at a lower position. At this time, the first connecting section 44 and the bearing surface 1a form a first angle, and the second connecting section 45 and the bearing surface 1a form a second angle, and the second angle is less than 10°. The first angle is greater than the second angle.

[0088] Please refer toFigure 5 When the robot 1000 is in an upright posture, the first link 4 rotates to the second position. The first connecting section 44 is located in front of, or to the left or right of, the first fixed seat 2, and the second connecting section 45 is located behind the first fixed seat 2. The second connecting section 45 forms a relatively large angle with the bearing surface 1a. The mobile end 4a is located at the third connecting portion 43. The mobile end 4a moves to a position that is slightly to the rear and higher at the center. At this time, the first connecting section 44 and the bearing surface 1a form a third angle, and the second connecting section 45 and the bearing surface 1a form a fourth angle. The third angle is greater than the fourth angle. The third angle is less than 90° or equal to 90°. For example, the third angle is 70 - 90°. The fourth angle is 30 - 60°. Of course, in other embodiments, the third angle can also be greater than or equal to 90°.

[0089] Within the range where the angle between the second connecting section 45 and the bearing surface 1a rotates from 10° to 60°, if the first link 4 is a straight rod, then the angle between the first connecting section 44 and the bearing surface 1a rotates from 10° to 60°. During this process, the second connecting portion 42 of the first link 4 is relatively high in the height direction, and it is necessary to make the second connecting portion 42 have relatively large displacements in both the height direction and the front - rear direction, which brings great difficulties to the connection structure design and position layout of the driving structure 7 and the second connecting portion 42.

[0090] Within the range where the angle between the second connecting section 45 and the bearing surface 1a rotates from 10° to 60°, taking the angle between the first connecting section 44 and the second connecting section 45 as 135° as an example, the angle between the first connecting section 44 and the bearing surface 1a rotates from 35° to 85°. At this time, the height of the second connecting portion 42 is relatively low, and the displacements of the second connecting portion 42 in the height direction and the front - rear direction are relatively small, which can facilitate the connection structure design and position layout of the driving structure 7 and the second connecting portion 42.

[0091] In addition, compared with the embodiment where the first link 4 is a straight rod, by setting the first link 4 as a bent rod, the size of the first connecting section 44 can also be shortened, so that a relatively large torque can be generated with a relatively short first connecting section 44 and the driving force provided by the driving structure 7 to drive the rotation of the first link 4.

[0092] Optionally, please refer to Figures 5 to 6 The length of the first connecting section 44 is less than the length of the second connecting section 45.

[0093] This application does not specifically limit the lengths of the first connecting section 44 and the second connecting section 45. Optionally, when the driving structure 7 meets the torque design requirements, the second connecting section 45 can be much larger than the first connecting section 44. By driving the second connecting portion 42 to rotate through a small angle, the third connecting portion 43 can be rotated through a large angle. In addition, the moving stroke of the first connecting section 44 away from the second connecting section 45 can be shortened, and the movement stroke of the driving structure 7 can also be reduced. This application does not specifically limit the length ratio of the first connecting section 44 to the second connecting section 45.

[0094] Optionally, referring to Figures 3 to 6 , the driving device 100 further includes a second fixing seat 3. Both the second fixing seat 3 and the first fixing seat 2 are provided on the support seat 1. Optionally, the first fixing seat 2 and the second fixing seat 3 are arranged in the front-rear direction.

[0095] One end of the driving structure 7 is rotatably connected to the second fixing seat 3, and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42.

[0096] Specifically, the second fixing seat 3 has a second rotating shaft hole. The height of the second rotating shaft hole relative to the bearing surface 1a is less than the height of the first rotating shaft hole relative to the bearing surface 1a, and the driving structure 7 extends substantially in an inclined straight line.

[0097] Referring to Figure 6 , when the first connecting rod 4 rotates to the second position, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is relatively small (for example, the smallest angle). For example, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is 0 to 10°, and the driving structure 7 is close to being parallel to the bearing surface 1a.

[0098] Referring to Figure 5 , when the first connecting rod 4 rotates to the first position, the second connecting portion 42 rotates to a relatively high position, and the angle between the straight line where the driving structure 7 is located and the bearing surface 1a increases to a relatively large angle. For example, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is close to 10° to 30°.

[0099] In this embodiment, by designing that one end of the driving structure 7 is rotatably connected to the second fixing seat 3 and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42, the driving structure 7 has a rotational degree of freedom in the Y-Z plane. At the same time, the driving structure 7 can also be telescopic, so the driving structure 7 has a translational degree of freedom + a rotational degree of freedom. Furthermore, the driving structure 7 drives the second connecting portion 42 to rotate around the first rotating shaft 411, and the end of the driving structure 7 connected to the second connecting portion 42 can have displacements in both the height direction and the front-rear direction along with the second connecting portion 42, avoiding interference with the movement of the second connecting portion 42 in the height direction by the driving structure 7.

[0100] In addition, since the driving device 100 provided in this embodiment also needs to carry a load, in this embodiment, one end of the driving structure 7 is rotatably connected to the second fixed seat 3, and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42, so that the driving structure 7 can provide a relatively large rotational torque.

[0101] In this embodiment, the first connecting rod 4 is designed as a bent rod and designed according to the rotation angle of the second connecting section 45, so that the height of the second connecting portion 42 of the first connecting rod 4 is relatively low, and the displacement range of the second connecting portion 42 during rotation is relatively small. In this way, the displacement that the driving structure 7 needs to extend and retract is relatively small, and the rotation angle that the driving structure 7 needs to rotate is relatively small, reducing the performance requirements and structural design requirements for the driving structure 7.

[0102] Optionally, the driving structure 7 includes a driving member 71 and a telescopic push rod 72.

[0103] One end of the driving member 71 is rotatably connected to the support seat 1, and the other end of the driving member 71 is connected to one end of the telescopic push rod 72. The driving member 71 is configured to drive the telescopic push rod 72 to extend and retract relative to the driving member 71, and the other end of the telescopic push rod 72 is rotatably connected to the second connecting portion 42.

[0104] Optionally, the driving member 71 is a motor. The driving member 71 and the telescopic push rod 72 are arranged side by side in the width direction. The telescopic push rod 72 includes but is not limited to a screw rod. The output shaft of the driving member 71 is connected to the telescopic push rod 72 through a transmission member (such as a transmission gear) to drive the telescopic push rod 72 to rotate. While rotating, the telescopic push rod 72 extends or retracts relative to the driving member 71 to drive the second connecting portion 42 to rotate around the first rotating shaft 411, so that the first connecting rod 4 rotates between the first position and the second position.

[0105] Please refer to Figure 5 , when the first connecting rod 4 rotates to the second position, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is relatively small (for example, the smallest angle). For example, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is 0 to 10°, the driving structure 7 is close to being parallel to the bearing surface 1a, and the telescopic push rod 72 is in the retracted position.

[0106] Please refer to Figure 6 , when the first connecting rod 4 rotates to the first position, the second connecting portion 42 rotates to a relatively high position, and the angle between the straight line where the driving structure 7 is located and the bearing surface 1a increases to a relatively large angle. For example, the angle between the straight line where the driving structure 7 is located and the bearing surface 1a is close to 10° to 30°. The telescopic push rod 72 is in the extended position, and the extended length of the telescopic push rod 72 is the first length. Optionally, the first length can be the maximum extended length.

[0107] In a second alternative embodiment of the first link 4, the first connecting portion 41, the second connecting portion 42, and the third connecting portion 43 are arranged in sequence.

[0108] Optionally, the first connecting portion 41 and the third connecting portion 43 are respectively located at both ends of the first link 4. The second connecting portion 42 is located between the first connecting portion 41 and the third connecting portion 43. The distance between the second connecting portion 42 and the first connecting portion 41 can be greater than, equal to, or less than the distance between the second connecting portion 42 and the third connecting portion 43. Optionally, the distance between the second connecting portion 42 and the first connecting portion 41 is less than the distance between the second connecting portion 42 and the third connecting portion 43. In this way, the translational displacement and rotational displacement of the driving structure 7 are relatively small, reducing the performance requirements and structural design requirements for the driving structure 7.

[0109] In this embodiment, the first fixing base 2 does not need to be provided with a base platform. The first fixing base 2 can be attached to the support base 1 to reduce the height of the first link 4, thereby reducing the design angle between the driving structure 7 and the bearing surface 1a, and reducing the performance requirements and structural design requirements for the driving structure 7.

[0110] In this embodiment, the driving device 100 further includes a second fixing base 3. Both the second fixing base 3 and the first fixing base 2 are provided on the support base 1. Optionally, the first fixing base 2 and the second fixing base 3 are arranged in the front-rear direction.

[0111] One end of the driving structure 7 is rotatably connected to the second fixing base 3, and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42.

[0112] Specifically, the second fixing base 3 has a second rotating shaft hole. The height of the second rotating shaft hole relative to the bearing surface 1a can be close to the height of the first rotating shaft hole relative to the bearing surface 1a.

[0113] In this embodiment, by designing that one end of the driving structure 7 is rotatably connected to the second fixing base 3 and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42, the driving structure 7 has a rotational degree of freedom in the Y-Z plane. At the same time, the driving structure 7 can also be telescopic, so the driving structure 7 has a translational degree of freedom + rotational degree of freedom. Furthermore, the driving structure 7 drives the second connecting portion 42 to rotate around the first rotating shaft 411, and one end of the driving structure 7 connected to the second connecting portion 42 can have displacements in both the height direction and the front-rear direction along with the second connecting portion 42, avoiding interference with the movement of the second connecting portion 42 by the driving structure 7 in the height direction.

[0114] In addition, since the driving device 100 provided in this embodiment also needs to carry a load, in this embodiment, one end of the driving structure 7 is rotatably connected to the second fixed seat 3, and the other end of the driving structure 7 is rotatably connected to the second connecting portion 42, so that the driving structure 7 can provide a relatively large rotational torque.

[0115] Optionally, please refer to Figure 5 and Figure 6 , the driving structure 7 includes a driving member 71 and a telescopic push rod 72.

[0116] One end of the driving member 71 is rotatably connected to the support seat 1, and the other end of the driving member 71 is connected to one end of the telescopic push rod 72. The driving member 71 is configured to drive the telescopic push rod 72 to expand and contract relative to the driving member 71, and the other end of the telescopic push rod 72 is rotatably connected to the second connecting portion 42.

[0117] Optionally, the driving member 71 is a motor. The driving member 71 and the telescopic push rod 72 are arranged side by side in the width direction. The telescopic push rod 72 includes, but is not limited to, a screw rod. The output shaft of the driving member 71 is connected to the telescopic push rod 72 through a transmission member (such as a transmission gear) to drive the telescopic push rod 72 to rotate. While rotating, the telescopic push rod 72 extends or retracts relative to the driving member 71 to drive the second connecting portion 42 to rotate around the first rotating shaft 411, so that the first connecting rod 4 rotates between the first position and the second position.

[0118] Please refer to Figure 5 , when the first connecting rod 4 rotates to the second position, the second connecting portion 42 rotates to a relatively high position, and the angle between the straight line where the driving structure 7 is located and the bearing surface 1a increases to a relatively large angle. The telescopic push rod 72 is located at the extended position, and the extended length of the telescopic push rod 72 is the first length. Optionally, the first length can be the maximum extended length.

[0119] Please refer to Figure 6 , when the first connecting rod 4 rotates to the first position, the second connecting portion 42 rotates to a relatively low position, and the angle between the straight line where the driving structure 7 is located and the bearing surface 1a decreases to a relatively small angle. The telescopic push rod 72 is located at the retracted position.

[0120] Please refer to Figure 3 , the second connecting rod 9 includes a fourth connecting portion 91 and a fifth connecting portion 92 which are arranged at intervals. The fourth connecting portion 91 is rotatably connected to the third connecting portion 43.

[0121] In an alternative embodiment, the fourth connecting portion 91 and the fifth connecting portion 92 are the two ends of the second connecting rod 9. The fourth connecting portion 91 is the rotation center. The height of the fifth connecting portion 92 is lower than that of the fourth connecting portion 91. In other embodiments, the height of the fifth connecting portion 92 may be higher than that of the fourth connecting portion 91.

[0122] In this embodiment, please refer to Figure 7 and Figure 8 , the driving device 100 further includes a support member 8. One end of the support member 8 is rotatably connected to the support base 1.

[0123] Optionally, the driving device 100 further includes a third fixing base 20. The third fixing base 20 is disposed on the support base 1, and one end of the support member 8 is rotatably connected to the third fixing base 20.

[0124] In the first alternative embodiment, please refer to Figure 7 , one end of the support member 8 is rotatably connected to the first connecting rod 4 near the first connecting portion 41.

[0125] In the second alternative embodiment, please refer to Figure 8 , the fifth connecting portion 92 is connected to the other end of the support member 8. Optionally, the third fixing base 20 may be disposed at a position on the first fixing base 2 away from the second fixing base 3.

[0126] Optionally, the support member 8 includes, but is not limited to, a telescopic cylinder, a rigid spring, a gas spring, an electric linear push rod, etc. The support member 8 is used to provide a supporting force for the second connecting rod 9. The supporting force provided by the support member 8 is variable, so that the fifth connecting portion 92 of the second connecting rod 9 has a strong supporting force for the waist rotating connection assembly and the upper body skeleton assembly it supports, and can also allow the fifth connecting portion 92 to rotate around the fourth connecting portion 91. At the same time, it can also balance the center of gravity of the overall robot 1000 and prevent the problem of the robot 1000 tipping over due to unstable center of gravity.

[0127] It should be noted that regardless of the posture of the robot 1000, the driving structure 7 on the lower side of the second connecting rod 9, the first connecting rod 4, the support member 8, etc. can all play a supporting role. In addition, the driving structure 7, the first connecting rod 4, and the support member 8 can adaptively provide sufficient supporting force to maintain the center of gravity balance of the robot 1000 and keep its posture.

[0128] In another alternative embodiment, please refer to Figures 4 to 6, the second connecting rod 9 also includes a sixth connecting portion 93. The sixth connecting portion 93, the fourth connecting portion 91 and the fifth connecting portion 92 are arranged in sequence. The fourth connecting portion 91 is the rotation center, and the sixth connecting portion 93 is the aforementioned support end 9a. Optionally, the height of the sixth connecting portion 93 is higher than the height of the fourth connecting portion 91. The height of the fourth connecting portion 91 is higher than the height of the fifth connecting portion 92. The sixth connecting portion 93 of the second connecting rod 9 is located at the front upper part, and the fifth connecting portion 92 of the second connecting rod 9 is located at the rear lower part.

[0129] The distance between the sixth connection portion 93 and the support base 1 is greater than the distance between the fourth connection portion 91 and the support base 1 .

[0130] When the driving device 100 is applied to the robot 1000, the sixth connection part 93 is used to connect the upper body frame assembly. When the sixth connection part 93 of the second connecting rod 9 moves to any position within a certain range in the YZ plane, it can drive the waist rotation connection assembly and the upper body frame assembly to move to any position within a certain range in the YZ plane.

[0131] Optional, see Figures 4 to 6 The driving device 100 further includes a third fixing seat 20, which is disposed on the supporting seat 1, and one end of the supporting member 8 is rotatably connected to the third fixing seat 20. Optionally, one end of the supporting member 8 is rotatably connected to the first connecting rod 4 close to the first connecting portion 41.

[0132] See also Figures 4 to 6 , the fifth connecting portion 92 is connected to the other end of the supporting member 8. Optionally, the third fixing seat 20 can be arranged at a position where the second fixing seat 3 is away from the first fixing seat 2 or at a position between the second fixing seat 3 and the first fixing seat 2.

[0133] Optionally, the support member 8 includes but is not limited to a rigid spring, a gas spring, etc. The support member 8 is used to provide support force for the second connecting rod 9. Optionally, the support force provided by the support member 8 is variable, so that the second connecting rod 9 has a strong support force for the waist rotation connection component and the upper body skeleton component supported by it, and can also allow the fifth connecting part 92 to rotate around the fourth connecting part 91, and at the same time can balance the center of gravity of the entire robot 1000, and prevent the problem of the robot 1000 tipping over due to unstable center of gravity.

[0134] In yet another alternative embodiment, the second link 9 further includes a sixth connecting portion 93. The sixth connecting portion 93, the fifth connecting portion 92, and the fourth connecting portion 91 are arranged in sequence. The fourth connecting portion 91 is the rotation center, and the sixth connecting portion 93 is the aforementioned supporting end 9a. Optionally, the height of the sixth connecting portion 93 is higher than that of the fifth connecting portion 92. The height of the fifth connecting portion 92 is higher than that of the fourth connecting portion 91. The sixth connecting portion 93 of the second link 9 is located in the upper front, and the fourth connecting portion 91 of the second link 9 is located in the lower rear.

[0135] Optionally, the driving device 100 further includes a third fixing base 20, which is disposed on the base, and one end of the support member 8 is rotatably connected to the third fixing base 20. Further optionally, one end of the support member 8 is rotatably connected to the first link 4 at a position close to the first connecting portion 41.

[0136] The fifth connecting portion 92 is connected to the other end of the support member 8. Optionally, the third fixing base 20 can be disposed on one side of the first fixing base 2 facing the second fixing base 3.

[0137] Optionally, the support member 8 includes, but is not limited to, a rigid spring, a gas spring, etc. The support member 8 is used to provide a supporting force for the fifth connecting portion 92 of the second link 9. Optionally, the supporting force provided by the support member 8 is variable, so that the second link 9 has a strong supporting force for the waist rotation connection assembly and the upper body skeleton assembly it supports, and can also allow the fifth connecting portion 92 to rotate around the fourth connecting portion 91. At the same time, it can also balance the center of gravity of the overall robot 1000 and prevent the problem of the robot 1000 tipping over due to unstable center of gravity.

[0138] In an alternative embodiment, the second link 9 is a straight rod.

[0139] In another alternative embodiment, please refer to Figures 4 to 6 , the second link 9 is a bent rod. The second link 9 further includes a bent portion 94 located between the sixth connecting portion 93 and the fourth connecting portion 91. Between the sixth connecting portion 93 and the bent portion 94 is a third connecting section 95. Between the bent portion 94 and the fourth connecting portion 91 is a fourth connecting section 96. The angle between the straight line where the third connecting section 95 is located and the reference plane is greater than the angle between the straight line where the fourth connecting section 96 is located and the reference plane. In other words, the third connecting section 95 extends forward and upward compared with the fourth connecting section 96.

[0140] This application does not specifically limit the angle between the third connecting section 95 and the fourth connecting section 96. For example, the angle between the third connecting section 95 and the fourth connecting section 96 includes, but is not limited to, 110° - 170°.

[0141] Optionally, the length between the fourth connecting portion 91 and the fifth connecting portion 92 is less than the length between the fourth connecting portion 91 and the sixth connecting portion 93, so that the first link 4 can drive the second link 9 to rotate by a small angle to achieve a relatively large rotation angle of the supporting end 9a of the second link 9.

[0142] When the driving device 100 is applied to the robot 1000, the sixth connecting portion 93 is the position of the waist rotation connecting assembly and the upper body skeleton assembly, and the third connecting section 95 extends forward and upward compared with the fourth connecting section 96. To enable the waist rotation connecting assembly and the upper body skeleton assembly to have a certain height and a relatively forward position to balance the center of gravity.

[0143] The embodiment of the present application also provides a robot 1000.

[0144] Please refer to Figure 9 , the robot 1000 includes a chassis driving assembly 15, an upper body skeleton assembly 12, a waist rotation connecting assembly 11 and the driving device 100 described in any one of the foregoing embodiments.

[0145] Please refer to Figure 9 , the chassis driving assembly 15 includes chassis driving wheels 151 and a bottom plate provided on the chassis driving wheels 151. Among them, the chassis driving wheels 151 include a set of front wheels and a set of rear wheels. Optionally, the chassis driving wheels 151 include but are not limited to Mecanum wheels.

[0146] The bottom end of the driving device 100 is provided on the bottom plate of the chassis driving assembly 15. The bottom plate of the chassis driving assembly 15 may have the same structure as the aforementioned support seat 1.

[0147] Please refer to Figure 9 , the robot 1000 further includes a battery module 16. The battery module 16 is provided between a set of front wheels and a set of rear wheels and is located at the bottom of the bottom plate.

[0148] The waist rotation connecting assembly 11 is connected between the top end of the driving device 100 and the upper body skeleton assembly 12. The waist rotation connecting assembly 11 is configured to drive the upper body skeleton assembly 12 to rotate relative to the driving device 100. The waist rotation connecting assembly 11 includes but is not limited to a waist joint motor, and the waist joint motor rotatably connects the supporting end 9a (the aforementioned sixth connecting portion 93) of the second link 9 and the upper body skeleton assembly 12. The rotation axis direction of the waist rotation connecting assembly 11 is the horizontal transverse direction to enable the upper body skeleton assembly 12 to rotate forward and backward. The rotation axis direction of the waist joint motor is the horizontal transverse direction to enable the upper body skeleton assembly 12 to rotate forward and backward. The waist rotation connecting assembly 11 can also use a linear push rod or a cable to achieve the waist movement.

[0149] Combined with the aforementioned second connecting rod 9, the support end 9a can move to any position in the ZY plane and the waist rotation connection component 11 drives the upper body skeleton component 12 to rotate forward and backward, so that the robot 1000 can realize an upright posture, a half-squatting posture, a fully squatting posture, a body moving forward posture, a body moving backward posture, a body leaning forward posture, a forward leaning posture to the maximum limit posture, etc.

[0150] See also Figure 9 The robot 1000 further includes a mechanical arm 14 and a display 13. The mechanical arm 14 is disposed on both sides of the upper body frame assembly 12 in the width direction, and the display 13 is disposed on the upper side of the upper body frame assembly 12. The robot 1000 provided in the present application is combined with the aforementioned driving device 100 and the waist rotation connection assembly 11 to further expand the range of motion of the mechanical arm 14, so that the mechanical arm 14 can easily pick up objects on the ground.

[0151] The mechanical arm 14 , the display 13 , and the upper body frame assembly 12 are disposed toward the front side of the robot 1000 , so the driving device 100 is disposed toward the rear side to balance the center of gravity of the robot 1000 .

[0152] A robot 1000 provided by the present application includes a chassis driving assembly 15, an upper body skeleton assembly 12, a waist rotating connection assembly 11, and a driving device 100 as described in the first aspect. The driving device 100 includes a first fixed seat 2, a first connecting rod 4, a second connecting rod 9, and a driving structure 7. The first connecting rod 4 includes a first connecting portion 41, a second connecting portion 42, and a third connecting portion 43. The first connecting portion 41 is rotatably connected to the first fixed seat 2, enabling the first connecting rod 4 to rotate relative to the first fixed seat 2. The second connecting rod 9 is connected to the third connecting portion 43, and the extending direction of the second connecting rod 9 intersects with the extending direction of the first connecting rod 4. The driving structure 7 is rotatably connected to the second connecting portion 42, and the driving structure 7 is configured to drive the first connecting rod 4 to rotate. During the rotation of the first connecting rod 4, the second connecting rod 9 is driven to move in the height direction and / or the front-back direction. The bottom end of the driving device 100 is disposed on the chassis driving assembly 15, and the waist rotating connection assembly 11 is connected between the top end of the driving device 100 and the upper body skeleton assembly 12. The driving structure 7 drives the waist rotating connection assembly 11 and the upper body skeleton assembly 12 to move in the height direction, or in the front-back direction, or backward and upward, or backward and downward, or forward and upward, or forward and downward through the first connecting rod 4 and the second connecting rod 9, so as to enable the waist rotating connection assembly 11 and the upper body skeleton assembly 12 to have high movement flexibility in the front-back, up-down space. On this basis, the upper body skeleton assembly 12 can rotate around the waist rotating connection assembly 11. Therefore, the upper body skeleton assembly 12 can move with multiple degrees of freedom in the front-back, up-down space. The movement ability of the robot 1000, generally speaking, the higher the degree of freedom of the robot 1000, the more complex the control. Moreover, in the present application, only by controlling the driving structure 7 and the waist rotating connection assembly 11 can the robot 1000 move with multiple degrees of freedom in the front-back, up-down space, and the control is simple while achieving multiple degrees of freedom.

[0153] Taking the second connecting portion 42, the first connecting portion 41, and the third connecting portion 43 of the first connecting rod 4 arranged in sequence as an example, various postures of the robot 1000 will be exemplified below.

[0154] Please refer to Figure 10 , Figure 10 which is a schematic diagram of the robot 1000 in the upright highest posture.

[0155] Please refer to Figure 5 together. The second connecting portion 42 is at position A1, the first connecting portion 41 is at position B, the third connecting portion 43 and the fourth connecting portion 91 are at position C1, the fifth connecting portion 92 is at position D1, and the sixth connecting portion 93 is at position E1. At this time, the positions of the fifth connecting portion 92 and the sixth connecting portion 93 are both relatively high, and at this time, the first connecting rod 4 rotates to a large angle (such as the aforementioned second position). At this time, the robot 1000 is in the upright highest posture.

[0156] Please refer to Figure 11 , Figure 11 which is a schematic diagram of the robot 1000 in a semi-squat height posture.

[0157] Please also refer to Figure 5 where the second connecting portion 42 is at the A2 position, the first connecting portion 41 is at the B position, the third connecting portion 43 and the fourth connecting portion 91 are at the C2 position, the fifth connecting portion 92 is at the D2 position, and the sixth connecting portion 93 is at the E2 position. Compared with the fully upright highest posture, the positions of the third connecting portion 43, the fourth connecting portion 91, the fifth connecting portion 92, and the sixth connecting portion 93 are all lowered, the second link 9 moves downward, and the angle between the second link 9 and the support base 1 decreases.

[0158] At this time, the position of the second connecting portion 42 is raised, and at this time the angle between the first link 4 and the support base 1 decreases (less than the angle between the first link 4 and the support base 1 in the fully upright highest posture). At this time, the robot 1000 is in a semi-squat height posture.

[0159] Please refer to Figure 12 , Figure 12 which is a schematic diagram of the robot 1000 in a fully squatted posture.

[0160] Please also refer to Figure 5 where the second connecting portion 42 is at the A3 position, the first connecting portion 41 is at the B position, the third connecting portion 43 and the fourth connecting portion 91 are at the C3 position, the fifth connecting portion 92 is at the D3 position, and the sixth connecting portion 93 is at the E3 position. Compared with the semi-squat height posture, the positions of the third connecting portion 43, the fourth connecting portion 91, the fifth connecting portion 92, and the sixth connecting portion 93 are all lowered, the second link 9 moves downward, and the angle between the second link 9 and the support base 1 decreases. The position of the second connecting portion 42 is raised, and at this time the angle between the first link 4 and the support base 1 decreases (for example, when the first link 4 is in the aforementioned first position, less than the angle between the first link 4 and the support base 1 in the fully upright highest posture). At this time, the robot 1000 is in a fully squatted posture.

[0161] Please refer to Figure 13 , Figure 13 which is a schematic diagram of the robot 1000 in a forward body posture.

[0162] Please also refer to Figure 5, the second connecting portion 42 is located at the A4 position, the first connecting portion 41 is located at the B position, the third connecting portion 43 and the fourth connecting portion 91 are located at the C4 position, the fifth connecting portion 92 is located at the D4 position, and the sixth connecting portion 93 is located at the E4 position. Compared with the semi-squat height posture, the second link 9 moves downward, and the angle between the second link 9 and the support base 1 decreases. At this time, the robot 1000 is in the body-forward posture.

[0163] Please refer to Figure 14 , Figure 14 is a schematic diagram of the robot 1000 in the body-backward posture.

[0164] Please also refer to Figure 5 , the second connecting portion 42 is located at the A5 position, the first connecting portion 41 is located at the B position, the third connecting portion 43 and the fourth connecting portion 91 are located at the C5 position, the fifth connecting portion 92 is located at the D5 position, and the sixth connecting portion 93 is located at the E5 position. Compared with the body-forward posture, the positions of the third connecting portion 43, the fourth connecting portion 91, and the fifth connecting portion 92 are all lowered. The angle between the second link 9 and the support base 1 increases. For example, the third connecting segment 95 is close to being in a vertical state. The position of the sixth connecting portion 93 is raised, and at this time the angle between the second link 9 and the support base 1 increases. At this time, the robot 1000 is in the body-backward posture. The robotic arm 14, the display 13, and the upper body skeleton assembly 12 face the rear side of the robot 1000.

[0165] Please refer to Figure 15 , Figure 15 is a schematic diagram of the robot 1000 in the body-forward posture.

[0166] Please also refer to Figure 5 , when the robot 1000 is in the semi-squat height posture, the upper body skeleton assembly 12 is in a nearly vertical state. Based on the semi-squat height posture of the robot 1000, the waist rotation connection assembly 11 of the robot 1000 drives the upper body skeleton assembly 12 to tilt forward, so that the robot 1000 is in the body-forward posture.

[0167] Please refer to Figure 16 , Figure 16 is a schematic diagram of the robot 1000 in the body-forward to the maximum limit posture.

[0168] Please also refer to Figure 5 , based on the semi-squat height posture of the robot 1000, the waist rotation connection assembly 11 of the robot 1000 drives the upper body skeleton assembly 12 to tilt forward to a nearly horizontal state, so that the robot 1000 is in the body-forward posture.

[0169] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application, and these improvements and refinements are also regarded as within the protection scope of the present application.

Claims

1. A driving device, characterized in that A first fixed seat; A first connecting rod, the first connecting rod includes a first connecting portion, a second connecting portion and a third connecting portion, and the first connecting portion is rotatably connected to the first fixed seat; A second connecting rod, the second connecting rod is connected to the third connecting portion, and the extending direction of the second connecting rod intersects with the extending direction of the first connecting rod; And A driving structure, the driving structure is rotatably connected to the second connecting portion, and the driving structure is configured to drive the first connecting rod to rotate and drive the second connecting rod to move in the height direction and / or the front-back direction.

2. The drive device according to claim 1, characterized in that, The second connecting portion, the first connecting portion and the third connecting portion are arranged in sequence.

3. The drive device according to claim 2, characterized in that, Between the second connecting portion and the first connecting portion is a first connecting segment, between the first connecting portion and the third connecting portion is a second connecting segment, and the angle between the straight line where the first connecting segment is located and the reference plane is greater than the angle between the straight line where the second connecting segment is located and the reference plane.

4. The drive device according to claim 3, characterized in that, The length of the first connecting segment is less than the length of the second connecting segment.

5. The drive device according to claim 1, characterized in that The first connecting portion, the second connecting portion and the third connecting portion are arranged in sequence.

6. The drive device according to any one of claims 2 to 5, characterized in that The driving device further includes a second fixed seat and a support seat, both the second fixed seat and the first fixed seat are arranged on the support seat, one end of the driving structure is rotatably connected to the second fixed seat, and the other end of the driving structure is rotatably connected to the second connecting portion.

7. The drive device according to claim 6, characterized in that The driving structure includes a driving member and a telescopic push rod, one end of the driving member is rotatably connected to the support seat, the other end of the driving member is connected to one end of the telescopic push rod, the driving member is configured to drive the telescopic push rod to expand and contract relative to the driving member, and the other end of the telescopic push rod is rotatably connected to the second connecting portion.

8. The drive device according to any one of claims 1 to 5 and 7, characterized in that, The driving device further includes a support seat and a support member, the first fixed seat is arranged on the support seat, and one end of the support member is rotatably connected to the support seat; The second connecting rod includes a fourth connecting portion and a fifth connecting portion arranged at intervals, the fourth connecting portion is rotatably connected to the third connecting portion, and the fifth connecting portion is connected to the other end of the support member.

9. The drive device according to claim 8, characterized in that, The second connecting rod further includes a sixth connecting portion, the sixth connecting portion, the fourth connecting portion and the fifth connecting portion are arranged in sequence; or, the sixth connecting portion, the fifth connecting portion and the fourth connecting portion are arranged in sequence, and the distance between the sixth connecting portion and the support seat is greater than the distance between the fourth connecting portion and the support seat, and the sixth connecting portion is used to connect the upper body skeleton assembly.

10. The drive device according to claim 9, characterized in that, The second connecting rod further includes a bent portion located between the sixth connecting portion and the fourth connecting portion, between the sixth connecting portion and the bent portion is a third connecting segment, between the bent portion and the fourth connecting portion is a fourth connecting segment, and the angle between the straight line where the third connecting segment is located and the reference plane is greater than the angle between the straight line where the fourth connecting segment is located and the reference plane.

11. A robot, characterized in that, It includes a chassis drive assembly, an upper body frame assembly, a waist rotation connection assembly, and the drive device as described in any one of claims 1 to 10. The bottom end of the drive device is provided on the chassis drive assembly, and the waist rotation connection assembly is connected between the top end of the drive device and the upper body frame assembly. The waist rotation connection assembly is configured to drive the upper body frame assembly to rotate relative to the drive device.

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