Drive mechanism and robot

Abstract

The utility model relates to the field of robots, in particular to a driving mechanism and a robot, the driving mechanism comprises a base, a first rotating seat, a supporting rod, a driving assembly and a rotating main rod, and the first rotating seat is arranged on the base; the supporting rod is rotationally connected with the base; one end of the driving assembly is rotationally connected with the first rotating seat; the rotating main rod comprises a first connecting part, a second connecting part and a third connecting part, the first connecting part is rotationally connected with the other end of the driving assembly, the second connecting part is rotationally connected with one end, away from the base, of the supporting rod, and the third connecting part is used for bearing a to-be-driven assembly; the driving assembly is configured to drive the rotating main rod to rotate so as to drive the to-be-driven assembly to move in the height direction and / or the front-back direction, the driving mechanism has high action flexibility in the front-back and up-down space, and the driving mechanism is simple in structure and convenient to control.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a driving mechanism 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. Summary of the Utility Model

[0003] This application provides a driving mechanism and a robot for improving the movement flexibility of mobile robots.

[0004] In a first aspect, a driving mechanism provided by this application includes:

[0005] A base;

[0006] A first rotating seat, provided on the base;

[0007] A support rod, the support rod is rotatably connected to the base;

[0008] A driving component, one end of the driving component is rotatably connected to the first rotating seat;

[0009] A rotating main rod, the rotating main rod includes a first connecting portion, a second connecting portion, and a third connecting portion. The first connecting portion is rotatably connected to the other end of the driving component. The second connecting portion is rotatably connected to the end of the support rod away from the base. The third connecting portion is used to carry the component to be driven;

[0010] The driving component is configured to drive the rotating main rod to rotate, so as to drive the component to be driven to move in the height direction and / or the front-back direction.

[0011] The driving mechanism provided by the embodiment of the present application includes a base, a first rotating seat, a support rod, a driving component, and a rotating main rod. The first rotating seat is arranged on the base; the support rod is rotatably connected to the base; one end of the driving component is rotatably connected to the first rotating seat; the rotating main rod includes a first connecting portion, a second connecting portion, and a third connecting portion. The first connecting portion is rotatably connected to the other end of the driving component, the second connecting portion is rotatably connected to the end of the support rod away from the base, and the third connecting portion is used to carry the component to be driven. The driving component is configured to drive the rotating main rod to rotate so as to drive the component to be driven to move in the height direction and / or the front-back direction. In other words, the driving component can drive the component to be driven to move in the height direction, or move in the front-back direction, or move backward and upward simultaneously, or move backward and downward simultaneously, or move forward and upward simultaneously, or move forward and downward simultaneously through the rotating main rod, realizing that the driving mechanism has high movement flexibility in the front-back, up-down space, and has a simple structure and convenient control.

[0012] In an alternative embodiment, the first connecting portion, the second connecting portion, and the third connecting portion are arranged in sequence, and the distance between the third connecting portion and the base is greater than the distance between the second connecting portion and the base.

[0013] In an alternative embodiment, the rotating main rod further includes a bending portion located between the third connecting portion and the second connecting portion. The first connecting segment is between the third connecting portion and the bending portion, and the second connecting segment is between the bending portion and the second connecting portion. 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.

[0014] In an alternative embodiment, the second connecting portion, the first connecting portion, and the third connecting portion are arranged in sequence, and the distance between the third connecting portion and the base is greater than the distance between the second connecting portion and the base.

[0015] In an alternative embodiment, the length between the first connecting portion and the second connecting portion is less than the length between the second connecting portion and the third connecting portion.

[0016] In an alternative embodiment, the driving mechanism further includes a support member. One end of the support member is rotatably connected to the base, and the other end of the support member is rotatably connected to the support rod.

[0017] In an alternative embodiment, the support rod includes a first connection end, a rotating part, and a second connection end. The first connection end is rotatably connected to the second connection part, the rotating part is rotatably connected to a second rotating seat on the base, the second connection end is rotatably connected to the other end of the support member, the rotating part is located between the first connection end and the second connection end, or the second connection end is located between the first connection end and the rotating part.

[0018] In an alternative embodiment, the support member is an elastic support member.

[0019] In an alternative embodiment, the driving assembly includes a driving member and a telescopic push rod. One end of the driving member is rotatably connected to the base, 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 first connection part.

[0020] In a second aspect, a robot provided by the present application includes a chassis driving assembly, an upper body skeleton assembly, a waist rotating connection assembly, and the driving mechanism described in the first aspect. The bottom end of the driving mechanism is arranged on the chassis driving assembly, the waist rotating connection assembly is connected between the top end of the driving mechanism and the upper body skeleton assembly, and the waist rotating connection assembly is configured to drive the upper body skeleton assembly to rotate relative to the driving mechanism. Description of the Drawings

[0021] 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.

[0022] Figure 1 is a three-dimensional structural schematic diagram of a robot provided by an embodiment of the present application;

[0023] Figure 2 is a three-dimensional structural schematic diagram of the internal structure of the robot provided by an embodiment of the present application;

[0024] Figure 3 is a three-dimensional structural schematic diagram of the driving mechanism provided by Embodiment 1 of the present application Figure 1 ;

[0025] Figure 4 is a three-dimensional structural schematic diagram of the driving mechanism provided by Embodiment 1 of the present application Figure 2 ;

[0026] Figure 5 is a side view structural schematic diagram of the driving mechanism provided by Embodiment 1 of the present application in an upright state;

[0027] Figure 6It is a schematic side view structure diagram of the driving mechanism provided in the second embodiment of the present application in an upright state;

[0028] Figure 7 It is a schematic side view structure diagram of the driving mechanism provided in the third embodiment of the present application in an upright state;

[0029] Figure 8 It is a schematic side view structure diagram of the internal structure of a robot provided in the embodiment of the present application;

[0030] Figure 9 It is a schematic diagram of a robot provided in the embodiment of the present application in the upright highest posture;

[0031] Figure 10 It is a schematic diagram of a robot provided in the embodiment of the present application in a semi - squat height posture;

[0032] Figure 11 It is a schematic diagram of a robot provided in the embodiment of the present application in a fully squatted posture;

[0033] Figure 12 It is a schematic diagram of a robot provided in the embodiment of the present application in a body - forward movement posture;

[0034] Figure 13 It is a schematic diagram of a robot provided in the embodiment of the present application in a body - backward movement posture;

[0035] Figure 14 It is a schematic diagram of a robot provided in the embodiment of the present application in a body - forward tilt posture;

[0036] Figure 15 It is a schematic diagram of a robot provided in the embodiment of the present application in a body - forward tilt to the maximum limit posture.

[0037] Explanation of the reference numerals in the drawings:

[0038] Robot 1000; driving mechanism 100; base 1; bearing surface 1a; first rotating seat 2; support rod 4; rotating main rod 9; driving component 7; first connecting portion 91; second connecting portion 92; third connecting portion 93; bending portion 94; first connecting section 95; second connecting section 96; supporting end 9a; first supporting portion 41; second supporting portion 42; third supporting portion 43; second rotating seat 3; third fixing seat 20; driving member 71; telescopic push rod 72; supporting member 8; chassis driving component 15; upper body skeleton component 12; waist rotating connection component 11; chassis driving wheel 151; battery module 16; robotic arm 14; display 13. Detailed implementation manners

[0039] The technical solution of the present application will be clearly and completely described below 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.

[0040] In the present application, referring to "embodiment" 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.

[0041] 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally further includes one or more parts not listed but inherent in the product exemplified, or one or more parts that should be had based on the described function.

[0042] Please refer to Figure 1 and Figure 2 , the present application provides a drive mechanism and a robot 1000 that improve the movement flexibility of the mobile robot 1000 and have simple control.

[0043] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a drive mechanism 100. The drive mechanism 100 can be applied to devices that require multi-degree-of-freedom movement in space, such as two-dimensional motion platforms, robots 1000, drones, transportation devices, etc.

[0044] Please refer to Figures 3 to 5 , the drive mechanism 100 includes a base 1, a first rotating seat 2, a support rod 4, a rotating main rod 9 and a drive assembly 7.

[0045] Optionally, please refer to Figures 3 to 5 , the base 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.

[0046] The first rotating seat 2 is arranged on the base 1, and the first rotating seat 2 is arranged along the Z direction (the up and down direction, which is also the height direction).

[0047] This application is not limited to the support rod 4 being a straight rod, a bent rod, a curved rod, etc. In an alternative embodiment, the support rod 4 is a straight rod. In another alternative embodiment, the support rod 4 is a bent rod.

[0048] Please refer to Figures 3 to 5 , the support rod 4 is rotatably connected to the base 1. Specifically, the driving mechanism 100 further includes a second rotating seat 3 provided on the base 1. One end of the support rod 4 is rotatably connected to the second rotating seat 3. Optionally, the second rotating seat 3 and the first rotating seat 2 are spaced apart. Further, the second rotating seat 3 and the first rotating seat 2 have a spacing in the Y direction. Further, the second rotating seat 3 is provided at a position biased towards the front side, and the first rotating seat 2 is provided at a position biased towards the rear side.

[0049] For the sake of convenience of description, in this embodiment, the driving mechanism 100 is applied to the robot 1000 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 base 1, and the upper side is the side far from the base 1.

[0050] In this embodiment, please refer to Figures 3 to 5 , one end of the driving component 7 is rotatably connected to the first rotating seat 2.

[0051] This application does not make specific limitations on the driving component 7. For example, the driving component 7 includes but is not limited to driving by a motor, hydraulics, pneumatics, electromagnetics, etc. Further optionally, the driving component 7 is a linear push rod mechanism for pushing the rotation of the rotating main rod 9. The driving component 7 can also use a hydraulic push rod or a cable structure to achieve the same function.

[0052] The driving component 7 can be telescoped in its extending direction. Therefore, the driving component 7 has a translational degree of freedom along its extending direction. In addition, the driving component 7 also has a rotational degree of freedom of rotating relative to the first rotating seat 2. Therefore, the driving end (the end far from the first rotating seat 2) of the driving component 7 has a composite degree of freedom of translational degree of freedom + rotational degree of freedom. The rotation center of the driving end of the driving component 7 is the position where the first rotating seat 2 is located. In addition, one end of the driving component 7 is rotatably connected to the first rotating seat 2 and can be telescoped, which can perform displacement compensation during the rotation of the rotating main rod 9 to make the rotation of the rotating main rod 9 smooth.

[0053] Please refer to Figure 5 , the rotating main rod 9 includes a first connecting portion 91, a second connecting portion 92 and a third connecting portion 93.

[0054] The first connecting portion 91 is rotatably connected to the other end of the driving assembly 7 (i.e., the driving end of the aforementioned driving assembly 7). Driven by the driving assembly 7, the first connecting portion 91 has a combined degree of freedom of translational freedom + rotational freedom.

[0055] Optionally, the end of the driving assembly 7 connected to the first rotating seat 2 is more forward than the end of the driving assembly 7 connected to the first connecting portion 91 (driving end), and the height of the end of the driving assembly 7 connected to the first connecting portion 91 (driving end) is greater than the height of the end of the driving assembly 7 connected to the first rotating seat 2. In other words, the driving assembly 7 is inclined. In this way, the overall height of the rotating main rod 9 can be relatively high to support a relatively high upright posture of the robot 1000. In addition, in other embodiments, the first connecting portion 91 of the rotating main rod 9 can be arranged close to the bearing surface 1a.

[0056] In this embodiment, the setting direction of the driving assembly 7 intersects with the setting direction of the rotating main rod 9. For example, the first rotating seat 2 is arranged at a middle position on the base 1, and the driving end of the driving assembly 7 extends backward and upward. The rotating main rod 9 extends forward and upward from the driving end of the driving assembly 7. On the one hand, it is convenient for the driving assembly 7 to drive the rotating main rod 9 to have a relatively large rotation angle with a relatively small rotation angle, so that the third connecting portion 93 of the rotating main rod 9 has a relatively large rotation range, thereby driving the upper body skeleton assembly 12 to have a relatively large movement range; on the other hand, it is convenient for the driving force provided by the driving assembly 7 to drive the rotation of the rotating main rod 9 with a relatively small force, thereby reducing the performance requirements for the driving assembly 7.

[0057] The second connecting portion 92 is rotatably connected to the end of the support rod 4 away from the base 1. The third connecting portion 93 is used to carry the component to be driven 7. In this embodiment, the component to be driven 7 is the upper body skeleton assembly 12 of the robot 1000.

[0058] Please refer to Figure 5 , taking the second connecting portion 92 being located between the first connecting portion 91 and the third connecting portion 93 as an example. The present application does not limit the specific position of the second connecting portion 92 between the first connecting portion 91 and the third connecting portion 93. The support rod 4 plays a role in supporting the rotating main rod 9. Optionally, the second connecting portion 92 is a rotation center of the rotating main rod 9. Under the driving action of the driving assembly 7, the first connecting portion 91 rotates the rotating main rod 9 around the second connecting portion 92, so that the third connecting portion 93 can move in the Y-Z plane, thereby driving the upper body skeleton assembly 12 to have a relatively large range of movement in the Y-Z plane.

[0059] Specifically, the angle between the rotating main rod 9 and the bearing surface 1a is an acute angle. One end of the rotating main rod 9 at a higher position extends forward, and one end of the rotating main rod 9 at a lower position extends backward. The end of the rotating main rod 9 at a higher position is the second moving end 4a.

[0060] Since both ends of the support rod 4 are rotating ends, the support rod 4 will move along with the movement of the rotating main rod 9. In other words, the support rod 4 has at least a rotational degree of freedom, that is, the second connecting portion 92 has at least a rotational degree of freedom, and the second connecting portion 92 rotates around the second rotating seat 3.

[0061] In some alternative embodiments, the support rod 4 can also be a telescopic support rod 4. In this way, the support rod 4 also has a translational degree of freedom along its extending direction. Therefore, the support rod 4 has a combined degree of freedom of translational degree of freedom + rotational degree of freedom, that is, the second connecting portion 92 has a combined degree of freedom of translational degree of freedom + rotational degree of freedom. Also, since the support rod 4 is rotatably connected to both the driving assembly 7, the translational degree of freedom of the support rod 4 and the translational degree of freedom of the driving assembly 7 are decoupled from each other and do not interfere with each other.

[0062] As can be seen from the above, the first connecting portion 91 of the rotating main rod 9 can be driven by the driving assembly 7 to move in the Y-Z plane, and the second connecting portion 92 can be driven to rotate by the support rod 4. The supporting force of the first connecting portion 91 and the supporting force of the second connecting portion 92 combine to enable the third connecting portion 93 of the rotating main rod 9 to move arbitrarily within a certain range in the Y-Z plane.

[0063] The driving assembly 7 is configured to drive the rotating main rod 9 to rotate under a control signal, so as to drive the component to be driven 7 to move in the height direction and / or the front-back direction, that is, to move up and down, forward, backward, front-upper, front-lower, rear-upper, and rear-lower in the Y-Z plane.

[0064] In the embodiment of the present application, the component to be driven 7 is taken as the upper body skeleton component 12 as an example.

[0065] As can be seen from the above, the increase in degrees 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 technology, the increase in degrees of freedom will lead to an increase in the complexity of the control system. However, in this application, only one driving component 7 is used to enable the supporting end 9a of the rotating main rod 9 to move arbitrarily within a certain range in the Y-Z plane, which not only meets the requirements of multiple degrees of freedom but also simplifies the control. In the embodiment of this application, only by controlling the driving component 7, the third connecting portion 93 of the rotating main rod 9 can move with multiple degrees of freedom in the Z-Y plane, so as to move along the height direction, or along the front-back direction, or backward and upward, or backward and downward, or forward and upward, or forward and downward relative to the base 1, realizing that the driving mechanism 100 has a high degree of movement flexibility in the front-back, up-down space, and can move in any direction and to any position within a certain range in the Y-Z plane.

[0066] The driving mechanism 100 provided by the embodiment of this application includes a base 1, a first rotating seat 2, a support rod 4, a driving component 7, and a rotating main rod 9. The first rotating seat 2 is arranged on the base 1; the support rod 4 is rotatably connected to the base 1; one end of the driving component 7 is rotatably connected to the first rotating seat 2; the rotating main rod 9 includes a first connecting portion 91, a second connecting portion 92, and a third connecting portion 93. The first connecting portion 91 is rotatably connected to the other end of the driving component 7. The second connecting portion 92 is rotatably connected to the end of the support rod 4 away from the base 1. The third connecting portion 93 is used to carry the upper body skeleton assembly 12. The driving component 7 is configured to drive the rotating main rod 9 to rotate, so as to drive the upper body skeleton assembly 12 to move along the height direction and / or the front-back direction. In other words, the driving component 7 can drive the upper body skeleton assembly 12 to move along the height direction, or along the front-back direction, or backward and upward, or backward and downward, or forward and upward, or forward and downward through the rotating main rod 9, realizing that the driving mechanism 100 has a high degree of movement flexibility in the front-back, up-down space and has a simple structure and convenient control.

[0067] In an alternative embodiment, please refer to Figure 5 , the first connecting portion 91, the second connecting portion 92, and the third connecting portion 93 are arranged in sequence. The distance between the third connecting portion 93 and the base 1 is greater than the distance between the second connecting portion 92 and the base 1. In other words, the third connecting portion 93 is the higher end of the rotating main rod 9, so that when the driving mechanism 100 is applied to the robot 1000, the rotating main rod 9 can move within a relatively high range under the action of the driving component 7, thereby driving the robot 1000 to move within a relatively large range in the height direction.

[0068] Please refer to Figure 5, the rotating main rod 9 further includes a bending portion 94 located between the third connecting portion 93 and the second connecting portion 92. Between the third connecting portion 93 and the bending portion 94 is a first connecting section 95. Between the bending portion 94 and the second connecting portion 92 is a second connecting section 96. The angle between the straight line where the first connecting section 95 is located and the reference plane (the bearing surface 1a) is greater than the angle between the straight line where the second connecting section 96 is located and the reference plane.

[0069] In other words, the rotating main rod 9 is a bent rod. Among them, from the first connecting portion 91, the second connecting portion 92, the bending portion 94 to the third connecting portion 93, the rotating main rod 9 first extends from the position of the relatively lower and rear first connecting portion 91 along the first inclined line forward and upward to the second connecting portion 92, then extends to the bending portion 94, and after bending upward at the bending portion 94, extends forward and upward along the second inclined line to the third connecting portion 93. Among them, the angle between the second inclined line and the bearing surface 1a is greater than the angle between the first inclined line and the bearing surface 1a.

[0070] In this embodiment, by designing the rotating main rod 9 as a bent rod, it is convenient for the third connecting portion 93 to move to a lower position as the rotating main rod 9 rotates. Compared with the rotating main rod 9 being a straight rod, the third connecting portion 93 can also move to a higher position as the rotating main rod 9 rotates, so that the rotating main rod 9 can drive the upper body frame assembly 12 to have a larger movement range in the height direction. For example, the robot 1000 can flexibly switch between the upright state and the squatting state.

[0071] This application does not specifically limit the length between the first connecting portion 91 and the second connecting portion 92, and the length between the second connecting portion 92 and the third connecting portion 93. Optionally, the length between the first connecting portion 91 and the second connecting portion 92 is less than the length between the second connecting portion 92 and the third connecting portion 93, so that within a relatively small rotation angle range of the driving assembly 7, the third connecting portion 93 can have a larger rotation angle range, and further the driving mechanism 100 can drive the upper body frame assembly 12 to have a larger movement range, so that the robot 1000 can flexibly switch between the upright state and the squatting state, and flexibly switch between the forward movement state and the backward movement state.

[0072] Optionally, please refer to Figure 5 , the orthographic projection of the first connecting portion 91 on the base 1, the orthographic projection of the first rotating seat 2 on the base 1, and the orthographic projection of the second rotating seat 3 on the base 1 are arranged in sequence.

[0073] Specifically, the orthographic projection of the first connecting portion 91 on the base 1 is located at a position biased towards the rear side on the base 1, the orthographic projection of the first rotating seat 2 on the base 1 is located at a position biased towards the middle on the base 1, and the orthographic projection of the second rotating seat 3 on the base 1 is located at a position biased towards the front side on the base 1. Thus, the driving assembly 7 extends from the first rotating seat 2 towards the upper rear.

[0074] Further, please refer to Figure 5 , the orthographic projection of the second connecting portion 92 on the base 1 is located between the orthographic projection of the first connecting portion 91 on the base 1 and the orthographic projection of the second rotating seat 3 on the base 1. Thus, the support rod 4 extends from the second rotating seat 3 towards the upper rear.

[0075] In this embodiment, it is designed that the driving assembly 7 extends from the first rotating seat 2 towards the upper rear, the support rod 4 extends from the second rotating seat 3 towards the upper rear, and the rotating main rod 9 extends from the lower rear towards the upper front. On the one hand, it is convenient for the driving assembly 7 and the support rod 4 to drive the rotating main rod 9 to have a relatively large rotation angle with a relatively small rotation angle, so that the third connecting portion 93 of the rotating main rod 9 has a relatively large rotation range, so as to drive the upper body skeleton assembly 12 to have a relatively large movement range, so as to facilitate the robot 1000 to flexibly switch between the upright state and the squatting state, and flexibly switch between the forward movement state and the backward movement state; on the other hand, it is convenient for the driving assembly 7 and the support rod 4 to drive the rotating main rod 9 to rotate with a relatively small driving force, thereby reducing the performance requirements for the driving assembly 7.

[0076] Optionally, please refer to Figure 5 , the driving assembly 7 includes a driving member 71 and a telescopic push rod 72.

[0077] One end of the driving member 71 is rotatably connected to the first rotating seat 2, 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 first connecting portion 91.

[0078] Optionally, the driving member 71 is a motor. The driving member 71 and the telescopic push rod 72 are arranged side by side along the width direction of the driving assembly 7. 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 first connecting portion 91 to rotate, so that the third connecting portion 93 of the rotating main rod 9 drives the upper body skeleton assembly 12 to move freely in the Y-Z plane.

[0079] In another alternative embodiment, the second connecting portion 92, the first connecting portion 91, and the third connecting portion 93 are arranged in sequence. The distance between the third connecting portion 93 and the base 1 is greater than the distance between the second connecting portion 92 and the base 1.

[0080] In other words, the driving assembly 7 supports the middle part of the rotating main rod 9, and the support rod 4 supports the relatively lower end of the rotating main rod 9. In this embodiment, the first rotating seat 2 is arranged closer to the front side than the second rotating seat 3.

[0081] In this embodiment, the first connecting portion 91 of the rotating main rod 9 has a translational degree of freedom and a rotational degree of freedom about the first rotating seat 2, and the second connecting portion 92 of the rotating main rod 9 has at least a rotational degree of freedom about the second rotating seat 3. For the specific design, reference can be made to the embodiment of the rotating main rod 9 formed by arranging the first connecting portion 91, the second connecting portion 92, and the third connecting portion 93 in sequence as described above.

[0082] In an alternative embodiment, please refer to Figure 6 and Figure 7 , the driving mechanism 100 further includes a support member 8. One end of the support member 8 is rotatably connected to the base 1, and the other end of the support member 8 is rotatably connected to the support rod 4.

[0083] Optionally, please refer to Figure 6 and Figure 7 , the support rod 4 includes a first support portion 41, a second support portion 42, and a third support portion 43. The first support portion 41, the second support portion 42, and the third support portion 43 are different parts of the support rod 4 respectively.

[0084] This application is not limited to the sequence, specific positions, etc. of the first support portion 41, the second support portion 42, and the third support portion 43. In an alternative embodiment, the first support portion 41, the second support portion 42, and the third support portion 43 are arranged in sequence. In another alternative embodiment, the second support portion 42, the first support portion 41, and the third support portion 43 are arranged in sequence.

[0085] Please refer to Figure 6 and Figure 7 , the first support portion 41 is rotatably connected to the second rotating seat 3, enabling the support rod 4 to rotate relative to the second rotating seat 3. The second connecting portion 92 of the rotating main rod 9 is rotatably connected to the third support portion 43. The support member 8 is rotatably connected to the second support portion 42.

[0086] Optionally, this application does not make specific limitations on the support member 8. Optionally, the support member 8 includes, but is not limited to, a motor-driven linear push rod, a hydraulic-driven support member, a pneumatic-driven support member, and an electromagnetic-driven support member.

[0087] The extending direction of the support member 8 intersects with the extending direction of the support rod 4.

[0088] Optionally, the support member 8 is an elastic support member. The support member 8 includes but is not limited to metal springs, gas springs, shock absorbers, etc. It can provide a certain degree of translational freedom in its extending direction and also provide displacement compensation for the movement of the second support portion 42 of the support rod 4 in the Y-Z plane.

[0089] Optionally, please refer to Figure 6 and Figure 7 , the driving mechanism 100 further includes a third fixing seat 20. The third fixing seat 20 is arranged on the base 1, and one end of the support member 8 far from the second support portion 42 is rotatably connected to the third fixing seat 20.

[0090] Optionally, the third fixing seat 20 can be arranged at a position between the second rotating seat 3 and the rear side of the base 1.

[0091] The support member 8 is used to provide a supporting force for the support rod 4, and the magnitude of the supporting force provided by the support member 8 is constant or variable.

[0092] The following takes the accompanying drawings as an example to illustrate the specific structure of the support rod 4.

[0093] In a first optional embodiment of the support rod 4, please refer to Figure 6 , the second support portion 42, the first support portion 41, and the third support portion 43 are arranged in sequence.

[0094] Specifically, the second support portion 42 and the third support portion 43 are respectively located at the positions where the two ends of the support rod 4 are located.

[0095] One end of the second rotating seat 3 far from the base 1 is rotatably connected to the first support portion 41. Specifically, a second rotating shaft hole is provided on the second rotating seat 3. The first support portion 41 is rotatably connected to the second rotating shaft hole through a second rotating shaft.

[0096] The second rotating shaft hole has a certain height, so that the first support portion 41 has a certain height relative to the bearing surface 1a, reserving a part of the space for the accommodation of the second support portion 42. The height of the second rotating shaft hole in this application is not specifically limited. Optionally, the height of the second rotating shaft hole is greater than the distance between the first support portion 41 and the second support portion 42, so that the support rod 4 can smoothly rotate around the second rotating seat 3 through the second rotating shaft.

[0097] In an optional embodiment, please refer to Figure 6, the support rod 4 is a bent rod. Specifically, between the second support portion 42 and the first support portion 41 is a third connection section 44. Between the first support portion 41 and the third support portion 43 is a fourth connection section 45. The angle between the straight line where the third connection section 44 is located and the reference plane (the bearing surface 1a) is greater than the angle between the straight line where the fourth connection section 45 is located and the reference plane (the bearing surface 1a).

[0098] Specifically, the support rod 4 is inclined with respect to the base 1. The third support portion 43 is inclined backward. In other words, the angle between the third connection section 44 and the bearing surface 1a is an acute angle. The angle between the fourth connection section 45 and the bearing surface 1a is an acute angle. And the angle between the straight line where the third connection section 44 is located and the reference plane (the bearing surface 1a) is greater than the angle between the straight line where the fourth connection section 45 is located and the reference plane (the bearing surface 1a). The angle between the third connection section 44 and the fourth connection section 45 is an obtuse angle. This application does not specifically limit the angle between the third connection section 44 and the fourth connection section 45. For example, the angle between the third connection section 44 and the fourth connection section 45 is close to 120° - 160°.

[0099] In addition, compared with the embodiment where the support rod 4 is a straight rod, by setting the support rod 4 as a bent rod, the size of the third connection section 44 can also be shortened, so that a relatively large moment can be generated with a shorter third connection section 44 and the driving force provided by the support member 8 to drive the support rod 4 to rotate.

[0100] Optionally, the length of the third connection section 44 is less than the length of the fourth connection section 45. In this way, the support member 8 can drive the support rod 4 to rotate a larger angle by moving a smaller angle.

[0101] This application does not specifically limit the lengths of the third connection section 44 and the fourth connection section 45. Optionally, when the support member 8 meets the torque design, the fourth connection section 45 can be much larger than the third connection section 44. The driving assembly 7 can drive the second connection portion 92 to rotate a smaller angle to achieve a larger rotation angle of the third connection portion 93. In addition, the moving stroke of the third connection section 44 away from the fourth connection section 45 can also be shortened, and the movement stroke of the support member 8 can also be reduced. This application does not specifically limit the length ratio of the third connection section 44 to the fourth connection section 45.

[0102] Specifically, the second rotating seat 3 has a second rotating shaft hole. The height of the second rotating shaft hole with respect to the bearing surface 1a is less than the height of the third rotating shaft hole with respect to the bearing surface 1a, and the support member 8 extends in a substantially inclined straight line shape.

[0103] Please refer to Figure 6When the support rod 4 rotates to the first position, the second support portion 42 rotates to a relatively high position, and the angle between the straight line where the support member 8 is located and the bearing surface 1a increases to a relatively large angle. For example, the angle between the straight line where the support member 8 is located and the bearing surface 1a is close to 10° - 30°.

[0104] When the support rod 4 rotates to the second position, the angle between the straight line where the support member 8 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 support member 8 is located and the bearing surface 1a is close to 0° - 10°, and the support member 8 is close to being parallel to the bearing surface 1a.

[0105] In this embodiment, by designing that one end of the support member 8 is rotatably connected to the second rotating seat 3, and the other end of the support member 8 is rotatably connected to the second support portion 42, the support member 8 has a rotational degree of freedom in the Y-Z plane. At the same time, the support member 8 can also be telescopic. Therefore, the support member 8 has a translational degree of freedom + rotational degree of freedom, and further drives the second support portion 42 to rotate around the third rotation axis. One end of the support member 8 connected to the second support portion 42 can have displacements in both the height direction and the front-back direction along with the second support portion 42, avoiding interference with the movement of the second support portion 42 in the height direction by the support member 8.

[0106] In this embodiment, by designing the support rod 4 as a bent rod and designing according to the rotation angle of the second connection section 96, the height of the second support portion 42 of the support rod 4 is relatively low, and the displacement range of the second support portion 42 during rotation is relatively small. In this way, the displacement that the support member 8 needs to telescope is relatively small, and the rotation angle that the support member 8 needs to rotate is relatively small, reducing the performance requirements and structural design requirements for the support member 8.

[0107] In the second optional embodiment of the support rod 4, please refer to Figure 7 , the first support portion 41, the second support portion 42, and the third support portion 43 are arranged in sequence.

[0108] Optionally, the first support portion 41 and the third support portion 43 are respectively located at both ends of the support rod 4. The second support portion 42 is located between the first support portion 41 and the third support portion 43. The distance between the second support portion 42 and the first support portion 41 can be greater than, or equal to, or less than the distance between the second support portion 42 and the third support portion 43. Optionally, the distance between the second support portion 42 and the first support portion 41 is less than the distance between the second support portion 42 and the third support portion 43. In this way, the translational displacement and rotational displacement of the support member 8 are relatively small, reducing the performance requirements and structural design requirements for the support member 8.

[0109] In this embodiment, the second rotating base 3 does not need to be provided with a base. The second rotating base 3 can be arranged to fit the base 1, so as to reduce the height of the support rod 4, and further reduce the designed angle between the support member 8 and the bearing surface 1a, and reduce the performance requirements and structural design requirements for the support member 8.

[0110] It should be noted that no matter what posture the robot 1000 is in, the drive mechanism 100, the support rod 4, the support member 8, etc. on the lower side of the rotating main rod 9 can all play a supporting role. In addition, the drive mechanism 100, the support 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.

[0111] Please refer to Figure 8 , the embodiment of the present application also provides a robot 1000. The robot 1000 includes a chassis drive assembly 15, an upper body skeleton assembly 12, a waist rotation connection assembly 11, and the drive mechanism 100 described in any one of the foregoing embodiments.

[0112] Please refer to Figure 8 , the chassis drive assembly 15 includes a chassis drive wheel 151 and a bottom plate provided on the chassis drive wheel 151. Among them, the chassis drive wheel 151 includes a set of front wheels and a set of rear wheels. Optionally, the chassis drive wheel 151 includes, but is not limited to, a Mecanum wheel.

[0113] The bottom end of the drive mechanism 100 is provided on the bottom plate of the chassis drive assembly 15. The bottom plate of the chassis drive assembly 15 can have the same structure as the aforementioned base 1.

[0114] Please refer to Figure 8 , the robot 1000 further includes a battery module 16. The battery module 16 is arranged between a set of front wheels and a set of rear wheels and is located at the bottom of the bottom plate.

[0115] The waist rotation connection component 11 is connected between the top of the driving mechanism 100 and the upper body frame component 12. The waist rotation connection component 11 is configured to drive the upper body frame component 12 to rotate relative to the driving mechanism 100. The waist rotation connection component 11 includes but is not limited to a waist joint motor, which rotationally connects the support end 9a (the aforementioned sixth connection part 93) of the rotating main rod 9 and the upper body frame component 12. The rotation axis direction of the waist joint motor is a horizontal transverse direction, so that the upper body frame component 12 rotates forward and backward. The rotation axis direction of the waist rotation connection component 11 is a horizontal transverse direction, so that the upper body frame component 12 rotates forward and backward. The waist rotation connection component 11 can also use a linear push rod or a cable to achieve waist movements. Combined with the third connection part 93 of the aforementioned rotating main rod 9, which can move to any position in the ZY plane and the waist rotating connection component 11 drives the upper body skeleton component 12 to rotate forward and backward, 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.

[0116] See also Figure 8 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 mechanism 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.

[0117] 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 mechanism 100 is disposed toward the rear side to balance the center of gravity of the robot 1000 .

[0118] A robot 1000 provided by the present application includes a chassis drive assembly 15, an upper body skeleton assembly 12, a waist rotation connection assembly 11, and a drive mechanism 100 as described in the first aspect. The drive mechanism 100 includes a base 1, a first rotating seat 2, a support rod 4, a drive assembly 7, and a rotating main rod 9. The first rotating seat 2 is provided on the base 1; the support rod 4 is rotatably connected to the base 1; one end of the drive assembly 7 is rotatably connected to the first rotating seat 2; the rotating main rod 9 includes a first connection portion 91, a second connection portion 92, and a third connection portion 93. The first connection portion 91 is rotatably connected to the other end of the drive assembly 7. The second connection portion 92 is rotatably connected to the end of the support rod 4 away from the base 1. The third connection portion 93 is used to carry the upper body skeleton assembly 12; the drive assembly 7 is configured to drive the rotating main rod 9 to rotate, so as to drive the upper body skeleton assembly 12 to move in the height direction and / or the front-back direction. In other words, the drive assembly 7 can drive 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 rotating main rod 9, so as to facilitate the waist rotation connection assembly 11 and the upper body skeleton assembly 12 to have higher movement flexibility in the front-back, up-down space. On this basis, the upper body skeleton assembly 12 can rotate around the waist rotation 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, the higher the degree of freedom of the robot 1000, the more complex the control. Moreover, in the present application, only the support member 8 and the waist rotation connection assembly 11 need to be controlled to realize the multi-degree-of-freedom movement of the robot 1000 in the front-back, up-down space, and the control is simple while realizing multiple degrees of freedom.

[0119] The following takes the example that the first connection portion 91, the second connection portion 92, and the third connection portion 93 of the rotating main rod 9 are arranged in sequence, and the second support portion 42, the first support portion 41, and the third support portion 43 of the support rod 4 are arranged in sequence to illustrate various postures of the robot 1000.

[0120] Please refer to Figure 9 , Figure 9 It is a schematic diagram of the robot 1000 in the upright highest posture.

[0121] Please refer to Figure 6 together with, the second support portion 42 is located at the A1 position, the first support portion 41 is located at the B position, the third support portion 43 and the second connection portion 92 are located at the C1 position, the first connection portion 91 is located at the D1 position, and the third connection portion 93 is located at the E1 position. At this time, the positions of the first connection portion 91 and the third connection portion 93 are both relatively high. At this time, the support rod 4 rotates to a large angle (such as the second position described above). At this time, the robot 1000 is in the upright highest posture.

[0122] Please refer toFigure 10 , Figure 10 This is a schematic diagram of the robot 1000 in a semi-squatting height posture.

[0123] Please also refer to Figure 6 , the second support part 42 is located at position A2, the first support part 41 is located at position B, the third support part 43 and the second connecting part 92 are located at position C2, the first connecting part 91 is located at position D2, and the third connecting part 93 is located at position E2. Compared with the fully upright highest posture, the positions of the third support part 43, the second connecting part 92, the first connecting part 91, and the third connecting part 93 are all lowered, the rotating main rod 9 moves downward, and the angle between the rotating main rod 9 and the base 1 decreases.

[0124] At this time, the position of the second support part 42 is raised, and at this time, the angle between the support rod 4 and the base 1 decreases (less than the angle between the support rod 4 and the base 1 in the fully upright highest posture). At this time, the robot 1000 is in a semi-squatting height posture.

[0125] Please refer to Figure 11 , Figure 11 This is a schematic diagram of the robot 1000 in a fully squatted posture.

[0126] Please also refer to Figure 6 , the second support part 42 is located at position A3, the first support part 41 is located at position B, the third support part 43 and the second connecting part 92 are located at position C3, the first connecting part 91 is located at position D3, and the third connecting part 93 is located at position E3. Compared with the semi-squatting height posture, the positions of the third support part 43, the second connecting part 92, the first connecting part 91, and the third connecting part 93 are all lowered, the rotating main rod 9 moves downward, and the angle between the rotating main rod 9 and the base 1 decreases. The position of the second support part 42 is raised, and at this time, the angle between the support rod 4 and the base 1 decreases (for example, the support rod 4 is in the aforementioned first position, less than the angle between the support rod 4 and the base 1 in the fully upright highest posture). At this time, the robot 1000 is in a fully squatted posture.

[0127] Please refer to Figure 12 , Figure 12 This is a schematic diagram of the robot 1000 in a body-forward posture.

[0128] Please also refer to Figure 6 , the second support part 42 is located at position A4, the first support part 41 is located at position B, the third support part 43 and the second connecting part 92 are located at position C4, the first connecting part 91 is located at position D4, and the third connecting part 93 is located at position E4. Compared with the semi-squatting height posture, the rotating main rod 9 moves downward, and the angle between the rotating main rod 9 and the base 1 decreases. At this time, the robot 1000 is in a body-forward posture.

[0129] Please refer to Figure 13 , Figure 13 which is a schematic diagram of the robot 1000 in the posture of moving its body backward.

[0130] Please also refer to Figure 6 , where the second support part 42 is located at the A5 position, the first support part 41 is located at the B position, the third support part 43 and the second connecting part 92 are located at the C5 position, the first connecting part 91 is located at the D5 position, and the third connecting part 93 is located at the E5 position. Compared with the posture of moving the body forward, the positions of the third support part 43, the second connecting part 92, and the first connecting part 91 are all lowered. The angle between the rotating main rod 9 and the base 1 increases. For example, the first connecting section 95 is close to being in a vertical state. The position of the third connecting part 93 is raised, and at this time, the angle between the rotating main rod 9 and the base 1 increases. At this time, the robot 1000 is in the posture of moving its body backward. The robotic arm 14, the display 13, and the upper body skeleton assembly 12 face the rear side of the robot 1000.

[0131] Please refer to Figure 14 , Figure 14 which is a schematic diagram of the robot 1000 in the posture of tilting its body forward.

[0132] Please also refer to Figure 6 , when the robot 1000 is in the semi-squat height posture, the upper body skeleton assembly 12 is in a state close to vertical. 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, realizing the posture of the robot 1000 with its body tilted forward.

[0133] Please refer to Figure 15 , Figure 15 which is a schematic diagram of the robot 1000 in the posture of tilting its body forward to the maximum limit.

[0134] Please also refer to Figure 6 , 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 state close to horizontal, realizing the posture of the robot 1000 with its body tilted forward.

[0135] 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 limiting 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 considered to be within the protection scope of the present application.

Claims

1. A driving mechanism, characterized in that, a base; a first rotating seat, provided on the base; a support rod, the support rod being rotatably connected to the base; a driving assembly, one end of the driving assembly being rotatably connected to the first rotating seat; a rotating main rod, the rotating main rod includes a first connecting portion, a second connecting portion and a third connecting portion, the first connecting portion is rotatably connected to the other end of the driving assembly, the second connecting portion is rotatably connected to the end of the support rod away from the base, and the third connecting portion is used to carry the component to be driven; the driving assembly is configured to drive the rotating main rod to rotate, so as to drive the component to be driven to move in the height direction and / or the front-back direction.

2. The drive mechanism according to claim 1, wherein The first connecting portion, the second connecting portion and the third connecting portion are arranged in sequence, and the distance between the third connecting portion and the base is greater than the distance between the second connecting portion and the base.

3. The drive mechanism according to claim 2, characterized in that The rotating main rod further includes a bending portion between the third connecting portion and the second connecting portion, a first connecting section is between the third connecting portion and the bending portion, a second connecting section is between the bending portion and the second connecting portion, and the angle between the straight line where the first connecting section is located and the reference plane is greater than the angle between the straight line where the second connecting section is located and the reference plane.

4. The drive mechanism according to claim 1, characterized in that, The second connecting portion, the first connecting portion and the third connecting portion are arranged in sequence, and the distance between the third connecting portion and the base is greater than the distance between the second connecting portion and the base.

5. The drive mechanism according to any one of claims 1 to 4, characterized in that, The length between the first connecting portion and the second connecting portion is less than the length between the second connecting portion and the third connecting portion.

6. The drive mechanism according to any one of claims 1 to 4, characterized in that, The driving mechanism further includes a support member, one end of the support member is rotatably connected to the base, and the other end of the support member is rotatably connected to the support rod.

7. The drive mechanism according to claim 6, characterized in that, The support rod includes a first connection end, a rotating portion and a second connection end, the first connection end is rotatably connected to the second connecting portion, the rotating portion is rotatably connected to a second rotating seat on the base, the second connection end is rotatably connected to the other end of the support member, the rotating portion is located between the first connection end and the second connection end, or the second connection end is located between the first connection end and the rotating portion.

8. The drive mechanism according to claim 6, characterized in that, The support member is an elastic support member.

9. The drive mechanism according to any one of claims 1 to 5, 7 to 8, characterized in that, The driving assembly includes a driving member and a telescopic push rod, one end of the driving member is rotatably connected to the base, 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 first connecting portion.

10. A robot, characterized in that, It includes a chassis driving assembly, an upper body skeleton assembly, a waist rotating connection assembly and the driving mechanism according to any one of claims 1 to 9, the bottom end of the driving mechanism is provided on the chassis driving assembly, the waist rotating connection assembly is connected between the top end of the driving mechanism and the upper body skeleton assembly, and the waist rotating connection assembly is configured to drive the upper body skeleton assembly to rotate relative to the driving mechanism.

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