Intelligent robot module with high stability

Abstract

The utility model discloses a high-stability intelligent robot module which sequentially comprises a chassis assembly, a lifting assembly and a holder assembly from bottom to top, and a manipulator assembly is arranged below the holder assembly. The manipulator assembly comprises a shoulder rest part, a shoulder part, two or more arm parts, a wrist part and a palm part; one end of the shoulder support part is fixedly connected with the bottom of the holder assembly; the two sides of the other end of the connecting rod are respectively and sequentially connected with a group of shoulders, two or more sections of arm parts, a wrist part and a palm part; the two ends of the shoulder part are rotationally connected with the shoulder support part and the arm parts through steering engines respectively, every two arm parts are rotationally connected through a steering engine, the arm parts are rotationally connected with the wrist part through a steering engine, and the wrist part is rotationally connected with the palm part through a steering engine. The height can be adjusted according to the working environment, meanwhile, the chassis assembly and the holder assembly are arranged, autonomous movement can be achieved, and meanwhile the obstacle avoidance function is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to an intelligent robot module with high stability. Background Art

[0002] With the continuous maturity of artificial intelligence technology, intelligent robots have begun to play an important role in various fields. Intelligent robots can be seen in fields such as medical care, education, and services. They not only reduce the workload of humans and improve work efficiency, but also bring great convenience to our lives.

[0003] Nursing robots can deliver relevant supplies for medical staff. The working environment they face is relatively complex, so higher requirements are placed on the stability of nursing or care robots. In addition, nursing robots also need to adjust their height according to needs to facilitate the picking up and placing of relevant supplies, and the lifting process places higher requirements on the parallelism and walking stability of the robots. In the prior art, there is little research on care robots, and how to stably adjust the height and walk stably are problems that need to be solved currently. Content of the Utility Model

[0004] The utility model aims to overcome at least one defect of the above-mentioned prior art, and provides an intelligent robot module with high stability to achieve the purpose of compact structure and diverse functions.

[0005] The utility model provides an intelligent robot module with high stability, which successively includes a chassis component, a lifting component, and a pan-tilt component from bottom to top. A manipulator component is arranged below the pan-tilt component; the manipulator component includes a shoulder support part, shoulders, two or more arm parts, a wrist part, and a palm part; one end of the shoulder support part is fixedly connected to the bottom of the pan-tilt component; the two sides of the other end are successively connected to a group of shoulders, two or more arm parts, a wrist part, and a palm part; both ends of the shoulders are rotatably connected to the shoulder support part and the arm parts through servos respectively, the arm parts are rotatably connected to each other through servos, and the arm part and the wrist part, as well as the wrist part and the palm part are rotatably connected through servos.

[0006] In this embodiment, the rotation direction of the shoulders relative to the shoulder support part is up and down rotation; the rotation direction of the arm parts relative to the shoulders and the rotation direction between the arm parts are horizontal rotation; the rotation direction of the wrist part relative to the arm part is up and down rotation; the rotation direction of the palm part relative to the wrist part is horizontal rotation.

[0007] The manipulator component further includes a controller, the controller is arranged inside the shoulders, and control buttons and a plurality of function jacks are arranged on the upper side of the shoulders.

[0008] The lifting assembly of the present utility model includes a driving assembly, a first gear assembly, a first link assembly, a second gear assembly, a second link assembly, and a third gear assembly; the first gear assembly is connected to the driving assembly; one end of the first link assembly is connected to the first gear assembly; the other end is connected to the second gear assembly; one end of the second link assembly is connected to the second gear assembly, and the other end is connected to the third gear assembly; the driving assembly drives the first gear assembly to rotate, and the angles of the first link assembly and the second link assembly relative to the horizontal plane are adjusted to achieve lifting.

[0009] Specifically, the first link assembly of the present utility model includes a first rod body and a second rod body, the first rod body and the second rod body are parallel, and the first gear assembly is arranged on both sides of the driving assembly; the first gear assembly includes a first support seat, and a first driving wheel, a first driven wheel, and a second driven wheel installed on the first support seat; the first driven wheel and the second driven wheel are respectively meshed with the first driving wheel; the first driving wheel is connected to the output shaft of the driving assembly; the first driven wheel is connected to the first rod body, and the second driven wheel is connected to the second rod body; the other ends of the first rod body and the second rod body are respectively connected to the second gear assembly.

[0010] The second link assembly of the present utility model includes a third rod body and a fourth rod body; the second gear assembly includes a second support seat, and a third driven wheel, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a seventh driven wheel, and an eighth driven wheel installed on the second support seat; the third driven wheel and the fourth driven wheel are meshed with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel and the seventh driven wheel are located and perpendicular to the horizontal plane; the fifth driven wheel, the sixth driven wheel, the seventh driven wheel, and the eighth driven wheel are meshed in sequence; the third driven wheel is connected to the first rod body; the eighth driven wheel is connected to the second rod body; the fourth driven wheel is connected to the third rod body; the fifth driven wheel is connected to the fourth rod body, and the other ends of the third rod body and the fourth rod body are connected to the third gear assembly.

[0011] The third gear assembly of the present utility model includes a third support, a ninth driven wheel and a tenth driven wheel fixed on the third support; the other end of the third rod body is connected to the ninth driven wheel, and the other end of the fourth rod body is connected to the tenth driven wheel; the third link assembly includes a fifth rod body and a sixth rod body; the fourth gear assembly includes an eleventh driven wheel and a twelfth driven wheel that mesh with each other; and a thirteenth driven wheel, a fourteenth driven wheel, a fifteenth driven wheel and a sixteenth driven wheel that mesh with each other; the straight line where the eleventh driven wheel and the twelfth driven wheel are located is parallel to the straight line where the fourteenth driven wheel and the fifteenth driven wheel are located and perpendicular to the horizontal plane; the eleventh driven wheel is connected to the fourth rod body; the sixteenth driven wheel is connected to the third rod body; the thirteenth driven wheel is connected to the fifth rod body; the twelfth driven wheel is connected to the sixth rod body, and the other ends of the fifth rod body and the sixth rod body are connected to the third gear assembly.

[0012] The pan-tilt assembly of the present utility model includes a base, a drive module, a first base, a first coupling assembly, a neck frame, a second coupling assembly and a camera module; the drive module includes a first motor, a second motor, a first mounting seat and a second mounting seat; both ends of the first base are connected to the first motor and the second motor through rotating shafts; the bottoms of the first mounting seat and the second mounting seat are fixed on the base; the first motor is mounted on the first mounting seat, and the second motor is mounted on the second mounting seat; one end of the first base is connected to the motor shaft of the first motor, and the other end is connected to the motor shaft of the second motor. The first base drives the camera module to perform pitching motion through the driving of the first motor and the second motor; the first coupling assembly is arranged at the top end of the first base; the neck frame is vertically arranged on the first coupling assembly, and the camera module is fixedly arranged at the top end of the neck frame; through the coupling rotation of the first coupling assembly, the neck frame drives the camera module to rotate horizontally; the second coupling assembly is used to control the camera module to rotate in the vertical plane. The chassis assembly of the present utility model includes a second base, universal wheels, a drive suspension assembly; the universal wheels are arranged at the bottom of the second base; the drive suspension assembly is arranged on both sides of the bottom of the second base, and the drive suspension assembly includes a bracket, a hub motor assembly, a shock absorption mechanism and a linear module; the top of the bracket is connected to the second base, and a linear module is fixed inside, the top of the shock absorption mechanism is connected to the bracket, and the bottom is connected to the linear module on one side; the other side of the bottom is connected to the hub motor assembly; the hub motor assembly moves up and down along the linear module under the drive of the shock absorption mechanism to achieve shock absorption.

[0013] The shock-absorbing mechanism of the present invention includes a fixing plate, a first connecting seat, a connecting column, a spring and a second connecting seat; one end of the fixing plate is connected to the hub motor assembly, and the other end is connected to the linear module; the connecting column is vertically installed on the top of the fixing plate through the first connecting seat; the bottom of the second connecting seat is plugged into the top of the connecting column; the top of the connecting column is fixedly connected to the bracket through the second connecting seat; the spring is sleeved on the outside of the connecting column and the outside of the lower end of the second connecting seat.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The intelligent robot module of the present invention can adjust its height according to the working environment. It is equipped with a chassis component and a pan-tilt component, which can realize autonomous movement and has the function of obstacle avoidance. The present invention also designs a robot arm. Through the design of multiple joints, it can realize the picking up and placing, transportation and some simple nursing operations of objects, thereby reducing the burden on caregivers. At the same time, the chassis component designed in the present invention has a good shock absorption function, the transportation is smoother, and the overall stability is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the intelligent robot module of the utility model.

[0017] Figure 2 The figure is a schematic diagram of the three-dimensional structure of the intelligent robot module of the present invention from a top-down perspective.

[0018] Figure 3 This is a structural diagram of the lifting mechanism of the intelligent robot module in the storage state of the utility model.

[0019] Figure 4 This is a structural diagram of the lifting mechanism of the intelligent robot module in the expanded state.

[0020] Figure 5 This is a schematic diagram from another perspective of the storage state of the lifting mechanism of the intelligent robot module of the present invention.

[0021] Figure 6 This is a structural schematic diagram showing the bottom of the chassis assembly of the intelligent robot module of the present invention.

[0022] Figure 7 This is a structural diagram of the intelligent robot module drive suspension assembly of the utility model.

[0023] Figure 8 This is a structural diagram of the intelligent robot module drive suspension assembly from another perspective of the present invention. DETAILED DESCRIPTION

[0024] The accompanying drawings in the embodiments are used to describe the technical solutions in the embodiments of the present invention in more detail. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] Embodiment

[0028] This embodiment provides an intelligent robot module with high stability. As Figure 1 shown, it successively includes a chassis assembly 1, a lifting assembly 2, and a pan-tilt assembly 3 from bottom to top. A manipulator assembly 4 is provided below the pan-tilt assembly 3; in combination with Figure 2 shown, the manipulator assembly 4 includes a shoulder support part 5, a shoulder 6, two or more arm parts 7, a wrist part 8, and a palm part 9; one end of the shoulder support part 5 is fixedly connected to the bottom of the pan-tilt assembly 3; the two sides of the other end are successively connected to a set of shoulders 6, two or more arm parts 7, a wrist part 8, and a palm part 9; both ends of the shoulder 6 are rotatably connected to the shoulder support part 5 and the arm part 7 through servos, the arm parts 7 are rotatably connected to each other through servos, and the arm part 7 is rotatably connected to the wrist part 8, and the wrist part 8 is rotatably connected to the palm part 9 through servos.

[0029] Combination Figures 1 - 2 As shown, in the present utility model, the rotation direction of the shoulder portion 6 relative to the shoulder rest portion 5 is up and down rotation; the rotation direction of the arm portion 7 relative to the shoulder portion 6 and the rotation direction between the arm portions 7 are horizontal rotations; the rotation direction of the wrist portion 8 relative to the arm portion 7 is up and down rotation; the rotation direction of the palm portion 9 relative to the wrist portion 8 is horizontal rotation.

[0030] As Figure 2 shown, the manipulator assembly 4 in the present utility model further includes a controller 10, the controller 10 is arranged inside the shoulder portion 6, and a control button 11 and a plurality of function socket holes 12 are arranged on the upper side of the shoulder portion 6. The controller 10 realizes linkage control of the servos in the manipulator assembly 4. According to the image information fed back by the pan-tilt assembly 3, the controller 10 analyzes through an internal program and then issues an instruction to control the operation of the manipulator assembly 4; at the same time, the controller 10 can also be linked with the chassis assembly 1 to control the movement direction, start, brake, speed regulation and other functions of the chassis assembly 1.

[0031] As Figure 3 shown, the lifting assembly 2 includes a driving assembly 13, a first gear assembly 14, a first link assembly 15, a second gear assembly 16, a second link assembly 17 and a third gear assembly 18; the first gear assembly 14 is connected to the driving assembly 13; one end of the first link assembly 15 is connected to the first gear assembly 14; the other end is connected to the second gear assembly 16; one end of the second link assembly 17 is connected to the second gear assembly 16, and the other end is connected to the third gear assembly 18; by driving the first gear assembly 14 to rotate through the driving assembly 13, the angles of the first link assembly 15 and the second link assembly 17 relative to the horizontal plane are adjusted to realize lifting.

[0032] The driving assembly 13 mainly provides power for the entire lifting mechanism. The driving assembly 13 can be a stepper motor and can realize applications from horizontal to vertical turning. The structure of the stepper motor includes two parts: a stator and a rotor. The stator is the stationary part of the motor, and the rotor is the rotating part of the motor. Usually, an axially magnetized permanent magnet is attached to the rotor. The stepper motor has the characteristics of high torque and small volume, which make the stepper motor very suitable for applications that require frequent start and stop. The stator structure of the stepper motor has specific tooth numbers and winding configurations to achieve precise angle control. It can be directly purchased as a finished product on the market. [[ID=१७]]

[0033] As Figure 3As shown, the drive assembly 13 drives the first gear assembly 14 to rotate, thereby driving the first link assembly 15, the second gear assembly 16, the second link assembly 17, and the third gear assembly 18 to move. The drive assembly 13 is mainly driven by a motor and realizes lifting through bidirectional rotation. That is, when the angles of the first link assembly 15 and the second link assembly 17 relative to the horizontal plane gradually increase, the entire lifting mechanism is in the rising stage; when the angles of the first link assembly 15 and the second link assembly 17 relative to the horizontal plane gradually decrease, the entire lifting mechanism is in the descending stage, that is, the process of the first link assembly 15 and the second link assembly 17 stretching and retracting. The first gear assembly 14, the first link assembly 15, the second gear assembly 16, the second link assembly 17, and the third gear assembly 18 of the present invention are all two sets of mirror-symmetrical structures, that is, they are symmetrically installed on both sides of the drive assembly 13.

[0034] As Figure 4 shown, the first link assembly 15 includes a first rod body 19 and a second rod body 20. The first rod body 19 and the second rod body 20 are parallel. The first gear assembly 14 is arranged on both sides of the drive assembly 13; the first gear assembly 14 includes a first support 21, a first driving wheel 22, a first driven wheel 23, and a second driven wheel 24 installed on the first support 21; the first driven wheel 23 and the second driven wheel 24 are respectively engaged with the first driving wheel 22; the first driving wheel 22 is connected to the output shaft of the drive assembly 13; the first driven wheel 23 is connected to the first rod body 19, and the second driven wheel 24 is connected to the second rod body 20; the other ends of the first rod body 19 and the second rod body 20 are respectively connected to the second gear assembly 16. In order to improve the smoothness of lifting, each set of the first link assembly 15 further includes a first rod body 19 and a second rod body 20 that are parallel to each other, and the first rod body 19 and the second rod body 20 move synchronously during the lifting process. And the first rod body 19 is controlled by the first driven wheel 23; the second rod body 20 is controlled by the second driven wheel 24. While being independently controlled, they can maintain synchronization and the stability of support. The angle between the center of the first driven wheel 23 to the central axis of the first driving wheel 22 and the center of the second driven wheel 24 to the central axis of the first driving wheel 22 is 120°. And the diameters of the first driven wheel 23 and the second driven wheel 24 are the same and larger than the diameter of the first driving wheel 22.

[0035] As Figure 4 shown, the structure of the second link assembly 17 is similar to that of the first link assembly 15, and there are also two sets, which are respectively connected to a set of the second gear assembly 16 and a set of the third gear assembly 18; As Figure 4As shown, the second link assembly 17 includes a third rod body 25 and a fourth rod body 26; the second gear assembly 16 includes a second support 27, and a third driven wheel 28, a fourth driven wheel 29, a fifth driven wheel 30, a sixth driven wheel 31, a seventh driven wheel 32 and an eighth driven wheel 33 mounted on the second support 27; the third driven wheel 28 and the fourth driven wheel 29 mesh with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel 31 and the seventh driven wheel 32 are located and perpendicular to the horizontal plane; the fifth driven wheel 30, the sixth driven wheel 31, the seventh driven wheel 32 and the eighth driven wheel 33 mesh in sequence; the third driven wheel 28 is connected to the first rod body 19; the eighth driven wheel 33 is connected to the second rod body 20; the fourth driven wheel 29 is connected to the third rod body 25; the fifth driven wheel 30 is connected to the fourth rod body 26, and the other ends of the third rod body 25 and the fourth rod body 26 are connected to the third gear assembly 18.

[0036] As Figure 4 shown, the third gear assembly 18 includes a third support 34, and a ninth driven wheel 35 and a tenth driven wheel 36 fixed on the third support 34; the other end of the third rod body 25 is connected to the ninth driven wheel 35, and the other end of the fourth rod body 26 is connected to the tenth driven wheel 36; the third link assembly includes a fifth rod body 37 and a sixth rod body 38; a fourth gear assembly and a third link assembly are further provided between the second link assembly 17 and the third gear assembly 18; the third link assembly includes a fifth rod body 37 and a sixth rod body 38; the fourth gear assembly includes an eleventh driven wheel 39 and a twelfth driven wheel 40 that mesh with each other; and a thirteenth driven wheel 41, a fourteenth driven wheel 42, a fifteenth driven wheel 43 and a sixteenth driven wheel 44 that mesh with each other; the straight line where the eleventh driven wheel 39 and the twelfth driven wheel 40 are located is parallel to the straight line where the fourteenth driven wheel 42 and the fifteenth driven wheel 43 are located and perpendicular to the horizontal plane; the eleventh driven wheel 39 is connected to the fourth rod body 26; the sixteenth driven wheel 44 is connected to the third rod body 25; the thirteenth driven wheel 41 is connected to the fifth rod body 37; the twelfth driven wheel 40 is connected to the sixth rod body 38, and the other ends of the fifth rod body 37 and the sixth rod body 38 are connected to the third gear assembly 18.

[0037] As Figure 3 shown, the pan-tilt assembly 3 includes a base 45, a drive module 46, a first base 47, a first coupling assembly 48, a neck frame 49, a second coupling assembly 50 and a camera module 51; Combining Figure 5As shown, the drive module 46 includes a first motor 52, a second motor 53, a first mounting base 54, and a second mounting base 55; both ends of the first base 47 are connected to the first motor 52 and the second motor 53 through rotating shafts; the bottoms of the first mounting base 54 and the second mounting base 55 are fixed on the base 45; the first motor 52 is fixed on the first mounting base 54, and the second motor 53 is fixed on the second mounting base 55; one end of the first base 47 is connected to the motor shaft of the first motor 52, and the other end is connected to the motor shaft of the second motor 53. Driven by the first motor 52 and the second motor 53, the first base 47 drives the camera module 51 to perform pitching motion; the first coupling component 48 is provided at the top of the first base 47; the neck frame 49 is vertically provided on the first coupling component 48, and the camera module 51 is fixedly provided at the top of the neck frame 49; through the coupling rotation of the first coupling component 48, the neck frame 49 drives the camera module 51 to rotate horizontally; the second coupling component 50 is used to control the camera module 51 to rotate in the vertical plane.

[0038] As Figure 6 shown, the chassis assembly 1 includes a second base 56, universal wheels 57, and a drive suspension assembly 58; the universal wheels 57 are provided at the bottom of the second base 56; the drive suspension assembly 58 is provided on both sides of the bottom of the second base 56, as Figures 7 - 8 shown, the drive suspension assembly 58 includes a bracket 59, a hub motor 60, a tire 61, a shock absorption mechanism 62, and a linear module 63; the top of the bracket 59 is connected to the second base 56, and a linear module 63 is fixed inside. The top of the shock absorption mechanism 62 is connected to the bracket 59, and the bottom is connected to the linear module 63 on one side; the other side of the bottom is connected to the hub motor 60; the hub motor 60 drives up and down along the linear module 63 under the drive of the shock absorption mechanism 62 to achieve shock absorption. When the robot module chassis assembly 1 is placed on the ground, the universal wheels 57 and the drive suspension assembly 58 are on the same horizontal plane. The hub motor 60 is used to drive itself to rotate, and then drive the universal wheels 57 to rotate, making the transportation process smoother. The diameter of the hub motor 60 component is much larger than that of the universal wheels 57. Through the design of the shock absorption mechanism 62, when the ground is uneven, the shock absorption is achieved by the shock absorption mechanism 62 moving up and down along the linear module 63.

[0039] The shock-absorbing mechanism 62 includes a fixing plate 64, a first connecting seat 65, a connecting post 66, a spring 67, and a second connecting seat 68. One end of the fixing plate 64 is connected to the hub motor 60 assembly, and the other end is connected to the linear module 63. The connecting post 66 is vertically mounted on the top of the fixing plate 64 via the first connecting seat 65. The bottom of the second connecting seat 68 is plugged into the top of the connecting post 66. The top of the connecting post 66 is fixedly connected to the bracket 59 via the second connecting seat 68. The spring 67 is mounted on the outside of the connecting post 66 and the outside of the lower end of the second connecting seat 68. The fixing plate 64 is used to connect the hub motor 60 and the linear module 63, maintaining the vibration direction in the vertical direction and preventing horizontal shaking that affects transmission stability. The shock-absorbing design of the spring 67 in this utility model has low manufacturing costs and good shock absorption effect.

[0040] The fixing plate 64 is 7-shaped; its bottom is provided with a threaded hole, which is secured to the hub motor 60 assembly via a bolt assembly. A retaining hole is provided on each side of the top of the fixing plate 64, through which the two sets of linear modules 63 are movable, respectively, allowing the shock-absorbing mechanism 62 to be constrained by the linear modules 63 in its vertical movement. When the spring 67 is in its natural position, the bottoms of the universal wheel 57 and the tire 61 are in the same plane, that is, simultaneously in contact with the ground. When the ground is uneven, the tire 61 presses the spring 67 upward, compressing it. The spring 67's rebound force creates a buffering force, achieving a shock-absorbing effect.

[0041] Combine Figure 4 As shown, the base is provided with a millimeter-wave radar 69 facing the front of the robot. A battery can be provided above the base of the present invention, and the battery is electrically connected to various electrical components to provide power. This can be used for obstacle avoidance in the robot. Also provided above the base is an operation and control unit 70, which is electrically connected to the hub motor 60 assembly. Also provided above the base is a host computer 71 electrically connected to the operation and control unit 70. The operation and control unit 70 and the host computer 71 are electrically connected to the controller 10, both of which control the direction and speed of the base's movement.

[0042] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments above, those skilled in the art should understand that modifications or equivalent substitutions of the technical solutions of the present invention may be made without departing from the spirit and scope of the technical solutions of the present invention. Those skilled in the art may also make other changes within the spirit of the present invention and apply them to the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made in accordance with the spirit of the present invention should be included in the scope of protection claimed by the present invention.

Claims

1. An intelligent robot module with high stability, characterized in that, It successively includes a chassis assembly (1), a lifting assembly (2), and a pan-tilt assembly (3) from bottom to top. A manipulator assembly (4) is provided below the pan-tilt assembly (3). The manipulator assembly (4) includes a shoulder rest part (5), a shoulder part (6), two or more arm parts (7), a wrist part (8), and a palm part (9). One end of the shoulder rest part (5) is fixedly connected to the bottom of the pan-tilt assembly (3); on both sides of the other end, a set of shoulder parts (6), two or more arm parts (7), a wrist part (8), and a palm part (9) are successively connected. Both ends of the shoulder part (6) are rotatably connected to the shoulder rest part (5) and the arm part (7) respectively through servos. The arm parts (7) are rotatably connected to each other through servos. Between the arm part (7) and the wrist part (8), and between the wrist part (8) and the palm part (9), they are rotatably connected through servos.

2. The intelligent robot module according to claim 1, characterized in that, The rotation direction of the shoulder part (6) relative to the shoulder rest part (5) is up and down rotation; the rotation direction of the arm part (7) relative to the shoulder part (6) and the rotation direction between the arm parts (7) are horizontal rotation; the rotation direction of the wrist part (8) relative to the arm part (7) is up and down rotation; the rotation direction of the palm part (9) relative to the wrist part (8) is horizontal rotation.

3. The intelligent robot module according to claim 1, wherein The manipulator assembly (4) further includes a controller (10). The controller (10) is arranged inside the shoulder part (6), and a control button (11) and a plurality of function plug holes (12) are provided on the upper side of the shoulder part (6).

4. The intelligent robot module according to claim 1, wherein The lifting assembly (2) includes a driving assembly (13), a first gear assembly (14), a first link assembly (15), a second gear assembly (16), a second link assembly (17), and a third gear assembly (18). The first gear assembly (14) is connected to the driving assembly (13). One end of the first link assembly (15) is connected to the first gear assembly (14); the other end is connected to the second gear assembly (16). One end of the second link assembly (17) is connected to the second gear assembly (16), and the other end is connected to the third gear assembly (18). By driving the first gear assembly (14) to rotate through the driving assembly (13), the angles of the first link assembly (15) and the second link assembly (17) relative to the horizontal plane are adjusted to achieve lifting.

5. The intelligent robot module according to claim 4, characterized in that, The first link assembly (15) includes a first rod body (19) and a second rod body (20). The first rod body (19) and the second rod body (20) are parallel. The first gear assembly (14) is arranged on both sides of the driving assembly (13). The first gear assembly (14) includes a first support (21) and a first driving wheel (22), a first driven wheel (23), and a second driven wheel (24) installed on the first support (21). The first driven wheel (23) and the second driven wheel (24) are respectively meshed with the first driving wheel (22). The first driving wheel (22) is connected to the output shaft of the driving assembly (13); the first driven wheel (23) is connected to the first rod body (19), and the second driven wheel (24) is connected to the second rod body (20); the other ends of the first rod body (19) and the second rod body (20) are respectively connected to the second gear assembly (16).

6. The intelligent robot module according to claim 5, wherein The second link assembly (17) includes a third rod body (25) and a fourth rod body (26); The second gear assembly (16) includes a second support (27), and a third driven wheel (28), a fourth driven wheel (29), a fifth driven wheel (30), a sixth driven wheel (31), a seventh driven wheel (32) and an eighth driven wheel (33) mounted on the second support (27); The third driven wheel (28) and the fourth driven wheel (29) mesh with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel (31) and the seventh driven wheel (32) are located and perpendicular to the horizontal plane; The fifth driven wheel (30), the sixth driven wheel (31), the seventh driven wheel (32) and the eighth driven wheel (33) mesh in sequence; The third driven wheel (28) is connected to the first rod body (19); the eighth driven wheel (33) is connected to the second rod body (20); the fourth driven wheel (29) is connected to the third rod body (25); the fifth driven wheel (30) is connected to the fourth rod body (26), and the other ends of the third rod body (25) and the fourth rod body (26) are connected to the third gear assembly (18).

7. The intelligent robot module according to claim 6, wherein, The third gear assembly (18) includes a third support (34), and a ninth driven wheel (35) and a tenth driven wheel (36) fixed on the third support (34); the other end of the third rod body (25) is connected to the ninth driven wheel (35), and the other end of the fourth rod body (26) is connected to the tenth driven wheel (36); a fourth gear assembly and a third link assembly are further provided between the second link assembly (17) and the third gear assembly (18); The third link assembly includes a fifth rod body (37) and a sixth rod body (38); The fourth gear assembly includes an eleventh driven wheel (39) and a twelfth driven wheel (40) that mesh with each other; and a thirteenth driven wheel (41), a fourteenth driven wheel (42), a fifteenth driven wheel (43) and a sixteenth driven wheel (44) that mesh with each other; the straight line where the eleventh driven wheel (39) and the twelfth driven wheel (40) are located is parallel to the straight line where the fourteenth driven wheel (42) and the fifteenth driven wheel (43) are located and perpendicular to the horizontal plane; The eleventh driven wheel (39) is connected to the fourth rod body (26); the sixteenth driven wheel (44) is connected to the third rod body (25); the thirteenth driven wheel (41) is connected to the fifth rod body (37); the twelfth driven wheel (40) is connected to the sixth rod body (38), and the other ends of the fifth rod body (37) and the sixth rod body (38) are connected to the third gear assembly (18).

8. The intelligent robot module according to claim 1, characterized in that, The pan-tilt assembly (3) includes a base (45), a drive module (46), a first base (47), a first coupling component (48), a neck bracket (49), a second coupling component (50), and a camera module (51); the drive module (46) includes a first motor (52), a second motor (53), a first mounting seat (54), and a second mounting seat (55); both ends of the first base (47) are connected to the first motor (52) and the second motor (53) through rotating shafts; the bottoms of the first mounting seat (54) and the second mounting seat (55) are fixed on the base (45); the first motor (52) is mounted on the first mounting seat (54), and the second motor (53) is mounted on the second mounting seat (55); one end of the first base (47) is connected to the motor shaft of the first motor (52), and the other end is connected to the motor shaft of the second motor (53); the first base (47) drives the camera module (51) to perform pitching motion through the driving of the first motor (52) and the second motor (53); the first coupling component (48) is arranged at the top of the first base (47); the neck bracket (49) is vertically arranged on the first coupling component (48), and the camera module (51) is fixedly arranged at the top of the neck bracket (49); through the coupling rotation of the first coupling component (48), the neck bracket (49) drives the camera module (51) to rotate horizontally; the second coupling component (50) is used to control the rotation of the camera module (51) in the vertical plane.

9. The intelligent robot module according to claim 1, wherein The chassis assembly (1) includes a second base (56), universal wheels (57), and a drive suspension assembly (58); The universal wheels (57) are arranged at the bottom of the second base (56); The drive suspension assembly (58) is arranged on both sides of the bottom of the second base (56), and the drive suspension assembly (58) includes a bracket (59), a hub motor (60) assembly, a shock absorption mechanism (62), and a linear module (63); the top of the bracket (59) is connected to the second base (56), the linear module (63) is fixed inside, the top of the shock absorption mechanism (62) is connected to the bracket (59), and the bottom side is connected to the linear module (63); the other side of the bottom is connected to the hub motor (60) assembly; the hub motor (60) assembly makes up-and-down buffering motion along the linear module (63) under the drive of the shock absorption mechanism (62) to achieve shock absorption.

10. The intelligent robot module according to claim 9, wherein, The shock absorption mechanism (62) includes a fixing piece (64), a first connecting seat (65), a connecting column (66), a spring (67), and a second connecting seat (68); One end of the fixing piece (64) is connected to the hub motor (60) assembly, and the other end is connected to the linear module (63); The connecting column (66) is vertically installed on the top of the fixing piece (64) through the first connecting seat (65); the bottom of the second connecting seat (68) is inserted into the top of the connecting column (66); the top of the connecting column (66) is fixedly connected to the bracket (59) through the second connecting seat (68); the spring (67) is sleeved on the outer side of the connecting column (66) and the outer side of the lower end of the second connecting seat (68).

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