Body movement joint of robot and robot
Through the design of multiple rotating drive parts and joint structures, the robot body can be folded and stretched forward and backward, solving the problem of small forward tilt of the waist, expanding the operating range and enhancing anti-overturning ability.
Patent Information
- Application Number
- CN202422791318.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-15
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-11-15
AI Technical Summary
The existing robots with waist folding function have a small forward tilt of the waist, resulting in a limited operating range.
It adopts a design of multiple rotary drive members and joint structures, including a first rotary drive member, a second rotary drive member and a third rotary drive member. Through the combined movement of these drive members and joints, the robot body can be folded and stretched in the front and rear directions. Combined with the rotational movement of the first joint, the spatial operating range is improved, and the center of gravity is kept at the center of the chassis by setting the second rotary drive member close to the rear, thereby enhancing anti-overturning ability.
It effectively expands the robot's spatial operating range and improves its anti-overturning ability, ensuring that the center of gravity is stable at the center of the chassis during operation, thereby enhancing the robot's flexibility and stability.
Smart Images
Figure CN223354295U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and more specifically, to a motion joint of a robot body and the robot. Background Art
[0002] With the development of science and technology, humanoid robots have gradually become popular in all walks of life, so there are higher requirements for the flexibility of robot body movements.
[0003] Currently, humanoid robots that use a mobile chassis and have a folding waist often have three rotary joints arranged at the waist, allowing the robot to have a variety of working postures. However, existing robots with a folding waist function generally have the following defects: on the one hand, the forward tilt of the waist is relatively small, resulting in a limited working range. Utility Model Content
[0004] Based on this, an embodiment of the present application provides a motion joint of a robot body and a robot to increase the robot's spatial operating range.
[0005] In a first aspect, embodiments of the present application provide a motion joint of a robot body and a robot, which adopts the following technical solutions:
[0006] A motion joint of a robot body, the robot comprising a base, comprising: a first rotary drive member, a second rotary drive member, a third rotary drive member, a first joint, a second joint, and a third joint;
[0007] The input end of the first rotary drive member is used to be fixedly connected to the bottom of the robot, and the first central axis of the first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint;
[0008] The second end of the first joint is fixedly connected to the input end of the second rotary drive member; the second central axis of the second rotary drive member is arranged perpendicular to the first central axis; the output end of the second rotary drive member is fixedly connected to the first end of the second joint; wherein the second rotary drive member is arranged closer to the rear of the robot than the first rotary drive member;
[0009] The second end of the second joint is fixedly connected to the input end of the third rotation driving member; the first end of the third joint is fixedly connected to the output end of the third rotation driving member; wherein the second center axis of the second rotation driving member is arranged parallel to the third center axis of the third rotation driving member.
[0010] Furthermore, the rotation angle of the second rotary drive member includes a range of 160 degrees of rotation toward the front direction of the robot.
[0011] Furthermore, the rotation angle of the third rotary driving member includes a range of 160 degrees of rotation toward the front direction of the robot.
[0012] Furthermore, the ratio of the height of the first joint to the height of the second joint is 1.5:1 to 2:1; and / or,
[0013] The ratio of the height of the third joint to the height of the second joint is 1.5:1 to 2:1; and / or,
[0014] The ratio of the height of the bottom to the height of the first joint is 1:1 to 1.5:1.
[0015] Furthermore, the widths of the first joint, the second joint, and the third joint are smaller than the width of the bottom of the robot.
[0016] Furthermore, the surface of the first joint facing the front of the robot is concave to form a first concave area; and / or,
[0017] The surface of the second joint facing the rear of the robot is concave to form a second concave area; and / or,
[0018] The surface of the third joint facing the rear of the robot is concave to form a third concave area.
[0019] The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint, the second joint and the third joint rotate to the folded state, so as to reduce the obstruction to the rotation to the folded state.
[0020] Furthermore, the bottom of the robot includes a chassis drive member, wheels and a chassis body;
[0021] The chassis driving member is arranged on the chassis body;
[0022] The output end of the chassis driving member is fixedly connected to the wheel, and the chassis body is mounted on the wheel, so that the chassis driving member drives the chassis body to move through the wheel.
[0023] Furthermore, the chassis drive member includes a rotation drive member; and / or,
[0024] The chassis drive is a two-wheel differential drive.
[0025] Furthermore, the second central axis of the second rotary drive member is arranged along the direction of the central axis of the robot's forward and backward rotation; and / or,
[0026] The second end of the third joint is used to be fixedly connected to the upper part of the robot.
[0027] In a second aspect, an embodiment of the present application provides a robot, comprising the motion joints of the robot body as described in any one of the above items.
[0028] Compared with the prior art, the embodiments of the present application have the following beneficial effects:
[0029] In an embodiment of the present application, the first central axis of a first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint, so that the first joint is driven to rotate about the first central axis through the first rotary drive member; the second end of the first joint is fixedly connected to the input end of the second rotary drive member, the second central axis of the second rotary drive member is arranged perpendicular to the first central axis, and the output end of the second rotary drive member is fixedly connected to the first end of the second joint, so as to drive the second joint to rotate forward / backward around the second central axis of the robot; the second end of the second joint is fixedly connected to the input end of the third rotary drive member, the first end of the third joint is fixedly connected to the output end of the third rotary drive member, the second central axis of the second rotary drive member is arranged parallel to the third central axis of the third rotary drive member, so as to drive the third joint to rotate forward / backward around the second central axis of the robot. Through the cooperation of the second joint and the third joint, the robot body can be folded and stretched within the front-to-back direction, and combined with the rotational movement of the first joint, the spatial operating range of the robot is effectively improved.
[0030] In addition, by arranging the second rotary drive member closer to the rear of the robot relative to the first rotary drive member, the center of gravity of the robot can be well maintained near the center of the chassis during operation, and the robot has a higher anti-overturning ability. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] In order to more clearly illustrate the solution of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0032] Figure 1 This is a first overall structural schematic diagram of an embodiment of the robot provided by the present application in an upright state;
[0033] Figure 2 for Figure 1 A second overall structural diagram of an embodiment of the provided robot in a first extended state;
[0034] Figure 3 for Figure 1 A third overall structural diagram of an embodiment of the robot in a second extended state is provided;
[0035] Figure 4 for Figure 1 A third overall structural diagram of an embodiment of the robot in a second extended state is provided;
[0036] Figure 5 for Figure 1 A fourth overall structural diagram of an embodiment of the provided robot in a folded state;
[0037] Figure 6 for Figure 1 Schematic diagram of the partial explosion structure of the robot provided.
[0038] Figure numerals: 10 robot, 11 motion joints of the body, 12 bottom, 13 top, 111 first rotation driving member, 112 second rotation driving member, 113 third rotation driving member, 114 first joint, 115 second joint, 116 third joint, 01 first center axis, 02 second center axis, 03 third center axis. DETAILED DESCRIPTION
[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.
[0040] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0041] Unless otherwise defined, references herein to a structural member being "fixed to" or "fixedly connected to" another structural member, or other similar descriptions, include fixing methods in which the two structural members are prefabricated as one piece or fixedly connected via an intermediate member.
[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.
[0043] like Figure 1 and Figure 6 As shown, Figure 1 This is a first overall structural schematic diagram of an embodiment of the robot provided by the present application in an upright state; Figure 6 for Figure 1 Schematic diagram of the partial explosion structure of the robot provided.
[0044] An embodiment of the present application provides a motion joint 11 of a robot body, which includes: a first rotation driving member 111 , a second rotation driving member 112 , a third rotation driving member 113 , a first joint 114 , a second joint 115 and a third joint 116 .
[0045] It should be noted that the first rotary drive member, the second rotary drive member and the third rotary drive member described in the embodiment of the present application can adopt various existing or future developed drive members that can realize rotary drive as needed, such as: rotary motor or rotary motor module.
[0046] The first center axis 01 of the first rotary driving member 11 is arranged perpendicular to the bottom 12 of the robot 10; the output end of the first rotary driving member 111 is fixedly connected to the first end of the first joint 114, so that the first rotary driving member 111 drives the first joint 114 to rotate around the first center axis 01 as the axis.
[0047] In an optional embodiment, the input end of the first rotary driving member 111 is configured to be fixedly connected to the bottom 12 of the robot 10 .
[0048] Specifically, the bottom of the robot can be a base fixed at a certain position, or it can be a movable chassis or robot legs, etc., as needed. For ease of understanding, the embodiments of this application are mainly described using a movable chassis as an example. The shape of the base can be any form as needed and is not limited by this application.
[0049] For example, the stator of the first rotary driving member 111 may be fixed to the bottom 12 of the robot 10 at one end (ie, the input end) close to the bottom 12 of the robot.
[0050] The second end of the first joint 114 is fixedly connected to the input end of the second rotary drive member 112 , and the second center axis 02 of the second rotary drive member 112 is arranged perpendicular to the first center axis 01 ; the output end of the second rotary drive member 112 is fixedly connected to the first end of the second joint 115 .
[0051] Continue as Figure 6As shown, for example, a first connection extension portion can be formed at the second end of the first joint 114 corresponding to the two ends of the stator of the second rotary drive member 112 (i.e., the input end of the second rotary drive member 112), and the first connection extension portion is fixedly connected to the two ends of the stator of the second rotary drive member 112 (for example, fixedly connected by locking screws).
[0052] Continue as Figure 6 As shown, for example, the first end of the second joint 115 can be formed into a cylindrical structure that is compatible with the second rotary drive member 112, the second rotary drive member 112 is arranged in the cylindrical structure, and then the output end of the mover of the second rotary drive member 112 is fixedly connected to the end corresponding to the cylindrical structure of the second joint 115.
[0053] In an optional embodiment, the second central axis 02 of the second rotary drive member 112 is usually arranged along the direction of the central axis of the robot's rotation forward (for example, taking a humanoid robot as an example, the front is the direction facing the robot's face) and backward, so that the robot's second joint 115 can rotate toward the front of the robot (for example: the second rotary drive member 112 rotates counterclockwise) and / or rotate backward (for example: the second rotary drive member 112 rotates clockwise) around the second central axis 02, thereby increasing the range of the robot's forward and / or backward rotational movement. For example, the second rotary drive member 112 and the second joint 112 can be regarded as at least a part of the motion joint of the robot's waist, so that the second rotary drive member 112 of the robot 10 drives the second joint 115 to rotate toward the front and / or rear of the robot.
[0054] The second rotary driving member 112 is arranged closer to the rear of the robot than the first rotary driving member 111 .
[0055] Specifically, the first joint 114 may be arranged to form an angle smaller than 90 degrees with the first central axis 01 , so that the second rotary drive member 112 is closer to the rear of the robot relative to the first rotary drive member 111 .
[0056] In an embodiment of the present application, the second end of the first joint 114 is fixedly connected to the input end of the second rotary drive member 112, so as to drive the first joint 114 through the first rotary drive member 111, and then drive the second rotary drive member 112 to rotate around the first center axis 01; in addition, by arranging the second rotary drive member closer to the rear of the robot relative to the first rotary drive member, the center of gravity of the robot is moved backward, so that during the forward tilting operation of the robot, the center of gravity of the robot can be well maintained near the center of the chassis, and has a high anti-overturning ability.
[0057] The second end of the second joint 115 is fixedly connected to the input end of the third rotation driving member 113 ; the first end of the third joint 116 is fixedly connected to the output end of the third rotation driving member 112 .
[0058] Continue as Figure 6 As shown, for example, when the stator of the third rotary drive member 113 is located outside the mover, the second end of the second joint can be formed into a cylindrical structure surrounding the third rotary drive member 112, and the third rotary drive member 113 can be arranged in the cylindrical structure and fixedly connected to the periphery or both ends of the stator to achieve the above-mentioned "the second end of the second joint 115 is fixedly connected to the input end of the third rotary drive member 113".
[0059] Exemplarily, the first end of the third joint 116 can be extended toward both ends of the mover of the third rotating drive member 113 to form a second connecting extension portion, which is fixedly connected to both ends of the mover of the third rotating drive member 112 through the second connecting extension portion to achieve the above-mentioned "the first end of the third joint 116 is fixedly connected to the output end of the third rotating drive member 112".
[0060] The second central axis 02 of the second rotation driving member 112 is arranged parallel to the third central axis 03 of the third rotation driving member 113 .
[0061] In the embodiment of the present application, the second center axis 02 of the second rotary drive member 112 is arranged parallel to the third center axis 03 of the third rotary drive member 113, and the second center axis 02 and the third center axis 03 cooperate with each other, so that the robot can move to a larger range of operating space forward and backward.
[0062] In an optional embodiment, the second end of the third joint 116 is configured to be fixedly connected to the upper portion 13 of the robot 10 .
[0063] Exemplarily, the second end of the third joint 116 is fixedly connected to the bottom of the robot's chest (ie, a portion of the upper portion 13 of the robot).
[0064] The upper part of the robot can be any part of the robot according to the design requirements, such as: Figure 1 As shown, taking a humanoid robot as an example, the upper part of the robot can be the robot chest and the head and arms connected to the chest. The motion joints of the robot body in the embodiment of the present application can be called the robot waist.
[0065] In an embodiment of the present application, the first central axis of a first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint, so that the first joint is driven to rotate about the first central axis through the first rotary drive member; the second end of the first joint is fixedly connected to the input end of the second rotary drive member, the second central axis of the second rotary drive member is arranged perpendicular to the first central axis, and the output end of the second rotary drive member is fixedly connected to the first end of the second joint, so as to drive the second joint to rotate forward / backward around the second central axis of the robot; the second end of the second joint is fixedly connected to the input end of the third rotary drive member, the first end of the third joint is fixedly connected to the output end of the third rotary drive member, the second central axis of the second rotary drive member is arranged parallel to the third central axis of the third rotary drive member, so as to drive the third joint to rotate forward / backward around the second central axis of the robot. Through the cooperation of the second joint and the third joint, the robot body can be folded and stretched within the front-to-back direction, and combined with the rotational movement of the first joint, the spatial operating range of the robot is effectively improved.
[0066] In addition, by arranging the second rotary drive member closer to the rear of the robot relative to the first rotary drive member, the center of gravity of the robot can be well maintained near the center of the chassis during operation, and the robot has a higher anti-overturning ability.
[0067] like Figures 2 to 4 As shown, Figure 2 for Figure 1 A second overall structural diagram of an embodiment of the provided robot in a first extended state; Figure 3 for Figure 1 A third overall structural diagram of an embodiment of the robot in a second extended state is provided; Figure 4 for Figure 1 A third overall structural schematic diagram of an embodiment of the provided robot in a second extended state.
[0068] In an optional embodiment, the rotation angle of the second rotary driving member includes a rotation within a range of 160 degrees toward the front direction of the robot.
[0069] For example, Figure 2 and Figure 3 As shown, the second rotary drive member 112 of the robot rotates in the direction of the front of the robot (for example, Figure 2 and 3 As shown, the counterclockwise rotation range is within 160 degrees, thereby driving the second joint 114 to extend toward the front of the robot, which can increase the operational range of the robot that can reach forward.
[0070] The embodiment of the present application sets the rotation angle of the second rotary drive member to include a rotation within a range of 160 degrees in the direction of the front of the robot, so that the robot's waist can be extended forward to a larger range, thereby increasing the robot's forward movement range.
[0071] In an optional embodiment, the rotation angle of the third rotary drive member includes rotation toward the front direction of the robot (for example: Figure 4 (as shown, counterclockwise rotation) within 160 degrees.
[0072] like Figure 4 As shown, the embodiment of the present application cooperates with the second rotary drive member by adjusting the rotation angle of the third rotary drive member to within a range of 160 degrees toward the front of the robot, so that the robot's waist can be further extended forward to a larger range, thereby further improving the robot's forward movement range.
[0073] In an optional embodiment, the ratio of the height of the first joint to the height of the second joint is: 1.5:1 to 2:1; and / or,
[0074] The ratio of the height of the third joint to the height of the second joint is 1.5:1 to 2:1; and / or,
[0075] The ratio of the height of the bottom to the height of the first joint is: 1:1 to 1.5:1.
[0076] The embodiment of the present application can further enhance the stability of the robot by forming the heights of the joints into the above-mentioned proportions.
[0077] In an optional embodiment, the width of the first joint, the width of the second joint, and the width of the third joint are smaller than the width of the bottom of the robot.
[0078] The embodiment of the present application can reduce the limitation of the robot's waist movement range caused by the excessive volume of the waist structure by designing the width of the first joint, the second joint and the third joint to be smaller than the width of the bottom of the robot; in addition, it can also improve the aesthetic effect of the robot and reduce the weight of the robot.
[0079] like Figure 5 As shown, in an optional embodiment, the surface of the first joint 114 facing the front of the robot is recessed to form a first recessed area; and / or,
[0080] The surface of the second joint 115 facing the rear of the robot is concave to form a second concave area; and / or,
[0081] The surface of the third joint 116 facing the rear of the robot is concave to form a third concave area.
[0082] The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint 114 , the second joint 115 and the third joint 116 rotate to the folded state, so as to reduce the obstruction when rotating to the folded state.
[0083] The embodiment of the present application reduces the obstruction to the folding angle of the robot by cooperating the first recessed area of the first joint, the second recessed area of the second joint, and the third recessed area of the third joint when the three joints of the robot are folded and overlapped, thereby reducing the overall space occupied by the robot in the folded state.
[0084] like Figure 6 As shown, in an optional embodiment, the bottom 12 of the robot 10 may include a chassis drive member (omitted in the figure), wheels 122 and a chassis body 121;
[0085] The chassis driving member is provided on the chassis body 121;
[0086] The output end of the chassis driving member is fixedly connected to the wheel 122, so that the chassis driving member drives the chassis body 121 through the wheel 122, thereby driving the robot body to move.
[0087] In the embodiment of the present application, the bottom of the robot includes a chassis drive component, wheels and a chassis body, so that the bottom of the robot can control its movement by itself, thereby conveniently driving the robot to move to the required location, thereby further expanding the robot's operable space range.
[0088] In an optional embodiment, the chassis driving component of the robot includes: a rotation driving component; in addition, it may also include a linear driving component.
[0089] Typically, the rotary drive member is disposed at the center of the chassis body. In addition, the rotary drive member may also be disposed at any desired position of the chassis body as required.
[0090] The embodiment of the present application adopts a chassis driving member including a rotating driving member, and the initial control of the robot's rotation can be performed through the rotating driving member. Combined with the rotation of the robot's first joint around the first center axis, the rotation angle control accuracy is high (for example: the accuracy can reach 0.1 degrees), and the robot's rotation control can be completed more quickly.
[0091] In an optional embodiment, the chassis drive is a two-wheel differential drive.
[0092] Typically, the rotation center of the two-wheel differential drive member is located at the center of the chassis body. In addition, it can also be set at any desired position of the chassis body as needed.
[0093] The dual-wheel differential drive utilizes two independently driven motors or electric motors to drive the two drive wheels. When the two motors rotate at the same speed, the differential causes the two drive wheels to rotate at the same speed, allowing the vehicle to move in a straight line. When the two motors rotate at different speeds, the differential causes the two drive wheels to rotate at different speeds, enabling the robot to turn.
[0094] The embodiment of the present application can flexibly control the robot to move forward, backward, and turn, etc. by setting up a dual-wheel differential drive component, thereby further improving the application range of the robot; in addition, by enabling the dual-wheel differential drive component to perform initial control of the robot's rotation, combined with the rotation of the robot's first joint around the first central axis, the rotation angle control accuracy is high, and the robot's rotation control can be completed more quickly.
[0095] like Figures 1 to 5 As shown, based on the motion joints of the robot body described in the above embodiment, an embodiment of the present application provides a robot 10.
[0096] The robot includes the motion joints 11 of the body of the robot 10 described in the above embodiment.
[0097] In an optional embodiment, the robot 10 further includes an upper portion 13 and a lower portion 12. The upper portion 13 and the lower portion 12 are connected to each other through the robot's body motion joints 11.
[0098] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot.
[0099] For the description of the motion joints of the robot's body, please refer to the above embodiments and will not be repeated here.
[0100] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.
Claims
1. A motion joint of a robot body, the robot comprising a bottom, characterized in that: include: a first rotary drive member, a second rotary drive member, a third rotary drive member, a first joint, a second joint, and a third joint; The input end of the first rotary drive member is used to be fixedly connected to the bottom of the robot, and the first central axis of the first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint; The second end of the first joint is fixedly connected to the input end of the second rotary drive member; the second central axis of the second rotary drive member is arranged perpendicular to the first central axis; the output end of the second rotary drive member is fixedly connected to the first end of the second joint; wherein the second rotary drive member is arranged closer to the rear of the robot than the first rotary drive member; The second end of the second joint is fixedly connected to the input end of the third rotation driving member; the first end of the third joint is fixedly connected to the output end of the third rotation driving member; wherein the second center axis of the second rotation driving member is arranged parallel to the third center axis of the third rotation driving member.
2. The motion joint of the robot body according to claim 1, characterized in that: The rotation angle of the second rotary driving member includes a range of 160 degrees of rotation toward the front direction of the robot.
3. The motion joint of the robot body according to claim 1 or 2, characterized in that: The rotation angle of the third rotary driving member includes a range of 160 degrees of rotation toward the front direction of the robot.
4. The motion joint of the robot body according to claim 1 or 2, characterized in that: The ratio of the height of the first joint to the height of the second joint is 1.5:1 to 2:1; and / or, The ratio of the height of the third joint to the height of the second joint is 1.5:1 to 2:1; and / or, The ratio of the height of the bottom to the height of the first joint is 1:1 to 1.5:
1.
5. The motion joint of the robot body according to claim 1 or 2, characterized in that: The widths of the first joint, the second joint, and the third joint are smaller than the width of the bottom of the robot.
6. The motion joint of the robot body according to claim 1 or 2, characterized in that: The surface of the first joint facing the front of the robot is concave to form a first concave area; and / or, The surface of the second joint facing the rear of the robot is concave to form a second concave area; and / or, The surface of the third joint facing the rear of the robot is concave to form a third concave area; The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint, the second joint and the third joint rotate to the folded state, so as to reduce the obstruction to the rotation to the folded state.
7. The motion joint of the robot body according to claim 1 or 2, characterized in that: The bottom of the robot includes a chassis drive component, wheels and a chassis body; The chassis driving member is arranged on the chassis body; The output end of the chassis driving member is fixedly connected to the wheel, and the chassis body is mounted on the wheel, so that the chassis driving member drives the chassis body to move through the wheel.
8. The motion joint of the robot body according to claim 7, characterized in that: The chassis drive comprises a rotary drive; and / or, The chassis drive is a two-wheel differential drive.
9. The motion joint of the robot body according to claim 1 or 2, characterized in that: The second central axis of the second rotary drive member is arranged along the direction of the central axis of the robot's forward and backward rotation; and / or, The second end of the third joint is used to be fixedly connected to the upper part of the robot.
10. A robot, characterized in that: The robot includes the motion joints of the body of the robot according to any one of claims 1 to 9.