Robotic body structure and robot

Abstract

The embodiment of the utility model provides a kind of robot fuselage structure and robot, wherein, robot fuselage structure includes: pedestal, the opposite sides of pedestal are respectively equipped with installation side wall;At least two lifting mechanisms, be equipped in pedestal, at least one lifting mechanism is equipped on each installation side wall;At least two mechanical arms, each lifting mechanism is connected with at least one mechanical arm, one end of mechanical arm is connected with lifting mechanism, and mechanical arm can be adjusted with the relative distance of the bottom wall of pedestal by lifting mechanism;At least two operating components are connected with the other end of mechanical arm, and operating component includes operation module and vision sensor, operation module is connected with the other end of mechanical arm, and vision sensor is connected to operation module;Wherein, the lifting of the mechanical arm located in one installation side wall is independent with the lifting of the mechanical arm located in another installation side wall.The technical scheme of the utility model, by the independent lifting of two mechanical arms, can expand the operating range of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a robot body structure and a robot. Background Technology

[0002] Currently, with the continuous advancement of automation technology, robots can be used for picking objects. In related technologies, when using robots to pick objects, the left and right robotic arms are typically directly connected to the same lifting mechanism, ensuring that the left and right arms are always at the same height. Regardless of changes in the arm's height, the maximum distance between the two arms is the sum of their lengths and the distance between them. However, if both arms need to operate simultaneously at two locations that are significantly apart, such as simultaneously performing operations on the highest and lowest shelves, they cannot be completed simultaneously. The task at one location must be completed first, followed by the lifting and lowering of the robot to complete the task at the other location, impacting work efficiency. Utility Model Content

[0003] The present invention aims to at least solve the technical problem in the prior art or related technologies that the synchronous lifting and lowering of the left and right arms of a robot results in a limited operating range.

[0004] In view of this, an embodiment of the first aspect of the present invention provides a robot body structure.

[0005] A second aspect of this utility model provides a robot.

[0006] To achieve the above objectives, embodiments of this utility model provide a robot body structure, comprising: a base, with mounting sidewalls on opposite sides of the base; at least two lifting mechanisms disposed on the base, with at least one lifting mechanism on each mounting sidewall; at least two robotic arms, each lifting mechanism connected to at least one robotic arm, one end of the robotic arm connected to the lifting mechanism, and the robotic arm's relative distance to the bottom wall of the base adjustable via the lifting mechanism; and at least two operating components connected to the other end of the robotic arms, each operating component including an operating module and a vision sensor, the operating module connected to the other end of the robotic arm, and the vision sensor connected to the operating module; wherein the lifting of the robotic arm located on one mounting sidewall is independent of the lifting of the robotic arm located on the other mounting sidewall.

[0007] The robot body structure proposed in this utility model includes a base, a lifting mechanism, a robotic arm, and an operating component, wherein there are two or more lifting mechanisms, robotic arms, and operating components. By setting independent lifting mechanisms on both sides of the base and installing at least one robotic arm on each lifting mechanism, the robotic arms located on different side walls can be lifted and lowered independently, and the area that the robotic arms can operate simultaneously is expanded to a wider three-dimensional range, thereby increasing the reachable space.

[0008] In some technical solutions, the base may optionally include: at least two main frames extending along a first direction, each main frame having an installation sidewall; wherein, a lifting mechanism is installed on the main frame.

[0009] In this technical solution, the base comprises two or more main frames, which extend parallel to each other along a first direction, generally the height direction. The base serves as the primary support structure at the bottom of the robot, providing strength and rigidity to ensure the stability of the entire robot body. Each main frame has a mounting sidewall fixed to the corresponding main frame, extending vertically upwards as a mounting platform for the lifting mechanism. The lifting mechanism is fixed to the mounting sidewall of each main frame, driving the robotic arm to rise and fall vertically, adjusting the distance between the robotic arm and the bottom surface of the base, i.e., the ground, to achieve height adjustment.

[0010] In some technical solutions, the lifting mechanism may optionally include: two guide rails spaced apart on the main frame and extending along a first direction; a lead screw disposed between the two guide rails and extending along the first direction; and a slider sleeved on the lead screw, with the opposite ends of the slider slidably connected to the two guide rails; wherein one end of the robotic arm is connected to the slider.

[0011] In this technical solution, the lifting mechanism includes two guide rails and a lead screw disposed between the two guide rails. The two guide rails are parallel to each other on the main frame and extend along a first direction, providing a guiding trajectory for the lifting of the robotic arm and ensuring linear and smooth lifting motion. The lead screw, located between the two guide rails and extending along the first direction, acts as a transmission element, converting rotational motion into linear motion to achieve the lifting of the slider.

[0012] In some technical solutions, the lifting mechanism may optionally include: a driving member, located at one end of the main frame facing the base, with a driving wheel at one end; and a driven wheel, located on the lead screw, with the driving wheel and the driven wheel connected by a transmission; wherein the driving member drives the lead screw to rotate through the driving wheel and the driven wheel.

[0013] In this technical solution, the lifting mechanism also includes a driving component, a driving wheel, and a driven wheel. The driving component is installed at one end of the main frame facing the base. The driving component can be a motor or other type of driving device. The driving component mainly provides a power source to drive the lead screw to rotate and realize the lifting motion. The driving wheel is fixedly installed on the output shaft of the driving component and rotates synchronously with the driving component, transmitting the rotational motion of the driving component to the driven wheel.

[0014] In some technical solutions, the robot body structure may optionally include: limit sensors, which are located at both ends of the main frame along the first direction. When the limit sensors are triggered, the slider stops moving.

[0015] In this technical solution, the limit sensor monitors the position of the slider in real time to prevent the slider from exceeding the designed stroke and avoid mechanical collision or damage. When the slider triggers the limit sensor, the control system immediately stops the drive motor and the slider stops moving, preventing the lifting mechanism from overtravel due to control errors or malfunctions, and ensuring the safety of the robotic arm and lifting mechanism. The limit sensor, as a hardware protection, provides a reliable stroke termination signal.

[0016] In some technical solutions, optionally, the robotic arm includes multiple rotary joints, the tail ends of which are provided with end flanges, and the operating components are connected to the end flanges.

[0017] In this technical solution, the robotic arm is composed of multiple rotating joints connected in series, providing flexible motion capabilities with at least 6 degrees of freedom; the end flange serves as the standard interface between the robotic arm and the operating components, enabling a stable connection and precise coordination between the operating module and the vision sensor, thereby ensuring the robot's efficient, accurate, and diverse operating capabilities in complex environments.

[0018] In some technical solutions, the operating module can optionally be a dexterous hand, with the wrist end of the dexterous hand connected to the end flange.

[0019] In this technical solution, the operating module is selected as a dexterous hand, which has multiple degrees of freedom and can perform various tasks such as grasping, assembly, and manipulation. The dexterous hand itself includes components such as a wrist, joints, gripping mechanisms (such as grippers, suction cups, etc.), and sensors. The wrist end of the dexterous hand is the connection end of the operating module, used to connect with the end flange. The end flange serves as the standard connection interface at the end of the robotic arm and is fixed to the last rotating joint of the robotic arm.

[0020] In some technical solutions, the vision sensor is optionally located on the back of the dexterous hand, and at the end where the dexterous hand is connected to the end flange.

[0021] In this technical solution, the vision sensor captures real-time information about the manipulated object and its surrounding environment, providing precise spatial position and posture data. The vision sensor is mounted on the back of the hand and close to the connection end, avoiding obstruction of the field of view by the dexterous hand structure and improving the integrity and accuracy of visual acquisition. The vision sensor is tightly integrated with the dexterous hand and the end effector flange, reducing the volume of the end effector load and enhancing the flexibility and operating range of the robotic arm. As the robotic arm and dexterous hand move, the vision sensor can dynamically adjust its viewing angle, tracking the target in real time and ensuring operational precision.

[0022] In some technical solutions, optionally, the detection direction of the vision sensor is parallel to the axis of the end flange.

[0023] In this technical solution, the detection direction of the vision sensor is parallel to the axis of the end flange, ensuring that the visual field of view is highly consistent with the operation direction of the robotic arm end, improving the operation accuracy and dynamic tracking capability of vision guidance, while also simplifying the coordinated control of vision and robotic arm movement, enhancing the intelligent perception and operation capability of the robot end, and maintaining the compactness and efficiency of the end structure.

[0024] An embodiment of the second aspect of this application provides a robot, including: a mobile module; and any of the above-described robot body structures, wherein the base of the robot body structure is mounted on the upper surface of the mobile module.

[0025] The robot provided in this application includes a mobile module and a robot body structure, wherein the mobile module, as the chassis of the robot as a whole, is responsible for the robot's movement and posture adjustment on the horizontal plane.

[0026] Since the robot includes any of the above-mentioned robot body structures, it has the beneficial effects of any of the above-mentioned robot body structures, which will not be elaborated here.

[0027] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0028] Figure 1 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the lifting mechanism according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the lifting mechanism according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of the lifting mechanism according to an embodiment of the present invention is shown; Figure 9 A schematic diagram of the lifting mechanism according to an embodiment of the present invention is shown; Figure 10A schematic diagram of the structure of a robotic arm according to an embodiment of the present invention is shown; Figure 11 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 12 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 13 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 14 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 15 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 16 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 17 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 18 A schematic diagram of the structure of an operating component according to an embodiment of the present invention is shown; Figure 19 A schematic diagram of the structure of a mobile module according to an embodiment of the present invention is shown; Figure 20 A schematic diagram of the structure of a mobile module according to an embodiment of the present invention is shown; Figure 21 A schematic diagram of the structure of a mobile module according to an embodiment of the present invention is shown; Figure 22 A schematic diagram of the structure of a mobile module according to an embodiment of the present invention is shown; Figure 23 A schematic diagram of the structure of a mobile module according to an embodiment of the present invention is shown; Figure 24 A schematic diagram of the robot structure in the related technology is shown; Figure 25 A schematic diagram of the robot structure in the related technology is shown; Figure 26 A schematic diagram of the robot structure in the related technology is shown; Figure 27 A schematic diagram of the robot structure in the related technology is shown; Figure 28 A schematic diagram of the robot structure in the relevant technology is shown.

[0029] in, Figures 1 to 23The correspondence between the reference numerals and component names in the attached drawings is as follows: 1: Robot body structure; 11: Base; 111: Mounting sidewall; 112: Main frame; 12: Lifting mechanism; 121: Guide rail; 122: Lead screw; 123: Slider; 124: Drive component; 125: Driving wheel; 126: Driven wheel; 13: Robotic arm; 131: Rotary joint; 132: End flange; 14: Operating components; 141: Operating module; 142: Vision sensor; 15: Limit sensor; 2: Robot; 21: Mobile module; Figures 24 to 28 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10': Robotic arm. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of the embodiments of this utility model, the embodiments of this utility model will be described in optional detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0032] Currently, embodied robots can be broadly categorized into three types, one of which is anthropomorphic design, such as... Figure 24 As shown, the lower limbs are two feet, the upper limbs are two robotic arms 10' and a waist, plus a head. The upper limbs and head of the second type are the same as those of the first type, as shown... Figure 25 As shown, the lower limbs are transformed from bipedal to wheeled mobile platforms, while retaining the dual robotic arms 10' and the waist structure. The third type of structure, as... Figure 26 and Figure 27 As shown, this design further simplifies the second type, retaining wheeled lower limbs while the waist of the upper limbs becomes a lifting mechanism connected to the robotic arm 10'. The working space for the two hands of the above three animate robots depends on the space where the hands can be opened and the range of bending or lowering of the upper limbs. In all three designs, both arms rise or fall simultaneously. For example... Figure 28 As shown, the embodied robot is simplified into four parts: a movement mechanism, a lifting mechanism, a left arm, and a right arm (i.e., robotic arms 10'). Let the distance between the two robotic arms 10' be A, the arm length be R, and the arm's rising height be H. Then, the reachable range of each arm is a sphere with radius R, and the reachable range of both arms is the sum of the distance between the centers of two spheres with radius R.

[0033] The current technology has a drawback: because the left and right arms are always at the same height, regardless of the arm's rising height H, the reachable range of both arms is always the sum of two spheres with radius R. The maximum distance the arms can reach is the length of the arms plus the distance between them, i.e., R + A + R = 2R + A. If the arms need to operate simultaneously at two positions more than 2R + A apart, such as simultaneously performing a specified operation on the highest and lowest shelf levels, the current design cannot achieve this. The task at one position must be completed first, then the arms must be raised and lowered to complete the task at the other position, impacting work efficiency.

[0034] The following reference Figures 1 to 23 Some embodiments according to the present invention are described.

[0035] like Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a robot body structure 1, including: a base 11, a lifting mechanism 12, a robotic arm 13, and an operating component 14, wherein the number of lifting mechanisms 12, robotic arms 13, and operating components 14 are all two or more. By providing independent lifting mechanisms 12 on both sides of the base 11, and installing at least one robotic arm 13 on each lifting mechanism 12, the robotic arms 13 located on different side walls can be lifted and lowered independently. The area that the robotic arms 13 can operate simultaneously is expanded to a wider three-dimensional range, thereby increasing the reachable space.

[0036] Furthermore, the left and right robotic arms 13 can perform different operations simultaneously at different heights. For example, the left arm can pick up items from a high shelf while the right arm can pick up items from a low shelf, reducing the time required for lifting and lowering and improving work efficiency. When it is necessary for both arms to work together to move tall or long objects, the height difference between the two arms can be adjusted so that the gripping points at the ends of the arms are distributed at different heights of the object, thereby stabilizing the handling and support.

[0037] It is understandable that this solution is suitable for various scenarios such as warehouse picking, assembly production, logistics sorting, and service delivery, and is especially suitable for environments where the objects being handled are distributed at different vertical heights.

[0038] Of course, in this solution, the lifting mechanism 12, the robotic arm 13, and the operating components 14 are all modular designs, which can replace robotic arms 13 with different degrees of freedom and different end effectors to adapt to various task requirements.

[0039] Specifically, the base 11 serves as the load-bearing structure for the robot 2, supporting the entire robot 2, including the mounting sidewalls 111, lifting mechanism 12, robotic arm 13, and operating components 14. Simultaneously, the base 11 can integrate a chassis movement mechanism, such as hub motors and driven wheels 126, enabling the robot 2 to move and turn horizontally. The mounting sidewalls 111 are fixedly connected to opposite sides of the base 11, and the lifting mechanism 12 is fixedly mounted on the mounting sidewalls 111. Power supplies, control systems, and drive modules can be integrated within the base 11 according to actual needs. The base 11 is located at the lower part of the robot 2, with the mounting sidewalls 111 extending vertically upwards to form the mounting positions on the left and right sides. The base 11 provides stable support and a mounting platform, ensuring the rigidity and stability of the lifting mechanism 12 and robotic arm 13 during operation; combined with chassis movement, it expands the overall operating range of the robot 2.

[0040] The mounting sidewalls 111 provide a fixed mounting surface for the lifting mechanism 12 and bear the loads generated by the lifting and movement of the robotic arm 13. The lower end of the mounting sidewalls 111 is fixedly connected to the base 11, and at least one lifting mechanism 12 is fixedly mounted on each mounting sidewall 111. The two mounting sidewalls 111 are located on opposite left and right sides of the base 11, respectively. The lifting mechanism 12 is vertically arranged on the sidewalls. Through the rigid sidewall structure, the lifting mechanism 12 is fixed to both sides of the robot 2, ensuring the stability and accuracy of the lifting movement and providing a reliable mounting reference for the robotic arm 13.

[0041] like Figure 4 and Figure 5 As shown, the lifting mechanism 12 is mainly used to drive the robotic arm 13 to rise and fall in the vertical direction, adjusting the relative distance between the robotic arm 13 and the bottom wall of the base 11, i.e., the height of the shoulder of the robotic arm 13. The left and right lifting mechanisms 12 are located on both sides of the base 11 and are controlled independently. The independent lifting control allows the left and right robotic arms 13 to operate at different heights, breaking through the traditional height limit.

[0042] The robotic arm 13 is fixedly connected to the slider 123 of the lifting mechanism 12 and moves up and down with the slider 123. The end of the robotic arm 13 is connected to the operation component 14, which can perform specific operation tasks and move the end operation component 14 to the target position.

[0043] Optionally, each robotic arm 13 has at least 6 degrees of freedom, enabling position and attitude control of the end effector in space.

[0044] It can be understood that the left robotic arm 13 is mounted on the slider 123 of the left lifting mechanism 12, and the right robotic arm 13 is mounted on the slider 123 of the right lifting mechanism 12. The distance between the center of the shoulders of the left and right robotic arms 13 is A.

[0045] The working height of the robotic arm 13 is adjusted by the lifting mechanism 12, which, combined with the range of motion of its joints, covers a larger three-dimensional operating space. Independent height control allows both arms to operate simultaneously on different vertical levels or to collaboratively manipulate large objects.

[0046] The operation component 14 is mounted on the end flange 132 of the robotic arm 13. It consists of an operation module 141 and a vision sensor 142, and the vision sensor 142 communicates with the operation module 141 to provide information such as the object's position and orientation. The operation component 14 as a whole can realize the end-effector's sensing and operation functions.

[0047] The structure of the left-side operation component 14 is as follows: Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, the structure of the operation component 14 on the right is as follows: Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown.

[0048] It is understood that the operation module is located at the foremost end of the robotic arm 13, directly contacting or interacting with the object being operated. The vision sensor 142 detects the target position in real time and guides the operation module 141 to perform precise operations. The operation module 141 can be replaced according to task requirements (dexterous hand, gripper, suction cup, etc.) to achieve various tasks such as grasping, handling, and assembly.

[0049] The lifting of the robotic arm 13 located on one mounting sidewall 111 is independent of the lifting of the robotic arm 13 located on the other mounting sidewall 111, allowing the two arms to perform different tasks at different heights at the same time, reducing waiting and switching time. The height difference between the two arms can be freely adjusted according to the spatial distribution of the target object, thereby expanding the overall reachable space of the two arms. When coordinating the handling of tall or long objects, stable support and clamping can be achieved through the height difference.

[0050] In summary, this solution provides mounting sidewalls 111 on both sides of the base 11, and independently sets up lifting mechanisms 12 on each sidewall. This allows the robotic arm 13 mounted on the lifting mechanism 12 to lift independently. In conjunction with the end effector 14, it can not only work at different heights simultaneously, expanding the reachable space, but also improve the ability to perform multi-task parallel operations and collaborative operations, thereby significantly improving the efficiency and adaptability of the robot 2 in scenarios such as warehousing, assembly, and logistics.

[0051] In some embodiments, the base 11 may optionally include two or more main frames 112, which extend parallel to each other along a first direction, generally the height direction. The base 11 serves as the main support structure at the bottom of the entire robot 2, providing strength and rigidity to ensure the stability of the entire body. Each main frame 112 has a mounting sidewall 111 fixed to the corresponding main frame 112 and extending vertically upward, serving as a mounting platform for the lifting mechanism 12. The lifting mechanism 12 is fixed to the mounting sidewall 111 of each main frame 112, driving the robotic arm 13 to rise and fall vertically, adjusting the distance between the robotic arm 13 and the bottom surface of the base 11, i.e., the ground, to achieve height adjustment.

[0052] The main frame 112 is fixed to the bottom of the base 11. Two or more main frames 112 are arranged in parallel, each main frame 112 extends in parallel and maintains a certain distance from each other to form two support units on the left and right or front and back. The mounting side wall 111 is set on each main frame 112 and extends vertically upward to serve as the support surface of the lifting mechanism 12, ensuring the rigidity and stability of the lifting mechanism 12 in the vertical direction.

[0053] The lifting mechanism 12 is fixed on the mounting side wall 111 and moves in the vertical direction, i.e., the first direction. The lifting mechanism 12 can be fixed to the side wall by bolts, clamps or other rigid connection methods to ensure smooth movement.

[0054] Each lifting mechanism 12 can be controlled independently, enabling the left and right robotic arms 13 or the front and rear robotic arms 13 to operate at different heights. By employing multiple main frames 112, it is easy to expand to more lifting units or increase the number of robotic arms 13.

[0055] In some embodiments, optionally, such as Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the lifting mechanism 12 includes two guide rails 121 and a lead screw 122 disposed between the two guide rails 121. The two guide rails 121 are parallel to each other on the main frame 112 and extend along a first direction, providing a guide trajectory for the lifting of the robotic arm 13 and ensuring linear and smooth lifting motion. The lead screw 122 is disposed between the two guide rails 121 and extends along the first direction. As a transmission element, the lead screw 122 can convert rotational motion into linear motion to realize the lifting of the slider 123. Specifically, the slider 123 is sleeved on the outside of the lead screw 122, with its threads engaging with the lead screw 122. Both ends of the slider 123 are slidably connected to the two guide rails 121 respectively, ensuring that the slider 123 slides parallel to the guide rails 121 and maintains a constant posture.

[0056] One end of the robotic arm 13 is fixed or connected to the slider 123, and can rise and fall with the slider 123 to adjust the vertical position of the robotic arm 13. Guide rails 121 are fixed to the main frame 112, arranged parallel to each other along the first direction, with a fixed spacing between them to ensure the linear movement path of the slider 123 and prevent deviation. A lead screw 122 is positioned between the two guide rails 121, extending along the first direction and parallel to the guide rails 121. The lead screw 122 can be driven to rotate by a motor to achieve lifting and lowering movement. The slider 123 is sleeved on the lead screw 122 with a threaded fit, and rotates along the lead screw 122 to drive its up and down movement. Both ends of the slider 123 are slidably connected to the two guide rails 121 respectively, ensuring that the slider 123 moves linearly along the guide rails 121 and maintains a stable posture.

[0057] The robotic arm 13 is fixed to one end of the slider 123 and moves up and down together with the slider 123 to achieve vertical lifting. The slider 123 is driven to slide parallel to the guide rail 121 by the rotation of the lead screw 122, thus achieving the vertical lifting of the robotic arm 13. The two guide rails 121 ensure the linearity and stability of the slider 123's movement, avoid deviation or wobbling, and improve the balance of lifting.

[0058] It is understood that the lifting range is determined by the length of the lead screw 122 and the length of the guide rail 121. Each lifting mechanism 12 is independently controlled, supporting multiple robotic arms 13 to work simultaneously at different heights, enhancing the overall operating space and flexibility.

[0059] In some embodiments, the lifting mechanism 12 may optionally include a driving member 124, a driving wheel 125, and a driven wheel 126. The driving member 124 is mounted on one end of the main frame 112 facing the base 11. The driving member 124 may be a motor or other type of driving device. The driving member 124 is mainly used to provide a power source to drive the lead screw 122 to rotate, thereby realizing the lifting motion. The driving wheel 125 is fixedly mounted on the output shaft of the driving member 124 and rotates synchronously with the driving member 124, transmitting the rotational motion of the driving member 124 to the driven wheel 126.

[0060] Driven wheel 126 is mounted on lead screw 122, located on the opposite side or at a corresponding position of driving wheel 125. Driven wheel 126 is connected to driving wheel 125 via transmission, driving lead screw 122 to rotate. Lead screw 122 is located between two guide rails 121, extending along a first direction, converting rotational motion into linear motion, driving slider 123 to move up and down along guide rail 121.

[0061] The driving wheel 125 and the driven wheel 126 are connected by a transmission device, such as a synchronous belt, chain or gear, to ensure that the driving wheel 125 and the driven wheel 126 rotate synchronously and drive the lead screw 122 to rotate.

[0062] Optionally, the drive component 124 is fixed to one end of the main frame 112, with its installation position corresponding to one end of the lead screw 122. The drive component 124 is connected to the driven wheel 126 via its driving wheel 125, driving the lead screw 122 to rotate. The driving wheel 125 is fixed to the output shaft of the drive component 124 and rotates synchronously with it. The driven wheel 126 is fixed to the lead screw 122, located on the opposite side or corresponding to the driving wheel 125. The lead screw 122 is fixed between two guide rails 121, extending along a first direction, and is driven to rotate by the driving wheel 125 and the driven wheel 126. The slider 123 is sleeved on the outside of the lead screw 122 and slides along the guide rails 121, rising and falling as the lead screw 122 rotates.

[0063] The drive unit 124 drives the driven wheel 126 via the drive wheel 125, which in turn drives the lead screw 122 to rotate, providing the power source for the lifting motion. The rotation of the lead screw 122 causes the slider 123 to move up and down along the guide rail 121, adjusting the relative distance between the robotic arm 13 and the base 11. The drive wheel 125 and the driven wheel 126 rotate synchronously via a synchronous belt (or other transmission device) to ensure smooth and precise lifting.

[0064] In some embodiments, optionally, such as Figure 10 As shown, the robotic arm 13 is composed of multiple rotating joints 131 connected in sequence to form a serial robotic arm 13 structure. Optionally, the robotic arm 13 includes six or more rotating joints 131. Each rotating joint 131 can rotate around its joint axis, realizing multi-degree-of-freedom movement of the robotic arm 13. The joints are connected by linkages to form a flexible spatial kinematic chain.

[0065] The end flange 132 is located at the farthest end of the robotic arm 13, i.e., the tail end connection plate or interface. The end flange 132 is a standardized connection structure, which facilitates quick installation and replacement of the end effector or operating component 14. Optionally, the end flange 132 has mounting holes or locating pins to ensure the stable installation and accurate positioning of the operating component 14.

[0066] It is understood that the rotating joints 131 are connected in sequence to form the motion chain of the robotic arm 13, with each joint providing a rotational degree of freedom. The length of the links between the joints determines the range of extension and flexibility of the robotic arm 13.

[0067] The end flange 132 is installed at the tail end of the last rotating joint 131, serving as the interface between the robotic arm 13 and the operating component 14. Connections are typically made using bolts, snap-fit ​​connections, or quick-connect interfaces to ensure a secure and easy-to-maintain connection.

[0068] The operation module 141 is directly fixed to the end flange 132, and the vision sensor 142 is installed on or near the operation module 141 to ensure that the field of view covers the operation area.

[0069] Through multiple rotating joints 131, the robotic arm 13 can achieve complex posture adjustments and path planning in three-dimensional space, meeting diverse operational needs. The end flange 132 serves as a standard interface, facilitating the quick replacement of different types of operating components 14, thus enhancing the robot 2's flexibility in adapting to different tasks.

[0070] In summary, the robotic arm 13 of this solution consists of multiple rotating joints 131 connected in series, providing flexible motion capabilities with at least 6 degrees of freedom; the end flange 132 serves as the standard interface between the robotic arm 13 and the operating component 14, enabling a stable connection and precise coordination between the operating module 141 and the vision sensor 142, thereby ensuring the robot 2's efficient, accurate, and diversified operating capabilities in complex environments.

[0071] In some embodiments, the operation module 141 may optionally be selected as a dexterous hand with multiple degrees of freedom, capable of performing various tasks such as grasping, assembly, and manipulation. The dexterous hand itself also includes components such as a wrist, joints, gripping mechanisms (such as grippers, suction cups, etc.), and sensors. The wrist end of the dexterous hand is the connection end of the operation module 141, used to connect to the end flange 132. The end flange 132 serves as the standard connection interface at the end of the robotic arm 13 and is fixed to the last rotating joint 131 of the robotic arm 13.

[0072] The wrist end of the dexterous hand is tightly connected to the end flange 132 via bolts, quick-connect interfaces or other mechanical connections. It is connected to the end of the last rotating joint 131 of the robotic arm 13, located at the farthest end of the robotic arm 13. The end flange 132 is fixed to the output shaft or interface of the last joint, and the wrist end of the dexterous hand is connected to it.

[0073] The dexterous hand is fixed in position relative to the robotic arm 13 and changes position as the robotic arm 13 moves. The dexterous hand can grasp, hold, and manipulate various objects to adapt to different task requirements. The tight connection between the end flange 132 and the wrist end ensures that the hand does not loosen or shift during operation, thus improving the accuracy of operation.

[0074] In some embodiments, the visual sensor 142 is optionally used to capture image information of the operating environment and the object being operated on, thereby achieving target detection, localization, and posture recognition. Optionally, the visual sensor 142 includes a camera (depth camera or multimodal sensor) and related electronic components.

[0075] The back of the dexterous hand, opposite the palm, serves as the mounting location for the vision sensor 142, ensuring an unobstructed field of view and coverage of the operating area. This is because, during operation, the dexterous hand concentrates the range of motion of its fingers on the palm side, minimizing the impact of finger movements on the vision sensor 142.

[0076] The connection end between the dexterous hand and the end flange 132 is the end where the dexterous hand connects to the end flange 132, i.e., the mechanical interface end of the dexterous hand. The vision sensor 142 is installed at this end, close to the end of the robotic arm 13, to achieve a compact layout.

[0077] The vision sensor 142 is located on the back of the dexterous hand, with its field of view mostly in front of or slightly above the operating area, thus avoiding obstruction by the dexterous hand itself.

[0078] Optionally, the vision sensor 142 is connected to the robot 2 control system via cable or wirelessly, and the signal line can be routed inside the robotic arm 13 to avoid external interference.

[0079] In summary, the vision sensor 142 captures real-time information about the manipulated object and its surrounding environment, providing accurate spatial position and posture data. Mounted on the back of the hand and close to the connection end, the vision sensor 142 avoids obstruction of the field of view by the dexterous hand structure, improving the completeness and accuracy of visual acquisition. The vision sensor 142 is tightly integrated with the dexterous hand and the end effector flange 132, reducing the volume of the end effector load and enhancing the flexibility and operating range of the robotic arm 13. As the robotic arm 13 and the dexterous hand move, the vision sensor 142 can dynamically adjust its viewing angle, tracking the target in real time and ensuring operational precision.

[0080] In some embodiments, optionally, the detection direction of the vision sensor 142 is the main viewing axis of the vision sensor 142, i.e., the direction in which the optical center of its lens points. The axial direction of the end flange 132 is the direction of the end output axis of the robotic arm 13, i.e., the direction of the wrist of the dexterous hand to which the end flange 132 of the robotic arm 13 is connected. By limiting the detection direction of the vision sensor 142 to be parallel to the axial direction of the end flange 132, i.e., the line of sight of the vision sensor 142 is consistent with or approximately consistent with the direction of the end output axis of the robotic arm 13.

[0081] It is understood that the vision sensor 142 is mounted on the back side of the dexterous hand, near the connection end of the end flange 132, ensuring that the detection direction of the vision sensor 142 is parallel to the axis of the end flange 132. The vision sensor 142 is arranged along the axis of the end of the robotic arm 13, with the lens facing forward of the robotic arm 13 in the operating direction, directly observing the operating area.

[0082] As the robotic arm 13 and the dexterous hand move, the vision sensor 142 keeps consistent with the end effector posture of the robotic arm 13 and adjusts the viewing angle synchronously.

[0083] The detection direction of the vision sensor 142 is parallel to the axis of the end flange 132, which allows the vision sensor 142 to directly "look" at the working area of ​​the end operation module 141 of the robotic arm 13. This is beneficial for accurately capturing the position and posture of the operation target, improving the operation accuracy of vision guidance, keeping the line of sight of the vision sensor 142 consistent with the axis of the end of the robotic arm 13, reducing the angle error, and facilitating the coordinated control of visual information and the movement of the robotic arm 13.

[0084] In addition, the image direction acquired by the vision sensor 142 corresponds to the movement direction of the robotic arm 13, which facilitates coordinate transformation and path planning by the control system. When the robotic arm 13 moves, the vision system can stably track the target and reduce occlusion and field of view shift.

[0085] In general, the detection direction of the vision sensor 142 is parallel to the axis of the end flange 132, ensuring that the visual field of view is highly consistent with the operation direction of the end of the robotic arm 13, improving the operation accuracy and dynamic tracking capability of vision guidance, while also simplifying the coordinated control of vision and the movement of the robotic arm 13, enhancing the intelligent perception and operation capability of the end of the robot 2, and maintaining the compactness and efficiency of the end structure.

[0086] In some embodiments, optionally, such as Figure 8 As shown, the limit sensor 15 is installed at both ends of the main frame 112 along the first direction. The limit sensor 15 includes, but is not limited to, sensor types such as mechanical switches, photoelectric switches, proximity switches, or magnetic switches.

[0087] The main frame 112 where the lifting mechanism 12 is located has a starting end and an ending end along the first direction. Limit sensors 15 are installed at these two ends respectively to detect the limit position of the slider 123. The position corresponds to the maximum stroke range of the slider 123. The sensor position matches the movement trajectory of the slider 123 to ensure that the slider 123 can be detected in time when it reaches the stroke limit.

[0088] Optionally, the slider 123 is equipped with a trigger (such as a baffle, magnet, etc.) that triggers the corresponding limit sensor 15 when the slider 123 moves to one end of the main frame 112.

[0089] Limit sensor 15 monitors the position of slider 123 in real time to prevent slider 123 from exceeding the designed stroke and avoid mechanical collision or damage. When slider 123 triggers limit sensor 15, the control system immediately stops the drive motor and slider 123 stops moving to prevent lifting mechanism 12 from overtravel due to control error or malfunction, thus ensuring the safety of robotic arm 13 and lifting mechanism 12. Limit sensor 15 serves as hardware protection and provides a reliable stroke termination signal.

[0090] like Figure 1 , Figure 19 , Figure 20 , Figure 21 , Figure 22 and Figure 23 As shown, an embodiment of the second aspect of this application provides a robot 2, including: a mobile module 21; any of the above-described robot body structures 1, wherein the base 11 of the robot body structure 1 is mounted on the upper surface of the mobile module 21.

[0091] The robot 2 provided in this application includes a mobile module 21 and a robot body structure 1. The mobile module 21 serves as the chassis of the robot 2 and is responsible for the movement and posture adjustment of the robot 2 on the horizontal plane.

[0092] Optionally, the mobile module 21 includes a frame, drive wheels (such as hub motors), driven wheels 126, steering mechanism, etc., to support the robot 2 to move forward, backward, and turn in the XY plane, i.e., the mobile plane.

[0093] The base 11 of the robot body structure 1 is securely installed on the upper surface of the mobile module 21 by bolts, clamps or other mechanical connection methods, ensuring the rigid connection between the body and the mobile module 21 and ensuring structural stability during movement.

[0094] The mobile module 21 is located at the bottom and provides overall support and mobility for the robot 2.

[0095] The robot's body structure 1 is located on top of the mobile module 21 and undertakes specific operational tasks.

[0096] Since robot 2 includes any of the above-mentioned robot body structures 1, it has the beneficial effects of any of the above-mentioned robot body structures 1, which will not be elaborated here.

[0097] In one specific embodiment, a robot is provided, addressing a key drawback of current technology: because the left and right arms are always at the same height, regardless of changes in the arm's rising height H, the reachable range of both arms is always the sum of two spheres with radius R. The maximum reachable distance is the sum of the arm lengths and the arm distance, i.e., R + A + R = 2R + A. If the two arms need to operate simultaneously at two positions more than 2R + A apart, such as simultaneously performing designated operations on the highest and lowest shelf levels, current designs cannot achieve this. They must complete the task at one position first, then move up and down to complete the task at the other, impacting work efficiency. This solution allows the two arms to simultaneously complete different tasks over a larger area.

[0098] The following are the structural features of the robot in this specific embodiment, along with descriptions of each structural feature: Left arm: left forearm; Right arm: left forearm; Left vision sensor and operation module; Right vision sensor and operation module; Left lifting mechanism: drives the left arm to rise and fall; Right lifting mechanism: drives the right arm to rise and fall; Chassis moving mechanism: drives the lifting mechanism, left arm, right arm, etc. to move on the horizontal plane.

[0099] R: Arm length; A: Distance between arms; H left: Left arm height; H right: Right arm height.

[0100] The left and right arms are identical robotic hands, and the arm itself is a robotic hand with at least 6 degrees of freedom (i.e., robotic arm 13). For example... Figure 10 The image shows a 6-DOF manipulator, consisting of 6 joints and an end flange 132, which can achieve 6-DOF motion of the end flange in space.

[0101] The left-hand vision sensor and operation module (i.e., operation component 14) includes a vision sensor 142 and an operation module 141, such as... Figure 11 As shown, the operation module 141 is a left-handed dexterous hand; other implementations could include other operating mechanisms, such as grippers or suction cups. The vision sensor 142 is used to detect the specific position of the material being operated and guide the dexterous hand in its operation.

[0102] The right-hand vision sensor and operation module includes a vision sensor and an operation module. In the illustration, the operation module is a right-hand dexterity hand, but other implementations can be achieved using other operating mechanisms, such as grippers or suction cups. The vision sensor is used to detect the specific position of the material being manipulated, guiding the dexterity hand to perform the operation.

[0103] The left and right lifting mechanisms are the same module. The mechanism is a linear motion module that can achieve vertical up and down movement.

[0104] The lifting mechanism includes a main frame 112, on which guide rail 1 and guide rail 2 (i.e., guide rail 121) are mounted. Guide rail 1 and guide rail 2 are parallel to each other. A lead screw 122 is located between guide rail 1 and guide rail 2. The slider 123 is fixed to guide rail 1, guide rail 2, and lead screw 122. The lead screw 122 drives the slider 123 to move up and down, while guide rail 1 and guide rail 2 ensure that the slider's posture remains unchanged.

[0105] A driven synchronous pulley (i.e., driven pulley 126) is fixed on the lead screw 122. A synchronous belt is connected to the driven synchronous pulley, and the other end of the synchronous belt is connected to a driving synchronous pulley (i.e., driving pulley 125). A motor (i.e., drive component 124) is mounted on the driving synchronous pulley. The motor drives the driving synchronous pulley to rotate, which in turn drives the driven synchronous pulley to rotate via the synchronous belt. The driven synchronous pulley drives the lead screw to rotate, and the rotation of the lead screw causes the slider to move up and down. The left / right arm is mounted on the slider and moves up and down with it.

[0106] Additionally, the upper and lower ends of the main frame are equipped with upper limit sensors and lower limit sensors (i.e., limit sensors 15), which are used to limit the upper and lower limits of the slider. When the slider moves to the upper limit sensor or the lower limit sensor, the sensor is triggered, and the slider stops moving.

[0107] The chassis movement module (i.e., movement module 21) consists of a frame, two hub motors, and four driven wheels. The two hub motors rotate forward and backward simultaneously, or one in front of the other, to achieve forward movement, backward movement, and turning of the chassis, that is, to achieve movement and rotation in the XY plane.

[0108] Overall movement description: 1. The mobile chassis is equipped with a left lifting mechanism and a right lifting mechanism. The left lifting mechanism drives the left arm to move up and down, with a travel distance of H_left. The left arm has six degrees of freedom, an arm length of R, and is equipped with a vision sensor and an operation module at its end. The sensor can guide the operation module to operate within a sphere of radius R.

[0109] 2. The right lifting mechanism drives the right arm to move up and down, with a stroke of H_right. The right arm has six degrees of freedom, an arm length of R, and is equipped with a vision sensor and an operation module at its end. The sensor guides the operation module to operate within a sphere of radius R.

[0110] 3. The center distance between the sliders of the left and right lifting mechanisms is A, which is the shoulder width of the two arms.

[0111] 4. Based on the above, the operable space of the dual-arm robot is the sum of the distance between the centers of two spheres, A, and the radius, R. The maximum distance that both arms can reach simultaneously is R + A + R = 2R + A.

[0112] 5. When the left arm and right arm are at the same height, that is, when H_left = H_right, the range that both arms can reach at the same time is the smallest. Currently, other patents are designed with both arms at the same height.

[0113] 6. Because this patent has both a left and a right lifting mechanism, the left and right arms can be at different heights, thus increasing the distance A, meaning the two balls can be further apart, and the sum of their volumes can be larger. In practical applications, this allows both arms to perform different operations at different heights, and also enables the two arms to work together to move larger objects.

[0114] The beneficial effects are as follows: 1. The arms do not need to be kept at the same height at the same time, but can perform different tasks at different heights at the same time. For example, both hands can perform different operations on shelves at different heights at the same time.

[0115] The reach of the arms is expanded, minimizing or even eliminating the intersection of the two spheres, thus maximizing the sum of their dimensions. This allows for coordinated manipulation of larger objects, such as lifting a tall stack of boxes. 1. The moving mechanism is not necessarily a two-wheel hub; it may also be a four-wheel hub.

[0116] 2. A robot does not necessarily have to have 6 degrees of freedom; it can also have 7 degrees of freedom or other more degrees of freedom.

[0117] 3. The end effector does not necessarily have to be a dexterous hand; it can also be a two-finger gripper, a three-finger gripper, a suction cup, or other mechanisms that can be used for manipulation.

[0118] The lifting mechanism may use a lever, a rack and pinion, or a synchronous pulley and belt for up and down movement.

[0119] The key point is that the two arms can be raised and lowered independently to different heights, thereby expanding the operating range of the arms and enabling the two arms to perform different tasks independently at different heights.

[0120] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0121] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0122] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0123] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot body structure, characterized in that, include: A base, wherein mounting sidewalls are provided on opposite sides of the base; At least two lifting mechanisms are provided on the base, and at least one of the lifting mechanisms is provided on each of the mounting side walls; At least two robotic arms, each of the lifting mechanisms is connected to at least one robotic arm, one end of the robotic arm is connected to the lifting mechanism, and the relative distance between the robotic arm and the bottom wall of the base can be adjusted by the lifting mechanism; At least two operating components are connected to the other end of the robotic arm. Each operating component includes an operating module and a vision sensor. The operating module is connected to the other end of the robotic arm, and the vision sensor is connected to the operating module. The lifting and lowering of the robotic arm located on one of the mounting sidewalls is independent of the lifting and lowering of the robotic arm located on the other mounting sidewall.

2. The robot body structure according to claim 1, characterized in that, The base specifically includes: At least two main frames extend along a first direction, and each of the main frames is provided with one of the mounting sidewalls; The lifting mechanism is installed on the main frame.

3. The robot body structure according to claim 2, characterized in that, The lifting mechanism includes: Two guide rails are spaced apart on the main frame, and the guide rails extend along the first direction; A lead screw is disposed between the two guide rails and extends along the first direction; A slider is sleeved on the outside of the lead screw, and the opposite ends of the slider are slidably connected to the two guide rails; One end of the robotic arm is connected to the slider.

4. The robot body structure according to claim 3, characterized in that, The lifting mechanism also includes: A driving component is located at one end of the main frame facing the base, and one end of the driving component is provided with a drive wheel; A driven wheel is located on the lead screw, and the driving wheel is connected to the driven wheel in a driving transmission. The driving component drives the lead screw to rotate via the driving wheel and the driven wheel.

5. The robot body structure according to claim 3, characterized in that, Also includes: Limit sensors are located at both ends of the main frame along the first direction. When the limit sensors are triggered, the slider stops moving.

6. The robot body structure according to any one of claims 1 to 5, characterized in that, The robotic arm includes multiple rotating joints, and the tail ends of the multiple rotating joints are provided with end flanges. The operating components are connected to the end flanges.

7. The robot body structure according to claim 6, characterized in that, The operating module is a dexterous hand, and the wrist end of the dexterous hand is connected to the end flange.

8. The robot body structure according to claim 7, characterized in that, The visual sensor is located on the back of the dexterous hand, and at the end of the dexterous hand that is connected to the end flange.

9. The robot body structure according to claim 6, characterized in that, The detection direction of the vision sensor is parallel to the axial direction of the end flange.

10. A robot, characterized in that, include: Mobile module; The robot body structure as described in any one of claims 1 to 9, wherein the base of the robot body structure is mounted on the upper surface of the mobile module.

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