robot

Abstract

The utility model discloses a kind of robots, it is related to robot technical field.The robot includes base, first connecting piece, second connecting piece and upper body, first connecting piece is rotatably connected in base, second connecting piece is rotatably connected in first connecting piece, and upper body is rotatably connected in second connecting piece;The ratio of the distance A between first axis and second axis and the distance B between second axis and third axis is (35±5):(22±5).The application can reduce the overall gravity of robot when bending by optimizing the length proportion of connecting rod, so as to improve stability and anti-overturning ability in the process of movement.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular relates to a robot. Background Technology

[0002] Robotics, as a crucial component of modern manufacturing and service industries, has been widely applied in various scenarios, including industrial production, logistics and distribution, household services, and specialized operations. Among various robot structures, mobile or stationary robots with multi-joint linkages have attracted significant attention due to their ability to mimic the movements of humans or robotic arms, thus adapting to complex working environments. Such robots typically include a base, sequentially rotatably connected first and second connectors, and an upper body attached to the end effector. By controlling the rotation of each link around different axes, the robot can perform various actions such as bending, extending, and grasping to complete tasks such as material handling, equipment inspection, or human-robot interaction. This multi-degree-of-freedom serial structure design allows the robot to flexibly adjust the position and orientation of the end effector in three-dimensional space, meeting diverse operational needs.

[0003] However, in related technologies, when robots perform large-angle posture adjustments such as bending over, they often face the problem of decreased stability due to a high overall center of gravity. Especially when the link length ratio is not optimized, the mass distribution of the robot is prone to adverse shifts during forward tilting, increasing the risk of tipping over and limiting its safe operating range and range of motion under dynamic working conditions. Utility Model Content

[0004] This invention provides a robot that can solve the technical problems of existing robots having a high center of gravity and poor stability when performing bending movements.

[0005] To address the aforementioned problems, one embodiment of this utility model provides a robot, comprising: Base; The first connector includes a first end and a second end, the first end and the second end being opposite ends of the first connector, and the first connector is rotatably connected to the base about a first axis. The second connector includes a third end and a fourth end, the third end and the fourth end being opposite ends of the second connector, the third end of the second connector being rotatably connected to the second end of the first connector about a second axis; and The upper body is rotatably connected to the fourth end of the second connector about a third axis; Wherein, the distance between the first axis and the second axis is A, the distance between the second axis and the third axis is B, and the ratio of A to B is (35±5):(22±5).

[0006] In one optional embodiment, the horizontal distance between the first axis and the center of gravity of the base is C, and the distance between the third axis and the center of gravity of the upper body is D, wherein C:A:B:D = (15±5):(35±5):(22±5):(40±5).

[0007] In one alternative embodiment, the ratio of C:A:B:D is 15:35:22:40.

[0008] In one optional embodiment, the first connector includes a first link, and when the robot is in the working state, the angle between the first connector and the horizontal direction is α, wherein the range of α is -20°≤α≤90°.

[0009] In one optional embodiment, the second connector includes a second link, and when the robot is in the working state, the angle between the second connector and the horizontal direction is β, wherein the range of β is 0≤β≤150°.

[0010] In one alternative embodiment, the housing of the first connector is made of the same material as the housing of the second connector.

[0011] In one alternative embodiment, when the robot is in working condition, the rotational stroke of the upper body's rotation axis is from 0° to 90°, and when the rotation axis is at 90°, the upper body is in an upright position.

[0012] In one optional embodiment, the base includes a base body and a moving mechanism, the moving mechanism being mounted on the base body for moving the base body, and the first end of the first connector being rotatably mounted on the base body about the first axis.

[0013] In one optional embodiment, the moving mechanism includes a drive wheel assembly and a support wheel assembly, both of which are mounted on the base body. The drive wheel assembly is used to move the base body, and the support wheel assembly is used to support the base body.

[0014] In one optional embodiment, there are two sets of support wheel assemblies, which are spaced apart, and the drive wheel assembly is located between the two sets of support wheel assemblies.

[0015] In one alternative embodiment, the upper body includes a main body and a head, the main body being rotatably connected to the fourth end of the second connector about the third axis, and the head being mounted on the main body.

[0016] The robot provided by this utility model embodiment has at least the following beneficial effects: This solution constructs a multi-joint serial structure consisting of a base, a first connector, a second connector, and an upper body. Simultaneously, it controls the ratio of the distance A between the first and second axes to the distance B between the second and third axes to be (35±5):(22±5), ensuring that the length of the first connector is greater than the length of the second connector. Compared to the case where the length of the first connector is less than or equal to the length of the second connector, this embodiment, based on this specific length ratio, can effectively lower the overall center of gravity of the robot during movement. This avoids torque imbalance caused by an excessively high center of gravity during posture changes, thereby achieving high stability and anti-tipping capability in large-angle pitching movements. This structural layout not only optimizes mass distribution but also ensures improved operational safety and reliability of action execution while maintaining sufficient motion flexibility, making it suitable for various application scenarios requiring frequent posture adjustments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a side view of the robot provided in one embodiment of the present invention; Figure 2 This is a front structural diagram of the robot provided in one embodiment of the present invention.

[0019] The reference numerals in the accompanying drawings are as follows: 100-Robot, 110-Base, 111-Base body, 112-Moving mechanism, 113-Drive wheel assembly, 114-Support wheel assembly, 120-First connector, 130-Second connector, 140-Upper body, 141-Main body, 142-Head. Detailed Implementation

[0020] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] like Figures 1 to 2 As shown, an embodiment of the present invention provides a robot 100, including: a base 110; a first connector 120, including a first end and a second end, the first end and the second end being opposite ends of the first connector 120, the first connector 120 being rotatably connected to the base 110 around a first axis; a second connector 130, including a third end and a fourth end, the third end and the fourth end being opposite ends of the second connector 130, the third end of the second connector 130 being rotatably connected to the second end of the first connector 120 around a second axis; and an upper body 140, the upper body 140 being rotatably connected to the fourth end of the second connector 130 around a third axis; wherein, the distance between the first axis and the second axis is A, the distance between the second axis and the third axis is B, and the ratio of A to B is (35±5):(22±5).

[0024] The base 110 provides a basic support platform for the robot 100. It can be a fixed base or a mobile chassis. The specific structure of the base 110 can be set according to the actual application scenario. For example, it can be a mobile chassis with wheels or a fixed bracket that is attached to the ground. This application embodiment does not make any special limitations on this.

[0025] The first connector 120 includes a first end and a second end disposed opposite to each other. The first end of the first connector 120 is rotatably connected to the base 110 via a first axis, so that the first connector 120 can rotate relative to the base 110.

[0026] The second connector 130 is connected between the second end of the first connector 120 and the upper body 140, and includes a third end and a fourth end opposite to each other. The third end of the second connector 130 is rotatably connected to the second end of the first connector 120 via a second axis, so that the second connector 130 can rotate relative to the first connector 120.

[0027] The upper body 140 is the functional carrier for the robot 100 to perform specific tasks. It is rotatably connected to the fourth end of the second connector 130 around a third axis. The upper body 140 may include a torso and various sensors, actuators, or manipulators mounted on it. The rotation of the upper body 140 around the third axis can realize the torso's twisting or pitching, which, in conjunction with the movement of the first connector 120 and the second connector 130, completes complex spatial posture adjustments.

[0028] Regarding the ratio of distance A to distance B, distance A between the first axis and the second axis represents the effective working length of the first connector 120, and distance B between the second axis and the third axis represents the effective working length of the second connector 130. This application specifies the ratio of A to B as (35±5):(22±5), meaning the length of the first connector 120 is greater than the length of the second connector 130. This design ensures that when the robot 100 performs a bending motion, the heavier first connector 120 is mainly located near the lower part of the base 110, while the shorter second connector 130 is located at the far end. Because the first connector 120 is longer and undertakes the main length extension task, its center of mass is relatively low, effectively reducing the overall center of gravity height of the robot 100 in the bending state. This ratio range allows for certain manufacturing tolerances and design margins; for example, the ratio of A to B can be 35:22, 30:22, or 40:27, etc., any value falling within this range. This application does not impose any special limitations on this. It is understood that the first axis, the second axis, and the third axis are parallel to each other, which makes it easier for the robot 100 to adjust its length in one direction. In particular, when the first axis, the second axis, and the third axis are all parallel to the horizontal plane, the robot 100 can easily adjust its height.

[0029] By using the above technical solution, since the length ratio A:B of the first connector 120 and the second connector 130 is limited to (35±5):(22±5), the first connector 120, as the main contributor to length, can effectively reduce the overall center of gravity of the robot 100 during movement, thus solving the problem of instability caused by the robot's center of gravity being too high when bending over in related technologies, thereby achieving the technical effect of improving the robot's movement stability and anti-tipping ability.

[0030] In some embodiments, the shells of the second connector 130 and the first connector 120 are made of the same material, which means that their density distributions are consistent. Since the length of the first connector 120 is greater than the length of the second connector 130, and the widths of the first connector 120 and the second connector 130 are not significantly different, the weight of the first connector 120 is greater than the weight of the second connector 130. This helps to lower the center of gravity of the robot 100 and reduce the probability of tipping over.

[0031] In one embodiment, such as Figures 1 to 2 As shown, the horizontal distance between the first axis and the center of gravity of the base 110 is C, and the distance between the third axis and the center of gravity of the upper body 140 is D. C∶A∶B∶D=(15±5)∶(35±5)∶(22±5)∶(40±5).

[0032] The horizontal distance C can refer to the projected distance between the first axis and the center of gravity of the base 110 in the horizontal direction. This distance C is set to optimize the torque distribution of the base 110 relative to the first rotation fulcrum. In this application, by limiting the ratio range between C and A, the center of gravity position of the base 110 can be matched with the movement trajectory of the first connecting member 120, reducing the additional overturning torque caused by the uneven mass distribution of the base itself.

[0033] Distance D can refer to the straight-line distance between the third axis and the center of gravity of the upper body 140. This distance D reflects the position of the mass concentration point of the upper body 140 relative to its rotational connection point. In this application, by defining the ratio of D to A and B, it is ensured that when the upper body 140 rotates around the third axis (such as leaning forward or backward), the inertial torque generated can be effectively balanced by the counter-torque of the first connector 120 and the base 110.

[0034] Specifically, when the robot 100 is in operation and adjusting its posture, based on the aforementioned proportional relationships, the horizontal distance C between the first axis and the center of gravity of the base 110 remains within a relatively small proportional range. This brings the center of gravity of the base 110 closer to the first rotation axis, thereby reducing the lever arm of the base's own weight on the root of the first connector 120 and reducing load fluctuations during startup and braking. Simultaneously, the distance D between the third axis and the center of gravity of the upper body 140 remains within a relatively large proportional range. Combined with the longer first connector 120 (corresponding to a larger value A), this allows the torque generated by the upper body 140 during large movements to be transmitted to the lower center of gravity base area through the long lever arm of the first connector 120 for cancellation. The entire system, through the proportional constraints of C, A, B, and D, achieves a mass gradient distribution from the base to the end effector, ensuring torque balance during the robot's dynamic motion.

[0035] Through the above technical solution, this application achieves a specific proportional relationship between the horizontal distance C between the first axis and the center of gravity of the base, the distance D between the third axis and the center of gravity of the upper body, and the lengths A and B of the connecting rods. This results in a synergistically optimized mechanical configuration of the mass distribution and geometric dimensions of the robot's various components, thereby solving the instability problem caused by unreasonable center of gravity distribution when the robot is bending or changing posture. This achieves the technical effect of improving the robot's static support capability and dynamic motion stability under all working conditions.

[0036] In another embodiment, C∶A∶B∶D=15∶35∶22∶40.

[0037] Wherein, C∶A∶B∶D=15∶35∶22∶40 can refer to the specific numerical ratio between the horizontal distance C between the first axis and the center of gravity of the base, the distance A between the first axis and the second axis, the distance B between the second axis and the third axis, and the distance D between the third axis and the center of gravity of the upper body. In this ratio, the relative fraction of C is 15, the relative fraction of A is 35, the relative fraction of B is 22, and the relative fraction of D is 40. In the technical solution of this application, the setting of this ratio aims to eliminate the fluctuation of degrees of freedom in the design process by replacing the tolerance range with deterministic values, and ensure that the robot body has consistent mechanical properties during mass production. This technical feature works closely with the distance parameters C, A, B, and D defined in the above embodiments to jointly define the overall dimensional chain distribution of the robot from the base to the upper body. By fixing the ratio to 15:35:22:40, the length ratio of the first connector (corresponding to distance A) to the second connector (corresponding to distance B) is maintained at a specific optimal value. At the same time, the layout of the center of gravity of the base (corresponding to distance C) and the center of gravity of the upper body (corresponding to distance D) relative to the axis of rotation is coordinated, thereby forming a definite geometric constraint at the structural level.

[0038] Through the above technical solution, this application achieves the elimination of uncertainties in dimensional design by adopting a precise ratio of C∶A∶B∶D=15∶35∶22∶40, which enables the inertial parameters and center of gravity of each moving part of the robot to reach the optimal matching state, thereby improving the dynamic stability of the structure while meeting functional requirements. At the same time, the fixed proportional relationship facilitates modular design and mass production, reduces the impact of manufacturing tolerance accumulation on the overall performance of the machine, and helps to improve the repeatability accuracy of the control system in adjusting the robot's posture.

[0039] In some embodiments, the first connector 120 may be a first link, and the second connector 130 may be a second link. The housing of the first connector 120 and the housing of the second connector 130 are made of the same material.

[0040] In one alternative implementation, such as Figures 1 to 2As shown, when the robot 100 is in working state, the angle between the first connector 120 and the horizontal direction is α, and the range of α is -20°≤α≤90°.

[0041] In this context, "robot 100 in working state" can refer to the dynamic or static process of robot 100 performing preset tasks, adjusting its posture, or being in standby preparation for work. The angle α between the first connecting member 120 and the horizontal direction can refer to the angle formed between the central axis of the first connecting member 120 or its extended length and the horizontal reference plane. The value range of this angle α is limited to -20° ≤ α ≤ 90°. In this definition, the horizontal direction can be used as a zero-degree reference line; when α is positive, it indicates that the first connecting member 120 is raised upwards relative to the horizontal direction, that is, the second end of the first connecting member 120 is higher than its first end; when α is negative, it indicates that the first connecting member 120 is tilted downwards relative to the horizontal direction, that is, the second end of the first connecting member 120 is lower than its first end. The function of this angle parameter α is to describe the pitch posture of the first connecting member 120 in space, which, together with the base 110 and the second connecting member 130, determines the overall configuration of robot 100. By limiting this angle range, the first connector 120 can move within the range from slightly downward to completely vertical, thereby driving the second connector 130 and the upper body 140 connected to it to adjust their working positions at different heights.

[0042] Specifically, the range of the aforementioned included angle α allows the first connector 120 to have multi-stage posture adjustment capabilities. When α is close to -20°, the first connector 120 exhibits a slight downward tilt. At this time, the overall center of gravity of the robot 100 shifts forward and lowers, which is beneficial for performing operations close to the ground, such as picking up objects on the ground or performing low-profile inspections. At the same time, this lower limit setting avoids the first connector 120 tilting too far forward, which could cause mechanical interference with the base 110 or the risk of tipping over due to excessive forward shift of the center of gravity. When the value of α gradually increases to 0°, the first connector 120 is in a horizontally extended state, at which time the robot 100 has a large horizontal working radius. As α continues to increase to 90°, the first connector 120 gradually rises until it is perpendicular to the ground. At this time, the robot 100 reaches its maximum working height, and the structure is most compact and stable, avoiding collisions between the first connector 120 and the base 110 or other back structures that may occur due to excessive angles (such as tilting backwards beyond 90°).

[0043] Through the above technical solution, this application achieves the following: by limiting the angle α between the first connector 120 and the horizontal direction to a specific range of -20° to 90°, the first connector 120 is guaranteed to have sufficient downward pitch freedom to cover the low-level working space. At the same time, the upper and lower limits prevent structural interference and loss of stability caused by excessively large or small angles, thereby ensuring the motion safety and operational adaptability of the robot 100 in the working state.

[0044] In one alternative implementation, such as Figures 1 to 2 As shown, when the robot 100 is in working state, the angle between the second connector 130 and the horizontal direction is β, and the range of β is 0≤β≤150°.

[0045] The included angle β refers to the geometric angle formed between the central axis of the second connector 130 or its length extension direction and the horizontal reference plane. This horizontal reference plane can be the ground, the plane containing the base 110, or a horizontal baseline determined by the first and second axes. The magnitude of the included angle β reflects the degree of inclination of the second connector 130 relative to the horizontal orientation, and its value is limited to between 0 and 150 degrees. Within this range, when β is 0 degrees, the second connector 130 is in a horizontally extended state; as the value of β increases, the second connector 130 rotates upwards around the second axis; when β reaches 150 degrees, the second connector 130 is in a state that is nearly vertically upward but slightly tilted backwards.

[0046] The specific value of the included angle β can be set according to the actual operational needs of the robot 100, the location distribution of the target object, and obstacle avoidance requirements. For example, when the robot 100 needs to perform low-level grasping or horizontal pushing operations, β can be controlled within a smaller range of 0 to 30 degrees; when it needs to perform high-level picking or placing or obstacle crossing operations, β can be adjusted to a larger range of 90 to 150 degrees. This application embodiment does not impose special limitations on the specific value of β, as long as it falls within the range of 0 ≤ β ≤ 150°.

[0047] Specifically, when robot 100 performs a task, the control system calculates the required posture parameters based on the target coordinates and drives the second connector 130 to rotate around the second axis, adjusting its angle β with the horizontal direction to the target value in real time. During this process, regardless of the tilt angle of the first connector 120, the second connector 130 can be freely adjusted within the range of 0 to 150 degrees to adapt to different working height and depth requirements.

[0048] In one alternative embodiment, such as Figures 1 to 2As shown, when the robot 100 is in working condition, the rotation stroke of the upper body 140 rotation axis is from 0° to 90°. When the rotation axis is at 90°, the upper body is in an upright state.

[0049] In this context, "robot 100 in working state" can refer to robot 100 performing preset tasks, engaging in human-computer interaction, or being in standby mode ready to run. In this state, the moving parts of robot 100 adjust to specific positions according to control commands to complete corresponding functions. When the rotation axis of the upper body 140 is at 90°, it indicates that the robot is currently in an upright position; when the rotation axis of the upper body 140 is at 0°, it indicates that the robot is currently in a 90° bowing position.

[0050] The upper body 140 can refer to the main body of the robot 100 that carries the operating mechanism, sensing devices, or interactive interface. The upper body 140 is rotatably connected to the fourth end of the second connector 130 around a third axis, and its angular change relative to the horizontal direction directly affects the overall center of gravity distribution of the robot 100 and the field of view of the front-end devices. In this application, the posture adjustment of the upper body 140 is to coordinate with the movement of the first connector 120 and the second connector 130, so as to realize the robot's adaptive bending or upright movements in different working scenarios.

[0051] In some embodiments, the rotational stroke of the upper body 140's rotation axis can be described by the angle γ between the upper body 140 and the horizontal direction. The angle γ can refer to the acute or right angle formed between the central axis of the upper body 140 or its principal reference plane and the horizontal plane. This angle γ is used to quantify the tilt degree of the upper body 140 and is one of the key parameters for measuring the posture stability of the robot 100. The magnitude of γ determines whether the upper body 140 tends to tilt forward horizontally or tends to stand upright, thus affecting the balance of the robot 100 during operation.

[0052] The range of γ (0 ≤ γ ≤ 90°) means that the value of the included angle γ is restricted to a closed interval from 0 to 90 degrees. When γ is 0°, it indicates that the upper body 140 is in a completely horizontal forward-leaning state. At this time, the center of gravity of the robot 100 may be at its lowest, suitable for low-altitude operations or traversing narrow spaces. When γ is 90°, it indicates that the upper body 140 is in a completely vertical state. At this time, the robot 100 is in a standard standing posture, suitable for regular walking or high-altitude observation. This range limitation means that the upper body 140 will not tilt backward (i.e., γ is greater than 90° or is negative) during operation. By limiting γ to between 0° and 90°, the risk of the robot 100 tipping backward due to excessive backward tilting of the upper body can be prevented. It also avoids problems such as the front end touching the ground or sensor field of view being obstructed due to excessive forward tilting. This angle range allows the upper body 140 to flexibly adjust its posture to adapt to various task requirements such as grasping objects and observing the environment in front, while ensuring structural stability.

[0053] Specifically, when robot 100 needs to perform the task of bending over to grasp an object on the ground, the control system drives the first connecting member 120 and the second connecting member 130 to rotate, causing the upper body 140 to bend downwards. At this time, the included angle γ gradually decreases and approaches 0°, lowering the overall center of gravity of robot 100 to maintain stability. When robot 100 completes the grasping and resumes upright walking, the control system drives each link to move in the opposite direction, causing the upper body 140 to lift up. The included angle γ gradually increases until it reaches 90°, allowing robot 100 to return to an upright standing position. Throughout the entire working process, the included angle γ is always controlled within the range of 0° to 90° to ensure that robot 100 will not tip over due to loss of posture control.

[0054] Through the above technical solution, this application achieves the goal of ensuring that the robot maintains a reasonable posture range during operation by limiting the angle γ between the upper body 140 and the horizontal direction to between 0° and 90°. This avoids the head touching the ground or blind spots caused by excessive forward tilting, and also prevents the risk of instability and tipping over caused by excessive backward tilting, thereby ensuring the operational stability and safety of the robot 100 when performing various tasks.

[0055] One possible implementation is, such as Figures 1 to 2 As shown, the base 110 includes a base body 111 and a moving mechanism 112. The moving mechanism 112 is installed on the base body 111 and is used to move the base body 111. The first end of the first connector 120 is rotatably installed on the base body 111 around the first axis.

[0056] The base body 111 can refer to the basic platform component in the robot 100 used to support the upper mechanical structure, and its function is to provide structural support and installation interface. In this application, the base body 111 serves as the mounting carrier of the moving mechanism 112 and also as the rotation fulcrum base of the first connector 120. The base body 111 cooperates with the moving mechanism 112 to enable the entire robot 100 to have displacement capability, while the first connector 120 still maintains the rotational degree of freedom relative to the base body 111 about the first axis, thereby realizing the robot's posture adjustment during movement.

[0057] The moving mechanism 112 can refer to a power component mounted on the base body 111 and used to drive the base body 111 to generate displacement. In this application, the moving mechanism 112 is installed on the bottom or side of the base body 111, and generates driving force through interaction with the ground or other supporting surfaces, driving the base body 111 and the first connecting member 120, the second connecting member 130, and the upper body 140 to move as a whole. The connection between the moving mechanism 112 and the base body 111 can be bolted, welded, or snap-fitted, and its driving form can be wheeled, tracked, or legged, etc., which are not specifically limited in this embodiment. Through the setting of the moving mechanism 112, the robot 100 can be extended from a fixed workstation to a dynamic work scenario. The driving force output by the moving mechanism 112 acts directly on the base body 111, enabling the robot 100 to change position while maintaining the upper linkage's motion capability.

[0058] Specifically, the working process of this application is as follows: the moving mechanism 112 receives a control signal and starts to operate, generating a driving force to move the base body 111. The base body 111 is displaced under the drive of the moving mechanism 112. At the same time, the first end of the first connector 120 always maintains a rotational connection with the base body 111, so that the first connector 120 can continue to adjust its angle around the first axis independently of the movement of the base body 111. This composite motion mode of movement + rotation allows the robot 100 to adjust its arm extension posture during movement and adapt to different working angle requirements without stopping its movement.

[0059] Through the above technical solution, this application achieves the technical effect of giving the robot autonomous movement capability: since the base 110 is configured as a combination structure including the base body 111 and the moving mechanism 112, and the first connecting member 120 is directly installed on the base body 111, the robot 100 obtains displacement function without sacrificing the original rotational degree of freedom of the first connecting member 120, thus solving the problem of limited working range of existing fixed robots, thereby achieving the beneficial effect of expanding the working field and improving scene adaptability.

[0060] In yet another embodiment, such as Figures 1 to 2 As shown, the moving mechanism 112 includes a drive wheel assembly 113 and a support wheel assembly 114. Both the drive wheel assembly 113 and the support wheel assembly 114 are mounted on the base body 111. The drive wheel assembly 113 is used to move the base body 111, and the support wheel assembly 114 is used to support the base body 111.

[0061] The drive wheel assembly 113 refers to the mechanical assembly that provides propulsion power to the robot 100. Its function is to convert the torque output from the power source into displacement of the base body 111 relative to the ground. The drive wheel assembly 113 works in conjunction with the support wheel assembly 114 to jointly constitute the walking system of the moving mechanism 112. In specific implementations, the drive wheel assembly 113 may include a drive motor, a reducer, and a drive wheel connected to the output end of the reducer. The drive motor drives the drive wheel to rotate through the reducer, thereby generating driving force. It may also include a structure in which a hydraulic motor directly drives the wheel hub; or it may include a tracked drive structure, in which the base body 111 is moved by the friction between the track plates and the ground. This application embodiment does not impose a special limitation on the specific driving form of the drive wheel assembly 113, as long as it can achieve the function of moving the base body 111. The drive wheel assembly 113 is installed on the base body 111, and the driving force it generates acts directly on the base body 111, enabling it to move freely within the workspace.

[0062] The support wheel assembly 114 refers to a mechanical component that provides auxiliary support to the robot 100 to maintain its posture stability. Its function is to share part of the load on the base body 111, prevent overturning due to single-point support or center of gravity shift, and assist in guiding the direction of movement. The support wheel assembly 114 and the drive wheel assembly 113 are spatially spaced apart, working together to ensure the stability of the base body 111 during movement. The support wheel assembly 114 can be a swivel wheel, whose axle can automatically deflect according to the direction of movement to adapt to steering requirements; it can also be a fixed wheel, whose axle is fixed to provide guidance constraints in a specific direction; or it can be a driven caster, which only provides vertical support force when in contact with the ground and does not actively participate in steering. This application embodiment does not impose any special limitations on this. The support wheel assembly 114 is installed on the base body 111. When the robot 100 is in working condition, the support wheel assembly 114 is in contact with the ground, bearing part of the gravity load, and together with the drive wheel assembly 113, forms a stable multi-point support structure, thereby ensuring the posture stability of the robot 100 when performing tasks.

[0063] Specifically, in the technical solution of this application, the moving mechanism 112 achieves functional modularity by separately configuring the drive wheel assembly 113 and the support wheel assembly 114. The drive wheel assembly 113 focuses on power output, responsible for overcoming ground resistance to propel the base body 111 forward, backward, or turn; the support wheel assembly 114 focuses on load-bearing and balance, responsible for providing an additional fulcrum when the drive wheel assembly 113 moves, limiting excessive tilting or tipping of the base body 111. Both are fixedly installed on the bottom or side of the base body 111 and move synchronously with the movement of the base body 111. This configuration enables the base body 111 to achieve mobility while possessing higher static and dynamic stability. Especially under conditions of load changes or uneven ground, the support wheel assembly 114 can effectively compensate for instability caused by changes in the center of gravity.

[0064] Through the above technical solution, this application achieves that by dividing the moving mechanism 112 into a drive wheel assembly 113 specifically responsible for driving and a support wheel assembly 114 specifically responsible for support, the two are structurally independent and functionally complementary. Therefore, it ensures that the base body 111 has sufficient power for flexible movement, and the auxiliary support of the support wheel assembly 114 improves the overall structural stability and anti-tipping ability of the robot 100, thus solving the problem that a single wheel set cannot simultaneously achieve efficient driving and stable support.

[0065] In one alternative implementation, such as Figures 1 to 2 As shown, there are two sets of support wheel assemblies 114, which are arranged at intervals, and the drive wheel assembly 113 is located between the two sets of support wheel assemblies 114.

[0066] The two sets of support wheel assemblies 114 can refer to two independent support units distributed along the horizontal or vertical direction at the bottom of the base body 111, which are used to provide additional ground support points for the robot 100 to maintain balance. The interval between the two sets of support wheel assemblies 114 can be set according to the overall width of the robot 100, the center of gravity position, and the expected load conditions, and this application embodiment does not impose any special limitations on this.

[0067] The drive wheel assembly 113 refers to a mechanical module installed in the middle of the base body 111 to provide propulsion power, and may include a motor, reducer, and drive wheel. The drive wheel assembly 113 is located between the two sets of support wheel assemblies 114, meaning that on the cross-section of the base body 111, the projection position of the drive wheel assembly 113 is within the interval formed by the projection positions of the two sets of support wheel assemblies 114. This arrangement makes the line of action of the driving force output by the drive wheel assembly 113 closer to the longitudinal symmetry center plane of the robot 100, reducing the yaw moment caused by the eccentricity of the driving force. Simultaneously, the cooperation between the drive wheel assembly 113 and the support wheel assemblies 114 on both sides allows the load to be more evenly distributed to each wheel system when the robot 100 is traveling in a straight line or turning, avoiding unilateral overload and ensuring the smoothness of the movement process.

[0068] Specifically, the working process of this application is as follows: During the movement of the robot 100, two sets of spaced support wheel assemblies 114 first contact the ground or move with the ground, establishing two laterally separated support fulcrums; subsequently, the drive wheel assembly 113 located between the two generates driving or braking force under the action of ground friction, pushing or controlling the movement of the base body 111. Since the drive wheel assembly 113 is centrally located, the thrust or pull it generates acts directly on the vicinity of the perpendicular bisector of the line connecting the two support points, making the force on the base body 111 in the horizontal plane tend to be symmetrical, thereby suppressing the unintended rotational tendency; when encountering obstacles or ground undulations, the support plane formed by three or more points can adapt to terrain changes through the independent floating or coordinated adjustment of each wheel set, ensuring a continuous and stable grounding state.

[0069] Through the above technical solution, this application achieves a symmetrical layout with two sets of support wheel assemblies 114 spaced apart and the drive wheel assembly 113 located in between, forming a layout of support on both sides and drive in the middle. This significantly enhances the lateral stability of the robot 100 during movement and effectively prevents tilting. At the same time, since the point of application of the driving force is close to the geometric center, the yaw moment during turning is reduced, making the control more precise. In addition, this layout allows the load to be evenly distributed among the multiple wheels, reducing the pressure of a single wheel assembly on the ground, extending the service life of the wheel system, and improving the robot 100's adaptability to different ground surfaces.

[0070] In another alternative embodiment, such as Figures 1 to 2 As shown, the upper body 140 includes a main body 141 and a head 142. The main body 141 is rotatably connected to the fourth end of the second connector 130 about a third axis, and the head 142 is mounted on the main body 141.

[0071] The main body 141 can refer to the structural part of the upper body 140 that bears the main support and motion transmission functions. One end of the main body 141 is connected to the fourth end of the second connector 130 through a revolute joint, allowing the main body 141 to rotate relative to the second connector 130 about a third axis. The shape, size, and material of the main body 141 can be set according to actual conditions; for example, it can be a shell structure with a accommodating space or a solid support block. This application embodiment does not impose any special limitations on this.

[0072] The head 142 can refer to a modular component mounted on the main body 141 for performing specific functions (such as sensing, display, or interaction). The connection between the head 142 and the main body 141 can be a fixed connection or a detachable connection via fasteners; this embodiment does not impose any special limitations on this. The specific configuration of the head 142 can be set according to actual needs; for example, it may include one or more of a camera, microphone, display screen, or communication antenna, or it may simply be a decorative appearance component; this embodiment does not impose any special limitations on this.

[0073] Specifically, when the robot 100 needs to perform environmental detection or human-machine interaction, the drive mechanism drives the second connector 130 or directly drives the main body 141 to rotate around the third axis. The main body 141 drives the head 142, which is fixedly mounted on it, to rotate synchronously. During this process, the main body 141 acts as a transmission intermediary, transmitting the rotational motion to the head 142, enabling the head 142 to point towards the target area. Since the head 142 is independently mounted on the main body 141, when it is necessary to upgrade or replace the functional modules within the head 142 (such as replacing it with a higher-resolution camera), only the head 142 needs to be operated on, without altering the main body 141 or the connection structure with the second connector 130, thereby achieving modular maintenance and upgrades of the functional modules.

[0074] Through the above technical solution, this application achieves the subdivision of the upper body 140 into a main body 141 and a head 142. Since the main body 141 retains the degree of freedom to rotate around the third axis and serves as the support platform for the head 142, the head 142 can flexibly adjust its orientation as the main body 141 rotates, thus expanding the robot's monitoring range or interactive field of view. At the same time, since the head 142 is installed independently, when it is necessary to maintain, upgrade or replace the sensing or interaction module, the head 142 can be operated independently without affecting the connection stability between the main body 141 and the second connector 130, thereby improving the robot's maintainability and functional expandability.

[0075] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A robot, characterized in that, include: Base; The first connector includes a first end and a second end, the first end and the second end being opposite ends of the first connector, and the first connector is rotatably connected to the base about a first axis. The second connector includes a third end and a fourth end, the third end and the fourth end being opposite ends of the second connector, the third end of the second connector being rotatably connected to the second end of the first connector about a second axis; and The upper body is rotatably connected to the fourth end of the second connector about a third axis; Wherein, the distance between the first axis and the second axis is A, the distance between the second axis and the third axis is B, and the ratio of A to B is (35±5):(22±5).

2. The robot according to claim 1, characterized in that, The horizontal distance between the first axis and the center of gravity of the base is C, and the distance between the third axis and the center of gravity of the upper body is D. The ratio of C to A to B to D is (15±5): (35±5): (22±5): (40±5).

3. The robot according to claim 2, characterized in that, The ratio of C:A:B:D is 15:35:22:

40.

4. The robot according to claim 1, characterized in that, The first connector includes a first link. When the robot is in operation, the angle between the first connector and the horizontal direction is α, and the range of α is -20°≤α≤90°.

5. The robot according to claim 1, characterized in that, The second connector includes a second link. When the robot is in operation, the angle between the second connector and the horizontal direction is β, and the range of β is 0≤β≤150°.

6. The robot according to claim 1, characterized in that, When the robot is in working condition, the rotation stroke of the upper body's rotation axis is from 0° to 90°. When the rotation axis is at 90°, the upper body is in an upright position.

7. The robot according to claim 1, characterized in that, The first axis, the second axis, and the third axis are parallel to each other.

8. The robot according to claim 1, characterized in that, The outer shell of the first connector is made of the same material as the outer shell of the second connector.

9. The robot according to claim 1, characterized in that, The base includes a base body and a moving mechanism. The moving mechanism is installed on the base body and is used to move the base body. The first end of the first connector is rotatably installed on the base body around the first axis.

10. The robot according to claim 9, characterized in that, The moving mechanism includes a drive wheel assembly and a support wheel assembly, both of which are mounted on the base body. The drive wheel assembly is used to move the base body, and the support wheel assembly is used to support the base body. There are two sets of support wheel assemblies, which are spaced apart, and the drive wheel assembly is located between the two sets of support wheel assemblies.

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