A robot

Abstract

The robot disclosed in this application includes a head assembly, a torso assembly, a left arm assembly, a right arm assembly, and a wheel-foot assembly. The left arm assembly includes a shoulder structure and an arm structure. The shoulder structure is configured to allow the arm structure to pitch and rotate relative to the torso assembly. A lifting assembly is provided between the torso assembly and the wheel-foot assembly. The lifting assembly includes at least one lifting mechanism, which includes a lifting frame and a lifting drive unit. The lifting frame is connected to the torso assembly and rotatably mounted on the wheel-foot assembly. The lifting drive unit includes a first rotation module, a transmission mechanism, and a first planetary reducer. The first rotation module is connected to the input end of the first planetary reducer through the transmission mechanism, and the output end of the first planetary reducer is connected to the lifting frame. In this robot, the addition of a planetary reducer to the lifting assembly increases the output torque while simultaneously allowing the planetary reducer to bear the overturning moment, reducing the robot's overturning risk and improving its load-bearing capacity.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robot. Background Technology

[0002] Existing wheel-mounted lifting robots use three rotating modules to achieve the robot's lifting motion. However, the rotating joint modules using harmonic reducers have characteristics such as poor impact resistance, relatively low torque density, and poor anti-overturning torque, resulting in insufficient load-bearing capacity of the lifting mechanism, which in turn leads to insufficient load capacity of the wheel-mounted lifting robot.

[0003] Therefore, how to improve the load capacity of robots has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a robot that improves the robot's load capacity.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A robot, comprising:

[0007] Header component;

[0008] The torso assembly has a head assembly mounted on it, and the head assembly is capable of pitching and rotating relative to the torso assembly.

[0009] The left arm assembly is movably disposed on one side of the torso assembly. The left arm assembly includes a shoulder structure and an arm structure. The shoulder structure is configured to allow the arm structure to pitch and rotate relative to the torso assembly.

[0010] The right arm assembly is movably positioned on the other side of the torso assembly, and the right arm assembly is arranged symmetrically with the left arm assembly.

[0011] The wheel and foot assembly is movably mounted on the torso assembly. A lifting assembly is provided between the torso assembly and the wheel and foot assembly. The lifting assembly includes at least one lifting mechanism. The lifting mechanism includes a lifting frame and a lifting drive unit. The lifting frame is connected to the torso assembly and is rotatably mounted on the wheel and foot assembly. The lifting drive unit includes a first rotating module, a transmission mechanism, and a first planetary reducer. The first rotating module is connected to the input end of the first planetary reducer through the transmission mechanism. The output end of the first planetary reducer is connected to the lifting frame.

[0012] Optionally, in the robot described above, the lifting assembly includes a first lifting mechanism, a second lifting mechanism, and a third lifting mechanism. The torso assembly is connected to the lifting frame of the first lifting mechanism. The lifting frame of the second lifting mechanism is rotatably connected to the lifting frames of the first and third lifting mechanisms, respectively. The lifting frame of the third lifting mechanism is rotatably mounted on the wheel and foot assembly.

[0013] Optionally, in the robot described above, the lifting frame of the first lifting mechanism includes a first lifting skeleton and a second lifting skeleton arranged opposite to each other, the torso component is connected to the first lifting skeleton and the second lifting skeleton respectively through a thoracic support, and the lifting drive unit of the first lifting mechanism is disposed in the accommodating space between the first lifting skeleton and the second lifting skeleton.

[0014] The lifting drive unit includes two symmetrically arranged sets, one set connected to the first lifting skeleton and the other set connected to the second lifting skeleton.

[0015] Optionally, in the robot described above, the torso assembly is connected to the first lifting mechanism via a second rotating module, the fixed end of the second rotating module is connected to the first lifting mechanism, and the output end of the second rotating module is connected to the torso assembly.

[0016] Optionally, in the above-mentioned robot, the shoulder structure includes a shoulder fixed base, a shoulder linear module, a shoulder swing mechanism, and a shoulder rotation module. The shoulder fixed base is connected to the torso assembly. The first end of the shoulder linear module is rotatably connected to the shoulder fixed base. The second end of the shoulder linear module is connected to the input end of the shoulder swing mechanism. The output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module. The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module into the swing of the shoulder rotation module around a first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module.

[0017] The arm structure is connected to the output end of the shoulder rotation module.

[0018] Optionally, in the robot described above, the shoulder structure includes at least two sets of shoulder linear modules, the rotation axes of the first ends of each shoulder linear module are collinear, and the rotation axes of the second ends of each shoulder linear module are parallel.

[0019] Optionally, in the above-described robot, the shoulder swing mechanism is a shoulder linkage mechanism, which is rotatably connected to the shoulder mounting base and also connected to the outer shell of the shoulder rotation module. The shoulder mounting base and the shoulder linkage mechanism form a four-bar linkage mechanism for the upper arm, and the shoulder linkage mechanism is correspondingly arranged with the shoulder linear module; or,

[0020] The shoulder rotation mechanism is a cross-axis mechanism, which includes a first axis and a second axis. The first axis and the second axis are perpendicular to each other. The first end of the first axis is rotatably connected to the shoulder fixing seat, and the second end of the first axis is rotatably connected to the shoulder rotation module. The second ends of each shoulder linear module are rotatably connected to both ends of the second axis, and the shoulder rotation module is rotatably connected to the second axis.

[0021] Optionally, in the above-mentioned robot, the shoulder fixation base includes a first shoulder fixation base and a second shoulder fixation base arranged at intervals, the first shoulder fixation base being connected to the thoracic support of the torso assembly, and the second shoulder fixation base being connected to the thoracic base of the torso assembly.

[0022] The first end of the shoulder linear module is rotatably connected to the first shoulder fixing seat;

[0023] The shoulder linkage mechanism is rotatably connected to the second shoulder fixing seat; or, the first end of the first shaft is rotatably connected to the second shoulder fixing seat.

[0024] Optionally, in the above-mentioned robot, the arm structure includes a large arm structure, which includes a large arm frame, a large arm linear module, a large arm mounting base, and a large arm linkage mechanism. The large arm mounting base is connected to the output shaft of the shoulder rotation module. The first end of the large arm frame is rotatably connected to the large arm mounting base. The large arm linkage mechanism is rotatably connected to the large arm mounting base. The first end of the large arm linear module is rotatably connected to the second end of the large arm frame. The second end of the large arm linear module is rotatably connected to the large arm linkage mechanism. The large arm linkage mechanism, the large arm frame, and the large arm mounting base form a large arm four-bar linkage mechanism.

[0025] Optionally, in the above-mentioned robot, the arm structure includes a forearm structure, which includes a forearm skeleton, a forearm linear module, a forearm linkage mechanism, a forearm adapter, and a forearm rotation module. The forearm adapter is connected to the upper arm skeleton and the forearm rotation module respectively. The first end of the forearm linear module is rotatably connected to the first end of the upper arm skeleton. The forearm linkage mechanism is rotatably connected to the forearm adapter. The second end of the forearm linear module is rotatably connected to the forearm linkage mechanism. The output end of the forearm rotation module is connected to the forearm skeleton.

[0026] The upper arm frame, the forearm linkage mechanism, and the forearm adapter form a four-bar linkage mechanism for the forearm.

[0027] Optionally, in the above-mentioned robot, the arm structure includes a wrist structure, which includes a wrist support, a multi-directional swinging component, and a wrist drive mechanism. The wrist support is movably disposed at the first end of the forearm structure via the multi-directional swinging component, and the wrist drive mechanism is disposed between the second end of the forearm structure and the wrist support to drive the wrist support to swing relative to the first end of the forearm structure in at least two directions.

[0028] Optionally, in the above robot, the multi-directional swing component is a wrist cross axis, which includes a third axis and a fourth axis. The third axis and the fourth axis are perpendicular. The forearm skeleton and the wrist support are rotatably connected to the fourth axis, and their rotation axes are perpendicular. The wrist support is rotatably connected to the third axis.

[0029] The wrist drive mechanism includes at least two wrist linear modules. The axes of each wrist linear module are parallel. The first end of each wrist linear module is rotatably connected to the second end of the forearm skeleton. The second end of each wrist linear module is rotatably connected to both ends of a third axis. The rotation axes of the first ends of each wrist linear module are collinear. The rotation axes of the two ends of each wrist linear module are perpendicular to each other. The rotation axes of the second ends of each wrist linear module are parallel.

[0030] Optionally, in the robot described above, the wheel-foot assembly includes a mobile chassis, a torso rotation module, and a fixed base. The torso rotation module is mounted on the mobile chassis, and the third lifting mechanism and the torso rotation module are respectively connected to the fixed base.

[0031] Optionally, in the robot described above, the fixed base is provided with a linear motion component, which can drive the torso component to translate relative to the moving chassis.

[0032] Optionally, in the robot described above, the linear motion component includes a linear guide, a lead screw, and a third rotation module. The linear guide is mounted on a fixed base, the lead screw is rotatably mounted on the fixed base, the lifting mounting seat of the lifting component is threadedly engaged with the lead screw and slidably engaged with the linear guide, and the third rotation module is mounted on the fixed base and is connected to the lead screw via a transmission to drive the lead screw to rotate.

[0033] Optionally, in the robot described above, a first head rotation module and a second head rotation module are provided between the head assembly and the torso assembly. The second head rotation module is connected to the torso assembly, the fixed end of the first head rotation module is connected to the output end of the second head rotation module, and the head assembly is connected to the output end of the first head rotation module.

[0034] Optionally, in the above-mentioned robot, the robot includes an image capturing unit, an attitude measurement unit, a control unit, and a power supply unit. The image capturing unit includes a first camera disposed on the head assembly and a second camera disposed on the torso assembly. Both the first camera and the second camera are connected to the control unit. Both the control unit and the power supply unit are disposed on the torso assembly. The attitude measurement unit includes an attitude measuring element disposed on the torso assembly. And / or, the torso assembly is provided with an emergency stop switch.

[0035] As can be seen from the above scheme, the robot disclosed in this application adds a planetary reducer to the output end of the rotation module of the lifting mechanism of the lifting component. While increasing the output torque, the planetary reducer bears the overturning moment, which can reduce the situation where the lifting mechanism is not strong enough due to the low overturning moment of the standard harmonic reducer. This reduces the robot's overturning risk and improves the robot's load-bearing capacity. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the overall structure of the robot in its lowest position as disclosed in the embodiments of this application. Figure 1 ;

[0038] Figure 2 This is a left view of the robot in its lowest position as disclosed in the embodiments of this application;

[0039] Figure 3 This is a schematic diagram of the overall structure of the robot in its lowest position as disclosed in the embodiments of this application. Figure 2 ;

[0040] Figure 4 This is a schematic diagram of the overall structure of the robot in its highest position as disclosed in the embodiments of this application;

[0041] Figure 5 This is a left view of the robot in its highest position as disclosed in the embodiments of this application;

[0042] Figure 6 This is a schematic diagram of the upper body of the robot disclosed in an embodiment of this application;

[0043] Figure 7 This is a schematic diagram of the head assembly and torso assembly of the robot disclosed in the embodiments of this application;

[0044] Figure 8 This is a schematic diagram of the shoulder and arm structures of the robot disclosed in the embodiments of this application. Figure 1 ;

[0045] Figure 9 This is a schematic diagram of the shoulder and arm structures of the robot disclosed in the embodiments of this application. Figure 2 ;

[0046] Figure 10 This is a partial schematic diagram of the shoulder structure of the robot disclosed in an embodiment of this application;

[0047] Figure 11 This is a partial schematic diagram of the robot arm structure disclosed in an embodiment of this application;

[0048] Figure 12 This is a schematic diagram of the lower body structure of the robot disclosed in the embodiments of this application. Figure 1 ;

[0049] Figure 13 This is a schematic diagram of the structure of the lifting assembly of the robot disclosed in the embodiments of this application. Figure 1 ;

[0050] Figure 14 This is a schematic diagram of the structure of the lifting assembly of the robot disclosed in the embodiments of this application. Figure 2 ;

[0051] Figure 15 This is a schematic diagram of the structure of the lifting assembly of the robot disclosed in the embodiments of this application. Figure 3 ;

[0052] Figure 16 This is a schematic diagram of the linear motion component and wheel-foot component of the robot disclosed in the embodiments of this application. Figure 1 ;

[0053] Figure 17 This is a schematic diagram of the linear motion component and wheel-foot component of the robot disclosed in the embodiments of this application. Figure 2 ;

[0054] Figure 18 This is a schematic diagram of the linear motion component and wheel-foot component of the robot disclosed in the embodiments of this application. Figure 3 .

[0055] Illustration:

[0056] 1-Head assembly, 2-Tortoise assembly, 3-Left arm assembly, 4-Right arm assembly, 5-Lifting assembly, 6-Linear motion assembly, 7-Wheel-foot assembly;

[0057] 101-Head shell, 102-First camera, 103-First head rotating module, 104-Second head rotating module, 105-Head and neck fixing plate;

[0058] 201-Electrical components, 202-Display panel, 203-Second camera, 204-Attitude measurement element, 205-Thoracic base, 206-Thoracic support, 207-Power supply unit, 208-Emergency stop switch;

[0059] 301-Shoulder linear module, 302-Shoulder rotation module, 303-Upper arm linear module, 304-Forearm linear module, 305-Forearm rotation module, 306-Wrist linear module, 307-Upper arm mounting base, 308-First shoulder fixing base, 309-Second shoulder fixing base, 310-Upper arm frame, 311-Forearm adapter, 312-Forearm frame, 313-Multi-directional swing component, 3 131-Third axis, 3132-Fourth axis, 314-Wrist support, 315-Shoulder linkage structure, 3151-First link, 3152-Second link, 3153-Third link, 31531-Annular fixing part, 316-Upper arm linkage mechanism, 3161-Fourth link, 3162-Fifth link, 317-Forearm linkage mechanism, 3171-Sixth link, 3172-Seventh link;

[0060] 501-Second rotating module, 502-First rotating module, 503-Fifth rotating module, 504-Fourth rotating module, 505-First planetary reducer, 506-Third planetary reducer, 507-Second planetary reducer, 508-Thoracic cavity adapter, 509-Thoracic cavity support, 510-First lifting skeleton, 511-Third lifting skeleton, 512-Fifth lifting skeleton, 513-Sixth lifting skeleton, 514-Fourth lifting skeleton, 515-Second lifting skeleton, 516-Tensioning mechanism, 517-Second belt drive mechanism, 518-Third belt drive mechanism, 519-First belt drive mechanism, 520-Second lifting connecting plate, 521-Third lifting connecting plate, 522-Lifting skeleton connecting plate, 523-First lifting connecting plate;

[0061] 601-Coupling, 602-Third rotating module, 603-Lead screw, 604-Linear guide, 605-Slider, 606-First lifting mounting plate, 607-Second lifting mounting plate, 608-Connecting seat, 609-First bearing seat, 610-Third bearing seat, 611-Second bearing seat;

[0062] 701-Mobile chassis, 702-Tortoise rotation module, 703-Fixed base. Detailed Implementation

[0063] In addition to the problems mentioned in the background section, existing robots also have the following problems:

[0064] Existing robotic arms mainly use fully rotating modules, or linear modules for the wrist and forearm and rotating modules for the shoulder. The shoulder of the robotic arm not only has to bear the weight of the items being moved, but also the weight of the robotic arm itself. This results in the single-arm horizontal load capacity of humanoid robots being less than 15kg, which is significantly different from the load capacity of a human arm and cannot meet the heavy-load work requirements of humanoid robots.

[0065] The core of this application is to disclose a robot that improves the robot's load capacity.

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] like Figures 1-4 As shown in the figure, this application discloses a robot, including a head assembly 1, a torso assembly 2, a left arm assembly 3, a right arm assembly 4, and a wheel-foot assembly 7. The head assembly 1, torso assembly 2, left arm assembly 3, and right arm assembly 4 constitute the upper body of the robot, and the wheel-foot assembly 7 constitutes the lower body of the robot.

[0068] The head assembly 1 is disposed on the torso assembly 2. Specifically, the head assembly 1 includes a head shell 101, which is capable of pitching and rotating relative to the torso assembly 2. The left arm assembly 3 is movably disposed on one side of the torso assembly 2. The left arm assembly 3 includes a shoulder structure and an arm structure. The shoulder structure is configured to allow the arm structure to pitch and rotate relative to the torso assembly 2. The right arm assembly 4 is movably disposed on the other side of the torso assembly 2, and the right arm assembly 4 is symmetrically arranged with the left arm assembly 3. The torso assembly 2 is movably disposed on the wheel-foot assembly 7. Specifically, the torso assembly 2 is capable of lifting, translating, and rotating relative to the wheel-foot assembly 7.

[0069] like Figure 5 As shown, a lifting assembly 5 is provided between the torso assembly 2 and the wheel and foot assembly 7. The lifting assembly 5 includes at least one lifting mechanism, which includes a lifting frame and a lifting drive unit. The lifting frame is connected to the torso assembly 2 and is rotatably mounted on the wheel and foot assembly 7. The lifting drive unit includes a first rotating module 502, a transmission mechanism, and a first planetary reducer 505. The first rotating module 502 is connected to the input end of the first planetary reducer 505 through the transmission mechanism, and the output end of the first planetary reducer 505 is connected to the lifting frame. The rotation axis of the lifting frame relative to the wheel and foot assembly 7 is collinear with the central axis of the first planetary reducer 505.

[0070] Let's take setting up a lifting mechanism as an example for a detailed explanation, such as... Figures 13-15As shown, the lifting frame includes a first lifting skeleton 510 and a second lifting skeleton 515 arranged opposite to each other, forming a receiving space between the first lifting skeleton 510 and the second lifting skeleton 515 to accommodate the lifting drive unit. The torso assembly 2 is connected to the lifting mechanism through a thoracic support member 509. Specifically, the two end faces of the thoracic support member 509 are connected to the first lifting skeleton 510 and the second lifting skeleton 515, respectively. A first lifting connecting plate 523 is installed on the middle two sides of the thoracic support member 509. The first rotating module 502 includes two symmetrically arranged sets, which are respectively connected and fixed to the first lifting connecting plate 523. The transmission mechanism and the first planetary reducer 505 each include two corresponding sets. The central axes of the two first planetary reducers 505 are collinear. Each first rotating module 502 is connected to the input end of the corresponding first planetary reducer 505 through the corresponding transmission mechanism. The output end of one first planetary reducer 505 is connected to the first lifting skeleton 510, and the output end of the other first planetary reducer 505 is connected to the second lifting skeleton 515.

[0071] The transmission mechanism can be selected from belt drive, coupling, gear drive, etc. The following explanation uses a belt drive as an example. Figure 14 As shown, taking one of the first rotating modules 502 as an example, the first rotating module 502 is connected to the input end of the first planetary reducer 505 via a first belt drive mechanism 519. Specifically, a drive pulley is installed on the output shaft of the first rotating module 502, and a driven pulley is installed on the input end of the first planetary reducer 505. The drive pulley and the driven pulley are connected by a belt. The rotation of the first rotating module 502 drives the input end of the first planetary reducer 505 to rotate, thereby driving the first lifting skeleton 510 to rotate around the central axis of the first planetary reducer 505. This allows the torso assembly 2 to rotate relative to the wheel and foot assembly 7. By changing the direction of rotation of the first rotating module 502, the torso assembly 2 can be raised and lowered relative to the wheel and foot assembly 7.

[0072] It should be noted that, in the embodiments of this application, the rotating modules involved include, but are not limited to, brushless DC motors, stepper motors, servo motors, and harmonic gear motors; the linear modules include, but are not limited to, piston cylinders and linear electric cylinders; the input end of the planetary reducer is preferably a sun gear, the output end of the planetary reducer is preferably a planetary support, and the fixed end of the planetary reducer is preferably a gear ring.

[0073] The robot disclosed in this application has a planetary reducer added to the output end of the rotation module of the lifting mechanism of the lifting component 5. This increases the output torque while the planetary reducer bears the overturning torque, which can reduce the situation where the lifting mechanism is not strong enough due to the low overturning torque of the standard harmonic reducer. This reduces the robot's overturning risk and improves the robot's load-bearing capacity.

[0074] Furthermore, to further reduce the robot's risk of tipping over, in some specific embodiments, such as Figures 13-15 As shown, the lifting assembly 5 includes a first lifting mechanism, a second lifting mechanism and a third lifting mechanism. The torso assembly 2 is connected to the lifting frame of the first lifting mechanism. The lifting frame of the second lifting mechanism is rotatably connected to the lifting frames of the first lifting mechanism and the third lifting mechanism, respectively. The lifting frame of the third lifting mechanism is rotatably mounted on the wheel assembly 7.

[0075] Specifically, such as Figure 14 and Figure 15 As shown, the lifting frame of the second lifting mechanism includes a third lifting skeleton 511 and a fourth lifting skeleton 514 arranged opposite to each other. The lifting frame of the third lifting mechanism includes a fifth lifting skeleton 512 and a sixth lifting skeleton 513 arranged opposite to each other. The two ends of the third lifting skeleton 511 are rotatably connected to the two ends of the first lifting skeleton 510 and the fifth lifting skeleton 512, respectively. The two ends of the fourth lifting skeleton 514 are rotatably connected to the second lifting skeleton 515 and the sixth lifting skeleton 513, respectively. Furthermore, the rotation center of the third lifting skeleton 511 at the fifth lifting skeleton 512 and the rotation center of the fourth lifting skeleton 514 at the sixth lifting skeleton 513 are collinear. Specifically, as shown... Figure 12 and Figure 16 As shown, the wheel assembly 7 is provided with a lifting mounting seat. The lifting mounting seat includes a first lifting mounting plate 606 and a second lifting mounting plate 607 arranged opposite to each other. The first lifting mounting plate 606 and the second lifting mounting plate 607 are connected by a connecting seat 608. The fifth lifting skeleton 512 and the sixth lifting skeleton 513 are rotatably connected to the first lifting mounting plate 606 and the second lifting mounting plate 607 respectively, and the rotation axes of the two are collinear.

[0076] like Figure 14 and Figure 15 As shown, a lifting frame connecting plate 522 is provided between the fifth lifting frame 512 and the sixth lifting frame 513. The lifting frame connecting plate 522 can be detachably connected to the fifth lifting frame 512 and the sixth lifting frame 513 or non-detachably connected. The detachable connection can be made by bolts or snap-fit ​​connections, while the non-detachable connection can be made by welding. The specific connection method is not specifically limited. A second lifting connecting plate 520 and a third lifting connecting plate 521 are installed on the lifting frame connecting plate 522. The second lifting connecting plate 520 and the third lifting connecting plate 521 can be an integral structure or a separate structure, and are connected and fixed by bolts, snap-fit ​​connections or other methods.

[0077] The lifting drive unit of the second lifting mechanism is disposed in the accommodating space between the fifth lifting skeleton 512 and the sixth lifting skeleton 513, and includes a fourth rotating module 504 arranged symmetrically on both sides, a second belt drive mechanism 517 and a second planetary reducer 507 corresponding to the fourth rotating module 504. The fourth rotating module 504 is respectively installed on the second lifting connecting plate 520 and the third lifting connecting plate 521. The output end of the fourth rotating module 504 is connected to the input end of the second planetary reducer 507 through the second belt drive mechanism 517. The output end of one of the second planetary reducers 507 is connected to the third lifting skeleton 511 and the fixed end is connected to the fifth lifting skeleton 512; the output end of the other second planetary reducer 507 is connected to the fourth lifting skeleton 514 and the fixed end is connected to the sixth lifting skeleton 513.

[0078] Taking one of the fourth rotating modules 504 as an example, when the output end of the fourth rotating module 504 rotates, it is slowed down by the second planetary reducer 507 through the second belt drive mechanism 517, causing the output end of the second planetary reducer 507 (i.e., the third lifting bone 511) to rotate around the central axis of the second planetary reducer 507. The rotation of the other fourth rotating module 504 causes the fourth lifting bone 514 to rotate around the central axis of the second planetary reducer 507. By changing the rotation direction of the fourth rotating module 504, the lifting of the second lifting mechanism can be achieved. It should be noted that the rotation center of the third lifting bone 511 at the fifth lifting bone 512 is collinear with the central axis of the second planetary reducer 507, and the rotation center of the fourth lifting bone 514 at the sixth lifting bone 513 is collinear with the central axis of the second planetary reducer 507.

[0079] It should be noted that the fourth rotating module 504, the second belt drive mechanism 517 and the second planetary reducer 507 corresponding to the fourth rotating module 504 can each be provided as a single set. Providing two sets of the fourth rotating module 504 can quickly adjust their respective output torque, resist deformation, and improve the robot's anti-interference ability.

[0080] like Figure 14As shown, the lifting drive unit of the third lifting mechanism includes a fifth rotating module 503 arranged symmetrically on the left and right, a third belt drive mechanism 518 and a third planetary reducer 506 corresponding to the fifth rotating module 503. The fifth rotating module 503 is installed on the second lifting connecting plate 520 and the third lifting connecting plate 521 respectively. The output end is connected to the input end of the third planetary reducer 506 through the third belt drive mechanism 518. The output end of one of the third planetary reducers 506 is connected to the fifth lifting skeleton 512, and the output end of the other third planetary reducer 506 is connected to the sixth lifting skeleton 513. Taking one of the fifth rotating modules 503 as an example, when the output shaft of the fifth rotating module 503 rotates, it is slowed down by the third planetary reducer 506 through the third belt drive mechanism 518, which drives the output end of the third planetary reducer 506 (i.e. the fifth lifting bone 512) to rotate around the central axis of the third planetary reducer 506. Another third planetary reducer 506 drives the sixth lifting bone 513 to rotate around the central axis of the third planetary reducer 506. By changing the direction of the fifth rotating module 503, the lifting of the third lifting mechanism can be realized. Figure 5 The diagram shown is a structural schematic of the robot at its highest position. Figure 1 The diagram shows the robot's structure at its lowest position. Figure 14 As shown, in order to maintain the belt tension in each belt drive mechanism, the lifting assembly 5 further includes a tensioning mechanism 516, which is connected to each belt drive mechanism.

[0081] Furthermore, in order to enable the torso assembly 2 to rotate relative to the wheel and foot assembly 7, in some specific embodiments, such as Figure 12 As shown, the torso assembly 2 is connected to the first lifting mechanism via a second rotating module 501. The fixed end of the second rotating module 501 is connected to the first lifting mechanism, and the output end of the second rotating module 501 is connected to the torso assembly 2. Specifically, a thoracic adapter 508 is provided at the bottom of the torso assembly 2, and the upper and lower bodies of the robot are connected via the thoracic adapter 508. The second rotating module 501 is mounted on the thoracic support 509, and the output end of the second rotating module 501 is connected to the thoracic adapter 508. The torso assembly 2 can rotate relative to the wheeled leg assembly 7, which improves the robot's flexibility.

[0082] like Figures 8-9As shown, in some specific embodiments, the shoulder structure includes a shoulder fixing seat, a shoulder linear module 301, a shoulder swing mechanism, and a shoulder rotation module 302. The shoulder fixing seat is connected to the torso assembly 2, specifically through bolts or snap-fit ​​connections. The first end of the shoulder linear module 301 is rotatably connected to the shoulder fixing seat, the second end of the shoulder linear module 301 is connected to the input end of the shoulder swing mechanism, and the output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module 302. The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module 301 into the swing of the shoulder rotation module 302 around a first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module 301. The arm structure is connected to the output end of the shoulder rotation module 302.

[0083] The robot provided in this application embodiment uses a combination of a shoulder linear module 301 and a shoulder swing mechanism to raise and lower the arm structure. The shoulder rotation module 302 drives the arm structure to rotate at a preset angle. It is understood that, compared with the rotation module, the shoulder linear module 301 can achieve a larger output torque by adjusting the effective lever arm without changing its own structural weight. Its torque-to-weight ratio is much greater than that of the rotation module of the same weight. Therefore, using it in the shoulder structure can improve the output load capacity at the maximum load lever arm of the robotic arm. At the same time, the shoulder rotation module 302 can retain the function of internal and external rotation of the arm structure, thereby achieving human-like high load capacity while ensuring motion flexibility.

[0084] One or more (two or more) shoulder line modules 301 can be used, such as Figures 8-9 As shown, to further improve the robot's load capacity, in some specific embodiments, the shoulder structure includes two sets of shoulder linear modules 301. The two sets of shoulder linear modules 301 operate synchronously, with the rotation axes of the first ends of each shoulder linear module 301 collinear and the rotation axes of the second ends of each shoulder linear module 301 parallel. The arrangement of the two sets of shoulder linear modules 301 enables a balance between the load capacity of the shoulder structure and its weight and volume, allowing the robot to move smoothly under maximum load.

[0085] Furthermore, in some specific embodiments, such as Figures 8-10As shown, the shoulder swing mechanism is a shoulder linkage mechanism 315. The shoulder linkage mechanism 315 is rotatably connected to the shoulder fixing seat and connected to the outer shell of the shoulder rotation module 302. The shoulder fixing seat and the shoulder linkage mechanism 315 form a four-bar linkage mechanism. A four-bar linkage is a widely used transmission mechanism in the mechanical field. A four-bar linkage generally consists of a fixed component, a crank, a rocker arm, and a connecting rod. One end of the crank and one end of the rocker arm are rotatably connected to the fixed component, and the ends of the crank and rocker arm away from the fixed component are rotatably connected to the connecting rod. The crank generally acts as the driving component connected to the drive unit, and the rocker arm acts as the driven component. In this application, the shoulder linkage mechanism 315 includes a first connecting rod 3151, a second connecting rod 3152, and a third connecting rod 3153. The first connecting rod 3151 and the third connecting rod 3153 are rotatably connected to the shoulder fixed base. Both ends of the second connecting rod 3152 are rotatably connected to the first connecting rod 3151 and the third connecting rod 3153, respectively. The first end of the shoulder linear module 301 is rotatably connected to the first connecting rod 3151, and the third connecting rod 3153 is connected to the outer shell of the shoulder rotating module 302. Specifically, the shoulder mounting base serves as a fixing component in the four-bar linkage structure, the first link 3151 acts as the crank of the four-bar linkage, the second link 3152 acts as the connecting rod of the four-bar linkage, and the third link 3153 acts as the rocker arm of the four-bar linkage. It should be noted that the second end of the shoulder linear module 301 can be connected to the handle of the crank (first link 3151) of the four-bar linkage or to the end where the crank and connecting rod of the four-bar linkage are rotatably connected, i.e., the end where the first link 3151 and the second link 3152 are rotatably connected.

[0086] When the shoulder linear module 301 extends or retracts, it can drive the crank (first link 3151) of the four-bar linkage to swing relative to the shoulder fixed seat. This, in turn, drives the rocker arm (third link 3153) of the four-bar linkage to swing relative to the shoulder fixed seat through the link (second link 3152) of the four-bar linkage, thereby driving the shoulder rotation module 302 to swing relative to the shoulder fixed seat, thus realizing the raising and lowering of the arm structure.

[0087] The combination of the above-mentioned four-bar linkage and the shoulder linear module 301 enables the robot's left arm assembly 3 and right arm assembly 4 to simulate the human shoulder driving the arm to swing laterally towards the human body.

[0088] like Figure 10As shown, to facilitate the fixing of the shoulder rotation module 302, the third connecting rod 3153 is provided with an annular fixing part 31531. The annular fixing part 31531 is sleeved on the outer shell of the shoulder rotation module 302, and the annular fixing part 31531 is connected to the outer shell of the shoulder rotation module 302 by threaded fasteners. The shape of the annular fixing part 31531 is adapted to the shape of the outer shell of the shoulder rotation module 302. In order to enhance the consistency of the assembled product and facilitate assembly, an installation guide mechanism with a concave-convex fit and asymmetrical arrangement along the circumference can be provided between the annular fixing part 31531 and the outer shell of the shoulder rotation module 302, so that the outer shell of the shoulder rotation module 302 can be installed on the annular fixing part 31531 in a predetermined posture.

[0089] It should be noted that the threaded fasteners can be bolts. Correspondingly, the outer shell of the shoulder rotation module 302 is provided with multiple threaded holes spaced apart circumferentially, and the annular fixing part 31531 is provided with multiple through holes spaced apart circumferentially. Bolts pass through the through holes and engage with the threaded holes to tighten them, fixing the outer shell of the shoulder rotation module 302 to the third connecting rod 3153. This connection method can reduce the connection links between the shoulder rotation module 302 and the shoulder connecting rod mechanism 315, improve the connection rigidity, and simplify the assembly process. The threaded fasteners can also be bolts and nuts, or include screws and nuts, without limitation.

[0090] In some specific embodiments, the shoulder rotation mechanism is a cross-axis mechanism, comprising a first axis and a second axis, which are perpendicular to each other. The first end of the first axis is rotatably connected to a shoulder fixing seat, and the second end of the first axis is rotatably connected to a shoulder rotation module 302. The rotation axis of the shoulder fixing seat on the first axis is perpendicular to the rotation axis of the shoulder rotation module 302 on the first axis. The second ends of each shoulder straight module 301 are rotatably connected to both ends of the second axis, and the shoulder rotation module 302 is rotatably connected to the second axis.

[0091] Taking two shoulder linear modules 301 as an example, when each shoulder linear module 301 extends and retracts synchronously, the extension and retraction distances are the same, which can drive the shoulder rotation module 302 to raise and lower. When the extension and retraction distances of the two shoulder linear modules 301 are different, the shoulder rotation module 302 can be driven to swing back and forth relative to the shoulder fixing seat. The above-mentioned shoulder linear module 301 combined with the cross shaft structure can realize the function of the left arm assembly 3 and the right arm assembly 4 simulating the human shoulder driving the arm to swing laterally and forward and backward in the human body.

[0092] In some specific embodiments, such as Figures 8-10As shown, the shoulder fixation base includes a first shoulder fixation base 308 and a second shoulder fixation base 309 spaced apart along the extension direction of the arm structure. The first shoulder fixation base 308 is connected to the thoracic support 206 of the torso assembly 2, and the second shoulder fixation base 309 is connected to the thoracic base 205 of the torso assembly 2. When the shoulder swing mechanism adopts a shoulder linkage mechanism 315, the first end of the shoulder linear module 301 is rotatably connected to the first shoulder fixation base 308, and the shoulder linkage mechanism 315 is rotatably connected to the second shoulder fixation base 309. Specifically, the first linkage 3151 is rotatably connected to the second shoulder fixation base 309. When the shoulder swing mechanism adopts a cross-axis mechanism, the first end of the shoulder linear module 301 is rotatably connected to the first shoulder fixation base 308, and the first end of the first shaft is rotatably connected to the second shoulder fixation base 309.

[0093] As shown in the figure, in some specific embodiments, such as Figures 8-11 As shown, the arm structure includes an upper arm structure, which includes an upper arm frame 310, an upper arm linear module 303, an upper arm mounting base 307, and an upper arm linkage mechanism 316. Specifically, the upper arm mounting base 307 is connected to the output shaft of the shoulder rotation module 302. The first end of the upper arm frame 310 is rotatably connected to the upper arm mounting base 307. The upper arm linkage mechanism 316 is rotatably connected to the upper arm mounting base 307. The first end of the upper arm linear module 303 is rotatably connected to the second end of the upper arm frame 310. The second end of the upper arm linear module 303 is rotatably connected to the upper arm linkage mechanism 316. The upper arm linear module 303 can drive the second end of the upper arm frame 310 to rotate relative to the first end of the upper arm frame 310 around a second axis. The second axis is perpendicular to the extension and retraction direction of the upper arm linear module 303 and is also perpendicular to the output shaft of the shoulder rotation module 302.

[0094] like Figure 11 As shown, the boom linkage mechanism 316 includes a fourth link 3161 and a fifth link 3162. The first end of the fourth link 3161 is rotatably connected to the boom frame 310, the second end of the fourth link 3161 is rotatably connected to the first end of the fifth link 3162, and the second end of the fifth link 3162 is rotatably connected to the boom mounting base 307. The boom frame 310, the boom mounting base 307, and the boom linkage mechanism 316 form a four-bar linkage. The boom frame 310 serves as the fixed component in the four-bar linkage, the boom mounting base 307 serves as the rocker arm, the fourth link 3161 serves as the crank, and the fifth link 3162 serves as the connecting rod. Figure 9As shown, in some specific embodiments, there are two boom frames 310, which are arranged at intervals, so that a space is formed between the two boom frames 310 to accommodate the boom linear module 303 and other components of the boom linkage mechanism 316, as well as the forearm linear module 304 and other components of the forearm linkage mechanism 317 described below. This not only plays a protective role, but also improves the boom structure's ability to resist lateral loads.

[0095] When the upper arm linear module 303 extends or retracts, the second end of the upper arm frame 310 rotates relative to the first end of the upper arm frame 310 around the second axis through the upper arm linkage mechanism 316, that is, the upper arm structure is raised and lowered relative to the shoulder structure.

[0096] like Figures 8-9 , Figure 11 As shown, in some specific embodiments, the arm structure includes a forearm structure, which includes a forearm frame 312, a forearm linear module 304, a forearm linkage mechanism 317, a forearm adapter 311, and a forearm rotation module 305. The forearm adapter 311 is rotatably connected to the upper arm frame 310 and to the outer shell of the forearm rotation module 305. The first end of the forearm linear module 304 is rotatably connected to the first end of the upper arm frame 310, the forearm linkage mechanism 317 is rotatably connected to the forearm adapter 311, the second end of the forearm linear module 304 is rotatably connected to the forearm linkage mechanism 317, and the output end of the forearm rotation module 305 is connected to the forearm frame 312.

[0097] The forearm linear module 304 is used to drive the first end of the forearm frame 312 to rotate relative to the second end of the upper arm structure around a third axis, the third axis being parallel to the second axis. The forearm rotation module 305 is used to drive the second end of the forearm structure to rotate relative to the first end of the forearm structure around a fourth axis, the fourth axis being perpendicular to the third axis.

[0098] The forearm structure is similar to the upper arm structure, also employing a four-bar linkage scheme formed by the combination of linear modules and forearm linkage mechanism 317. For example... Figure 11 As shown, the forearm linkage mechanism 317 includes a sixth link 3171 and a seventh link 3172. The upper arm frame 310 serves as a fixing component of the forearm four-bar linkage mechanism. The sixth link 3171 is rotatably connected to the upper arm frame 310 and serves as the crank of the forearm four-bar linkage mechanism. The second end of the forearm linear module 304 is rotatably connected to the sixth link 3171. The seventh link 3172 is rotatably connected to the sixth link 3171 and the forearm adapter 311, respectively. The forearm adapter 311 is used to install the forearm structure to the second end of the upper arm frame 310 and serves as the rocker arm of the four-bar linkage mechanism.

[0099] The crank (sixth link 3171) and rocker arm (forearm adapter 311) of the forearm four-bar linkage are rotatably connected to the boom frame 310 and are located at the end of the boom frame 310 away from the crank (fourth link 3161) and rocker arm (boom mount 307) of the boom four-bar linkage.

[0100] When the forearm linear module 304 extends or retracts, it drives the sixth link 3171 to rotate relative to the upper arm frame 310. The sixth link 3171, through the seventh link 3172, drives the forearm adapter 311 to rotate relative to the upper arm frame 310, thereby enabling the first end of the forearm structure to rotate around the third axis relative to the second end of the upper arm structure, that is, the forearm structure to raise and lower relative to the upper arm structure. When the forearm rotation module 305 rotates, the forearm frame 312 can rotate ±180° relative to the forearm adapter 311, realizing the torsion of the forearm structure relative to the upper arm structure.

[0101] like Figures 8-9 As shown, in addition to the upper arm and forearm structures, the arm assembly also includes a wrist structure. The wrist structure comprises a wrist support 314, a multi-directional swing member 313, and a wrist drive mechanism. The wrist support 314 can be fitted with a dexterous hand, gripper, suction cup, etc., to perform various functions simulating a human hand. The wrist support 314 is movably mounted on the first end of the forearm structure via the multi-directional swing member 313. The rocker arm (forearm adapter 311) of the forearm four-bar linkage serves as the second end of the forearm structure. The wrist drive mechanism is located between the second end of the forearm structure and the wrist support 314 to drive the wrist support 314 to swing relative to the first end of the forearm structure in at least two directions.

[0102] like Figures 8-9 As shown, in some specific embodiments, the multi-directional swivel component 313 is a wrist cross axis. The multi-directional swivel component 313 includes a third axis 3131 and a fourth axis 3132. The third axis 3131 and the fourth axis 3132 are perpendicular and may intersect or not. The forearm frame 312 and the wrist support 314 are rotatably connected to the fourth axis 3132, and their rotation axes are perpendicular. Specifically, the rotation axis of the wrist support 314 around the fourth axis 3132 is the third axis, which is parallel to the axis of the third axis 3131. The rotation axis of the forearm frame 312 around the fourth axis 3132 is the fourth axis, which is vertical and perpendicular to the axis of the third axis 3131. The wrist support 314 and the third axis 3131 are rotatably connected, and the rotation axis of the wrist support 314 around the third axis 3131 is parallel to the axis of the third axis 3131.

[0103] The wrist drive mechanism includes at least two wrist linear modules 306. The axes of each wrist linear module 306 are parallel. The first end of each wrist linear module 306 is rotatably connected to the second end of the forearm skeleton 312. The second end of each wrist linear module 306 is rotatably connected to both ends of the third shaft 3131. The rotation axes of the first ends of each wrist linear module 306 are collinear. The rotation axes of both ends of each wrist linear module 306 are perpendicular to each other. The rotation axes of the second ends of each wrist linear module 306 are parallel.

[0104] from Figure 8 and Figure 9 As can be seen, the wrist drive mechanism includes two wrist linear modules 306, which are symmetrically arranged about the forearm frame 312. The forearm frame 312 adopts an integrated structural design to improve its resistance to lateral loads. The forearm frame 312 has a hollow structure to accommodate the two wrist linear modules 306. When the two wrist linear modules 306 extend and retract synchronously, each wrist linear module 306 drives the wrist support 314 to rotate around the third axis via the third axis 3131, thereby raising and lowering the wrist structure.

[0105] When the extension distances of the two wrist linear modules 306 are different, each wrist linear module 306 drives the wrist support 314 to rotate around the fourth axis via the third axis 3131, realizing the lateral swing of the wrist structure and simulating the multi-directional swinging motion of the human wrist. The combination of the above-mentioned wrist linear module 306 and the multi-directional swinging component 313 can realize the function of the left arm assembly 3 and the right arm assembly 4 simulating the human wrist driving the hand to swing in multiple directions.

[0106] Furthermore, such as Figure 18 As shown, the wheel-foot assembly 7 includes a mobile chassis 701, a torso rotation module 702, and a fixed base 703. The torso rotation module 702 is mounted on the mobile chassis 701. The third lifting mechanism and the torso rotation module 702 are respectively connected to the fixed base 703. The output end of the torso rotation module 702 is connected to the fixed base 703 to drive the fixed base 703 to rotate relative to the mobile chassis 701, thereby increasing the robot's flexibility. The mobile chassis 701 is equipped with wheels, the number of which includes, but is not limited to, two, and can also be four, depending on actual needs.

[0107] In some specific embodiments, in order to increase the robot's range of motion and make it applicable to more application scenarios, such as Figure 12 , Figure 16 and Figure 17As shown, the fixed base 703 is equipped with a linear motion component 6, which can drive the torso component 2 to translate relative to the movable chassis 701. Specifically, the linear motion component 6 can be a lead screw and nut mechanism, a linear motion module such as a cylinder, or a gear and rack mechanism, as long as it can realize the translation of the torso component 2 relative to the movable chassis 701.

[0108] Specifically, such as Figures 16-17 As shown, in a specific embodiment of this application, the linear motion component 6 includes a linear guide rail 604, a lead screw 603, and a third rotation module 602. The linear guide rail 604 is disposed on a fixed base 703, and the lead screw 603 is rotatably disposed on the fixed base 703. Specifically, the fixed base 703 is provided with a first bearing seat 609 and a second bearing seat 611. The two ends of the lead screw 603 are rotatably engaged with the first bearing seat 609 and the second bearing seat 611, respectively. The lifting mounting seat is threadedly engaged with the lead screw 603 and slidably engaged with the linear guide rail 604. Specifically, the connecting seat 608 of the lifting mounting seat is threadedly engaged with the lead screw 603, and the axial direction of the linear guide rail 604 is parallel to the axial direction of the lead screw 603. Specifically, the lifting mounting seat of the lifting mechanism is slidably engaged with the linear guide rail 604 through a slider 605. Two sliders 605 are provided at the bottom of the first lifting mounting plate 606 and the second lifting mounting plate 607 shown in the figure. The linear guide rail 604 serves a guiding function. The third rotating module 602 is fixed to the third bearing seat 610 mounted on the fixed base 703 and is connected to the lead screw 603 via a coupling 601 to drive the lead screw 603 to rotate. The rotation of the third rotating module 602 drives the lead screw 603 to rotate, thereby causing the lifting mounting base to move along the axis of the lead screw 603, so as to realize the forward and backward movement of the upper body of the robot relative to the wheel and foot assembly 7.

[0109] Furthermore, such as Figure 1 and Figure 2 As shown, in some specific embodiments, a first head rotation module 103 and a second head rotation module 104 are provided between the head assembly 1 and the torso assembly 2. The second head rotation module 104 is connected to the torso assembly 2, and the fixed end of the first head rotation module 103 is connected to the output end of the second head rotation module 104. The head assembly 1 is connected to the output end of the first head rotation module 103. The first head rotation module 103 can drive the head assembly 1 to rotate left and right, and the second head rotation module 104 can drive the head assembly 1 to perform head-down and head-up movements.

[0110] Furthermore, in some specific embodiments, such as Figure 6 and Figure 7As shown, the torso assembly 2 includes a thoracic support 206 and a thoracic base 205, which are connected. The head assembly 1 is connected to the thoracic support 206 via a head and neck fixing plate 105. The second head rotation module 104 is disposed on the head and neck fixing plate 105.

[0111] In some specific embodiments, the robot includes an image capturing unit, a posture measurement unit, a control unit, and a power supply unit 207, such as... Figure 7 As shown, the image capturing unit includes a first camera 102 mounted on the head assembly 1 and a second camera 203 mounted on the torso assembly 2. The second camera 203 is specifically mounted on the thoracic support 206. Both the first camera 102 and the second camera 203 are connected to the control unit, and are preferably depth cameras. The control unit and the power supply unit 207 are both mounted on the torso assembly 2, with the power supply unit 207 providing power for the robot's movements. The control unit includes an electrical component 201 and a display panel 202, both mounted on the thoracic support 206, and the display panel 202 is electrically connected to the electrical component 201. The first camera 102 moves with the head assembly 1, and the second camera 203 is used to detect and identify information such as the depth of the environment below the robot's waist.

[0112] The attitude measurement unit includes an attitude measurement element 204 disposed on the torso component 2. The attitude measurement element 204 is preferably a gyroscope, and is preferably disposed at the center of the thoracic base 205. It is used to monitor the angular velocity and attitude angle of the torso component 2 in real time, thereby realizing the robot's balance, steering, and motion control. The torso component 2 is provided with an emergency stop switch 208, which is used to shut down the robot in an emergency to ensure the safety of the robot body, the surrounding environment, and personnel.

[0113] In summary, the robot provided in this application achieves the up-and-down movement of the robot's upper body through a lifting mechanism, and achieves the forward and backward linear movement of the robot's upper body through a linear motion component 6. Through the individual or coordinated execution of the above components, the robot can perform human-like actions such as overall movement, short-distance linear movement at the workstation, lifting, and transportation, and can realize functions such as mapping, path inspection, and transportation.

[0114] The lifting mechanism incorporates a reducer, which increases output torque while simultaneously bearing the overturning moment. This reduces the low overturning moment of standard harmonic reducers, which can lead to insufficient load-bearing capacity in the lifting mechanism, thus lowering the robot's overturning risk and improving its load-bearing capacity. The shoulder, upper arm, forearm, and wrist structures are all powered by linear modules. Furthermore, the shoulder, upper arm, and forearm structures utilize four-bar linkages to transmit power, maximizing output torque while maintaining a wide range of motion. This enhances the overall load capacity of the left arm assembly 3 and the right arm assembly 4. Tests have shown that the robot provided in this embodiment can lift an 80kg dumbbell with both arms, similar to the human body's load capacity, exceeding the approximately 30kg load capacity of existing robots using rotary modules as their main joints.

[0115] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0116] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0117] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0118] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A robot, characterized in that, include: Header component (1); A torso assembly (2), wherein the head assembly (1) is disposed on the torso assembly (2), and the head assembly (1) is capable of pitching and rotating relative to the torso assembly (2); A left arm assembly (3) is movably disposed on one side of the torso assembly (2). The left arm assembly (3) includes a shoulder structure and an arm structure. The shoulder structure is configured to allow the arm structure to pitch and rotate relative to the torso assembly (2). The right arm assembly (4) is movably disposed on the other side of the torso assembly (2), and the right arm assembly (4) is symmetrically arranged with the left arm assembly (3); The torso assembly (2) is movably disposed on the wheel and foot assembly (7); a lifting assembly (5) is disposed between the torso assembly (2) and the wheel and foot assembly (7). The lifting assembly (5) includes at least one lifting mechanism. The lifting mechanism includes a lifting frame and a lifting drive unit. The lifting frame is connected to the torso assembly (2) and is rotatably disposed on the wheel and foot assembly (7). The lifting drive unit includes a first rotating module (502), a transmission mechanism and a first planetary reducer (505). The first rotating module (502) is connected to the input end of the first planetary reducer (505) through the transmission mechanism. The output end of the first planetary reducer (505) is connected to the lifting frame.

2. The robot as described in claim 1, characterized in that, The lifting assembly (5) includes a first lifting mechanism, a second lifting mechanism and a third lifting mechanism. The torso assembly (2) is connected to the lifting frame of the first lifting mechanism. The lifting frame of the second lifting mechanism is rotatably connected to the lifting frame of the first lifting mechanism and the lifting frame of the third lifting mechanism, respectively. The lifting frame of the third lifting mechanism is rotatably disposed on the wheel assembly (7).

3. The robot as described in claim 2, characterized in that, The lifting frame of the first lifting mechanism includes a first lifting skeleton (510) and a second lifting skeleton (515) arranged opposite to each other. The torso component (2) is connected to the first lifting skeleton (510) and the second lifting skeleton (515) respectively through a thoracic support (509). The lifting drive unit of the first lifting mechanism is arranged in the accommodating space between the first lifting skeleton (510) and the second lifting skeleton (515). The lifting drive unit includes two symmetrically arranged sets, one set of which is connected to the first lifting skeleton (510), and the other set is connected to the second lifting skeleton (515).

4. The robot as described in claim 2, characterized in that, The torso assembly (2) is connected to the first lifting mechanism via a second rotating module (501). The fixed end of the second rotating module (501) is connected to the first lifting mechanism, and the output end of the second rotating module (501) is connected to the torso assembly (2).

5. The robot as described in claim 1, characterized in that, The shoulder structure includes a shoulder fixing seat, a shoulder linear module (301), a shoulder swing mechanism, and a shoulder rotation module (302). The shoulder fixing seat is connected to the torso assembly (2). The first end of the shoulder linear module (301) is rotatably connected to the shoulder fixing seat. The second end of the shoulder linear module (301) is connected to the input end of the shoulder swing mechanism. The output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module (302). The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module (301) into the swing of the shoulder rotation module (302) around a first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module (301). The arm structure is connected to the output end of the shoulder rotation module (302).

6. The robot as described in claim 5, characterized in that, The shoulder structure includes at least two sets of shoulder linear modules (301), the rotation axes of the first ends of each shoulder linear module (301) are collinear, and the rotation axes of the second ends of each shoulder linear module (301) are parallel.

7. The robot as described in claim 6, characterized in that, The shoulder swing mechanism is a shoulder linkage mechanism (315), which is rotatably connected to the shoulder fixing seat and connected to the outer shell of the shoulder rotation module (302). The shoulder fixing seat and the shoulder linkage mechanism (315) form a four-bar linkage mechanism for the upper arm. The shoulder linkage mechanism (315) is correspondingly arranged with the shoulder linear module (301); or, The shoulder rotation mechanism is a cross-axis mechanism, which includes a first axis and a second axis. The first axis and the second axis are perpendicular. The first end of the first axis is rotatably connected to the shoulder fixing seat, and the second end of the first axis is rotatably connected to the shoulder rotation module (302). The second ends of each shoulder straight module (301) are on both sides of the second axis and are rotatably connected to both ends of the second axis respectively. The shoulder rotation module (302) is rotatably connected to the second axis.

8. The robot as described in claim 7, characterized in that, The shoulder fixation base includes a first shoulder fixation base (308) and a second shoulder fixation base (309) arranged at intervals. The first shoulder fixation base (308) is connected to the thoracic support (206) of the trunk assembly (2), and the second shoulder fixation base (309) is connected to the thoracic base (205) of the trunk assembly (2). The first end of the shoulder straight module (301) is rotatably connected to the first shoulder fixing seat (308); The shoulder linkage mechanism (315) is rotatably connected to the second shoulder fixing seat (309); or, the first end of the first shaft is rotatably connected to the second shoulder fixing seat (309).

9. The robot as described in claim 5, characterized in that, The arm structure includes an upper arm structure, which includes an upper arm frame (310), an upper arm linear module (303), an upper arm mounting base (307), and an upper arm linkage mechanism (316). The upper arm mounting base (307) is connected to the output shaft of the shoulder rotation module (302). The first end of the upper arm frame (310) is rotatably connected to the upper arm mounting base (307). The upper arm linkage mechanism (316) is rotatably connected to the upper arm mounting base (307). The first end of the upper arm linear module (303) is rotatably connected to the second end of the upper arm frame (310). The second end of the upper arm linear module (303) is rotatably connected to the upper arm linkage mechanism (316). The upper arm linkage mechanism (316), the upper arm frame (310), and the upper arm mounting base (307) form a four-bar linkage mechanism for the upper arm.

10. The robot as described in claim 9, characterized in that, The arm structure includes a forearm structure, which includes a forearm skeleton (312), a forearm linear module (304), a forearm linkage mechanism (317), a forearm adapter (311), and a forearm rotation module (305). The forearm adapter (311) is connected to the upper arm skeleton (310) and the forearm rotation module (305) respectively. The first end of the forearm linear module (304) is rotatably connected to the first end of the upper arm skeleton (310). The forearm linkage mechanism (317) is rotatably connected to the forearm adapter (311). The second end of the forearm linear module (304) is rotatably connected to the forearm linkage mechanism (317). The output end of the forearm rotation module (305) is connected to the forearm skeleton (312). The upper arm frame (310), the forearm linkage mechanism (317), and the forearm adapter (311) form a four-bar linkage mechanism for the forearm.

11. The robot as claimed in claim 10, characterized in that, The arm structure includes a wrist structure, which includes a wrist support (314), a multi-directional swing member (313), and a wrist drive mechanism. The wrist support (314) is movably disposed at the first end of the forearm structure via the multi-directional swing member (313). The wrist drive mechanism is disposed between the second end of the forearm structure and the wrist support (314) to drive the wrist support (314) to swing relative to the first end of the forearm structure in at least two directions.

12. The robot as claimed in claim 11, characterized in that, The multi-directional swivel component (313) is a wrist cross axis. The multi-directional swivel component (313) includes a third axis (3131) and a fourth axis (3132). The third axis (3131) and the fourth axis (3132) are perpendicular. The forearm frame (312) and the wrist support (314) are rotatably connected to the fourth axis (3132), and their rotation axes are perpendicular. The wrist support (314) is rotatably connected to the third axis (3131). The wrist drive mechanism includes at least two wrist linear modules (306), the axes of each wrist linear module (306) are parallel, the first end of each wrist linear module (306) is rotatably connected to the second end of the forearm skeleton (312), the second end of each wrist linear module (306) is rotatably connected to both ends of the third axis (3131), the rotation axes of the first ends of each wrist linear module (306) are collinear, the rotation axes of both ends of each wrist linear module (306) are perpendicular to each other, and the rotation axes of the second ends of each wrist linear module (306) are parallel.

13. The robot as described in claim 2, characterized in that, The wheel and foot assembly (7) includes a mobile chassis (701), a torso rotation module (702), and a fixed base (703). The torso rotation module (702) is mounted on the mobile chassis (701), and the third lifting mechanism and the torso rotation module (702) are respectively connected to the fixed base (703).

14. The robot as described in claim 13, characterized in that, The fixed base (703) is provided with a linear motion component (6), which can drive the torso component (2) to translate relative to the mobile chassis (701).

15. The robot as described in claim 14, characterized in that, The linear motion assembly (6) includes a linear guide rail (604), a lead screw (603), and a third rotation module (602). The linear guide rail (604) is disposed on the fixed base (703). The lead screw (603) is rotatably disposed on the fixed base (703). The lifting mounting seat of the lifting assembly (5) is threadedly engaged with the lead screw (603) and slidably engaged with the linear guide rail (604). The third rotation module (602) is disposed on the fixed base (703) and is connected to the lead screw (603) for driving the lead screw (603) to rotate.

16. The robot according to any one of claims 1-15, characterized in that, A first head rotation module (103) and a second head rotation module (104) are provided between the head assembly (1) and the torso assembly (2). The second head rotation module (104) is connected to the torso assembly (2). The fixed end of the first head rotation module (103) is connected to the output end of the second head rotation module (104). The head assembly (1) is connected to the output end of the first head rotation module (103).

17. The robot as claimed in claim 16, characterized in that, The robot includes an image capturing unit, a posture measurement unit, a control unit, and a power supply unit (207). The image capturing unit includes a first camera (102) disposed on the head assembly (1) and a second camera (203) disposed on the torso assembly (2). Both the first camera (102) and the second camera (203) are connected to the control unit. Both the control unit and the power supply unit (207) are disposed on the torso assembly (2). The posture measurement unit includes a posture measuring element (204) disposed on the torso assembly (2). And / or, the torso assembly (2) is provided with an emergency stop switch (208).

Images