Auxiliary support device

Abstract

The application relates to the technical field of robots, in particular to an auxiliary supporting device for improving the static display effect of a robot. The auxiliary supporting device comprises a first supporting frame, a clamping assembly, a first telescopic assembly and a connecting rod assembly, the clamping assembly comprises a connecting piece and a clamping piece; the first end of the first telescopic assembly is rotatably connected with the first supporting frame, and the second end of the first telescopic assembly is rotatably connected with the connecting piece; one end of the connecting rod assembly is rotatably connected with the first supporting frame, and the other end of the connecting rod assembly is rotatably connected with the connecting piece, wherein the first telescopic assembly drives the clamping assembly to move along a second direction by telescoping, and the second direction is perpendicular to a first direction. By arranging the clamping piece to face away from the first supporting frame, the robot can be prevented from interfering with the first supporting frame, the connecting rod assembly and the first telescopic assembly and the like when the robot is statically displayed, so that the robot can make various actions, and the static display effect of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to an auxiliary support device and a humanoid robot. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, robots are demonstrating enormous application potential in numerous fields, such as the service industry, logistics and transportation, education and entertainment, and exploration of hazardous environments. Before leaving the factory, robots need to be debugged and trained with the help of auxiliary support devices. In addition, in scenarios such as science and technology exhibitions and product launches, auxiliary support devices are also needed for static display of robots. However, the static display effect of robots in related technologies is relatively poor. Utility Model Content

[0003] In view of this, embodiments of this application provide an auxiliary support device to improve the effect of static display of the robot.

[0004] One embodiment of this application provides an auxiliary support device applied to a robot. The robot includes a torso assembly. The auxiliary support device includes: a first support frame; a clamping assembly including a connector and a clamping member, wherein in a first direction, the connector is arranged facing the first support frame, and the clamping member is arranged away from the first support frame, and the clamping member is used to clamp the torso assembly; a first telescopic assembly, a first end of which is rotatably connected to the first support frame, and a second end of which is rotatably connected to the connector; and a linkage assembly, one end of which is rotatably connected to the first support frame, and the other end of which is rotatably connected to the connector. The first telescopic assembly, by extending and retracting, drives the clamping assembly to move along a second direction, which is perpendicular to the first direction.

[0005] In some implementations, the first support frame includes a first support portion and a second support portion arranged at intervals along a second direction, the connector includes a first connecting portion and a second connecting portion arranged at intervals along the second direction, and the linkage assembly includes: a first connecting rod, the two ends of which are rotatably connected to the first support portion and the first connecting portion respectively; and a second connecting rod, which is arranged at intervals along the second direction from the first connecting rod, the two ends of which are rotatably connected to the second support portion and the second connecting portion respectively; wherein the first support frame, the first connecting rod, the second connecting rod, and the connector form a parallelogram-shaped planar linkage mechanism, and the plane in which the planar linkage mechanism is located is parallel to the second direction.

[0006] In some implementations, the first support frame includes a support body. In the third direction, a first support portion and a second support portion are provided on opposite sides of the support body. A first connecting portion and a second connecting portion are provided on opposite sides of the connector. A first connecting rod and a second connecting rod are provided on opposite sides of the support body. In the third direction, on the same side of the support body, the two ends of the first connecting rod are rotatably connected to the first support portion and the first connecting portion, respectively. The two ends of the second connecting rod are rotatably connected to the second support portion and the second connecting portion, respectively. In the third direction, planar linkage mechanisms are formed on opposite sides of the support body, respectively. The third direction is perpendicular to the second direction and the first direction.

[0007] In some implementations, the connector is adjustablely connected to the first telescopic assembly along a second direction, and / or the clamp is adjustablely connected to the connector along a first direction.

[0008] In some implementations, the second end of the first telescopic component is connected to a connector via a connecting shaft. The connector includes an oblong hole extending in a second direction, and the connecting shaft is inserted into the oblong hole and is positionally adjustable in the second direction.

[0009] In some implementations, the connector includes a first adjusting portion, the clamping member includes a clamping seat, the clamping seat includes a second adjusting portion, and the second adjusting portion is positionally adjustable to the first adjusting portion along a first direction.

[0010] In some implementations, one of the first adjusting part and the second adjusting part is a socket extending along a first direction, and the other of the first adjusting part and the second adjusting part is a plug extending along the first direction. The plug is movably inserted into the socket along the first direction. The clamping assembly also includes a locking member, which is disposed at the socket and used to lock the plug.

[0011] In some implementations, the clamping member includes: a first clamping jaw rotatably connected to the connector; and a second clamping jaw disposed opposite to the first clamping jaw along a third direction, the second clamping jaw being rotatably connected to the connector. When the first and second clamping jaws rotate relative to the connector, they clamp or release the torso assembly, the third direction being perpendicular to the second and first directions.

[0012] In some implementations, the torso assembly includes a first clamped portion and a second clamped portion, a first gripper gripping the first clamped portion and a second gripper gripping the second clamped portion; the clamping assembly further includes: a first locking member disposed on the first gripper gripper for locking the first gripper gripper to the first clamped portion; and a second locking member disposed on the second gripper gripper for locking the second gripper gripper to the second clamped portion.

[0013] In some implementations, the auxiliary support device further includes: a second support frame detachably connected to a first end of the first support frame; and a chassis assembly connected to the end of the second support frame away from the first support frame, the chassis assembly including rollers.

[0014] In some implementations, the auxiliary support device further includes: a third support frame, comprising a first bracket and a second bracket, the first bracket extending along a second direction, the first bracket being detachably connected to a second end of the first support frame, and the end of the first bracket away from the first support frame being connected to the second bracket; and a suspension assembly, in a first direction, the suspension assembly and the clamping assembly being located on the same side of the first support frame, and the suspension assembly being located on the side of the clamping assembly away from the first support frame, the suspension assembly being connected to one end of the second bracket, and the suspension assembly being used to suspend the robot.

[0015] In some implementations, the second support includes a rotating part located between its two ends, which is rotatably connected to the end of the first support away from the first support frame. The auxiliary support device also includes a second telescopic component located on the side of the first support frame away from the clamping component. The two ends of the second telescopic component are rotatably connected to the ends of the first and second supports away from the hanging component, respectively. The second telescopic component drives the second support to move along a second direction by extending and retracting.

[0016] In this embodiment, the auxiliary support device allows the robot's trunk assembly to be held by the gripping components of the clamping assembly. The first telescopic component extends and retracts, enabling the clamping assembly to move along a second direction, thus allowing the robot to move and achieve static display. Specifically, by extending and retracting the first telescopic component, the robot is moved until its foot assembly is off the ground. At this point, the robot's lower limbs can be de-energized, leaving only the upper limbs powered and capable of movement. This reduces power consumption during static display and extends the display time. Furthermore, by arranging the connecting piece towards the first support frame, the clamping assembly can be easily connected to the first support frame. By arranging the gripping piece away from the first support frame, interference between the robot and the first support frame, linkage assembly, and first telescopic component can be avoided during static display, allowing the robot to perform various actions and improving the static display effect. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1The image shown is a perspective view of an auxiliary support device provided in one embodiment of this application.

[0019] Figure 2 The image shown is a perspective view of an auxiliary support device provided in one embodiment of this application.

[0020] Figure 3 The image shown is a side view of an auxiliary support device provided in an embodiment of this application.

[0021] Figure 4 As shown Figure 3 AA cross-section view.

[0022] Figure 5 The figure shown is an exploded view of an auxiliary support device provided in an embodiment of this application.

[0023] Figure 6 The diagram shown is a structural schematic of the connecting rod assembly and clamping assembly in an auxiliary support device provided in an embodiment of this application.

[0024] Figure 7 The diagram shown is a partial structural schematic of an auxiliary support device provided in an embodiment of this application.

[0025] Figure 8 The image shown is a partial cross-sectional view of the connecting rod assembly and clamping assembly of an auxiliary support device provided in an embodiment of this application.

[0026] Figure 9 The diagram shown is a structural schematic of the second support frame and chassis assembly of an auxiliary support device provided in an embodiment of this application.

[0027] Figure 10 The diagram shown is a structural schematic of the second support frame and chassis assembly of the auxiliary support device provided in one embodiment of this application from another perspective.

[0028] Figure 11 The image shown is a front view of an auxiliary support device provided in an embodiment of this application.

[0029] Figure 12 As shown Figure 11 BB cross-section.

[0030] Figure 13 The diagram shown is a structural schematic of the third support frame of the auxiliary support device provided in an embodiment of this application.

[0031] Figure label: 100. Auxiliary support device; 1. First support frame; 11. First support part; 12. Second support part; 13. Support body; 14. First connecting hole; 15. Handle; 16. First fixing hole; 2. Clamping assembly; 21. Connector; 211. First connecting part; 212. Second connecting part; 213. Waist-shaped hole; 214. First adjusting part; 215. Locking member; 22. Clamping member; 221. First gripper; 222. Second gripper; 23. First locking member; 24. Second locking member; 25. Clamping seat; 251. Second adjusting part; 3. First telescopic component; 4. Linkage assembly; 41. First link; 42. Second link; 43. Planar linkage mechanism; 5. Connecting shaft; 6. Second support frame; 61. Second fixing hole; 7. Chassis assembly; 71. Rollers; 72. First frame; 721. First pedal; 73. Second frame; 731. Second pedal; 74. Connecting frame; 75. Battery compartment; 76. Toolbox; 77. Power adapter; 78. Drive mechanism; 8. Third support frame; 81. First bracket; 82. Second bracket; 821. Rotating part; 83. Second telescopic assembly; 84. Second connecting hole; 9. Lifting assembly; 91. Lifting frame; 911. Hook; 92. Rotating shaft; 101. First connecting component; 102. Second connecting component. Detailed Implementation

[0032] 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.

[0033] Figure 1 The image shown is a perspective view of an auxiliary support device provided in one embodiment of this application. Figure 2 The image shown is a perspective view of an auxiliary support device provided in one embodiment of this application. Figure 3 The image shown is a side view of an auxiliary support device provided in an embodiment of this application. Figure 4 As shown Figure 3 AA cross-section view.

[0034] like Figures 1 to 4As shown, the auxiliary support device 100 of this application is applied to a robot, which includes a torso assembly. The auxiliary support device 100 includes a first support frame 1, a clamping assembly 2, a first telescopic assembly 3, and a link assembly 4. The clamping assembly 2 includes a connector 21 and a clamping member 22, the clamping member 22 being used to clamp the torso assembly. In a first direction, the connector 21 is arranged towards the first support frame 1, and the clamping member 22 is arranged away from the first support frame 1. A first end of the first telescopic assembly 3 is rotatably connected to the first support frame 1, and a second end of the first telescopic assembly 3 is rotatably connected to the connector 21. One end of the link assembly 4 is rotatably connected to the first support frame 1, and the other end of the link assembly 4 is rotatably connected to the connector 21. The first telescopic assembly 3, through telescoping, drives the clamping assembly 2 to move along a second direction, which is perpendicular to the first direction.

[0035] For example, when the first telescopic component 3 extends, the driving clamping component 2 moves to one side of the second direction; when the first telescopic component 3 shortens, the driving clamping component 2 moves to the other side of the second direction.

[0036] When the auxiliary support device 100 of this application is used, the robot's trunk assembly is clamped by the clamping member 22 of the clamping assembly 2. The clamping assembly 2 moves along a second direction via the extension and retraction of the first telescopic assembly 3, thereby enabling the movement of the robot clamped by the clamping assembly 2 and facilitating static display of the robot. Specifically, by extending and retracting the first telescopic assembly 3, the robot is moved until its foot assembly is off the ground. At this point, the robot's lower limbs can be de-energized, leaving only the upper limbs powered and capable of movement, thus reducing power consumption during static display and extending the display time. Furthermore, by arranging the connecting member 21 towards the first support frame 1, the clamping assembly 2 can be easily connected to the first support frame 1; by arranging the clamping member 22 away from the first support frame 1, interference between the robot and the first support frame 1, the linkage assembly 4, and the first telescopic member can be avoided during static display, allowing the robot to perform various actions and improving the static display effect.

[0037] To make the technical solution of this application easier to understand, the technical solution of this application will be further described below using the example of the first direction being consistent with the front-back direction and the second direction being consistent with the up-down direction.

[0038] For example, such as Figures 1 to 3As shown, the clamping assembly 2 is located on the rear side of the first support frame 1, and the connector 21 is located on the rear side of the clamping assembly 22. The first telescopic assembly 3 is located below the clamping assembly 2, with its lower end rotatably connected to the first support frame 1 and its upper end rotatably connected to the connector 21. The rear end of the connector is rotatably connected to the first support frame 1, and its front end is rotatably connected to the connector 21. When the first telescopic assembly 3 extends, the clamping assembly 2 rises; when the first telescopic assembly 3 shortens, the clamping assembly 2 descends.

[0039] Figure 5 The figure shown is an exploded view of an auxiliary support device provided in an embodiment of this application. Figure 6 The diagram shown is a structural schematic of the connecting rod assembly and clamping assembly in an auxiliary support device provided in an embodiment of this application. Figure 7 The diagram shown is a partial structural schematic of an auxiliary support device provided in an embodiment of this application.

[0040] In some embodiments, such as Figures 2 to 7 As shown, the first support frame 1 includes a first support portion 11 and a second support portion 12 arranged at intervals along a second direction, and the connector 21 includes a first connecting portion 211 and a second connecting portion 212 arranged at intervals along a second direction. The linkage assembly 4 includes a first connecting rod 41 and a second connecting rod 42, with the second connecting rod 42 and the first connecting rod 41 arranged at intervals along a second direction. The two ends of the first connecting rod 41 are rotatably connected to the first support portion 11 and the first connecting portion 211, respectively, and the two ends of the second connecting rod 42 are rotatably connected to the second support portion 12 and the second connecting portion 212, respectively. The first support frame 1, the first connecting rod 41, the second connecting rod 42, and the connector 21 form a parallelogram-shaped planar linkage mechanism 43. Figure 3 (As shown by the dashed line in the diagram), the plane containing the planar linkage mechanism 43 is parallel to the second direction.

[0041] For example, the plane of the planar linkage mechanism 43 is parallel to the vertical direction. The robot is held in a vertical position by the clamping component 2. When the first telescopic component 3 extends and retracts, driving the robot to rise and fall, the robot always rises and falls in a vertical position.

[0042] By configuring the linkage assembly 4 to include a first link 41 and a second link 42, the first support frame 1, the first link 41, the second link 42 and the connector 21 form a parallelogram planar linkage mechanism 43. This allows the clamping assembly 2 to clamp the robot, and by extending and retracting the first telescopic assembly 3, the robot's posture will not change when the clamping assembly 2 moves in the second direction. This facilitates the control of the robot's posture and helps improve the static display effect of the robot.

[0043] In some embodiments, such as Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the first support frame 1 includes a support body 13. In the third direction, a first support portion 11 and a second support portion 12 are provided on opposite sides of the support body 13. A first connecting portion 211 and a second connecting portion 212 are provided on opposite sides of the connector 21. A first connecting rod 41 and a second connecting rod 42 are provided on opposite sides of the support body 13. In the third direction, on the same side of the support body 13, the two ends of the first connecting rod 41 are rotatably connected to the first support portion 11 and the first connecting portion 211, respectively. The two ends of the second connecting rod 42 are rotatably connected to the second support portion 12 and the second connecting portion 212, respectively. Thus, in the third direction, planar linkage mechanisms 43 are formed on opposite sides of the support body 13, respectively. The third direction is perpendicular to the second direction and the first direction.

[0044] By forming planar linkage mechanisms 43 on opposite sides of the support body 13, and using multiple planar linkage mechanisms 43 to drive the robot to move along the second direction with the clamping assembly 2, the stability and reliability of the robot's movement process can be improved, and the reliability of the auxiliary support device 100 can be improved.

[0045] To make the technical solution of this application easier to understand, the following description uses the example of a third direction being consistent with the left and right directions to further illustrate the technical solution of this application.

[0046] For example, such as Figure 2 As shown, the support body 13 has a first support portion 11 and a second support portion 12 on both its left and right sides, and the connector 21 has a first connecting portion 211 and a second connecting portion 212 on both its left and right sides. The support body 13 also has a first connecting rod 41 and a second connecting rod 42 on both its left and right sides. The two ends of the first connecting rod 41 located on the left side of the support body 13 are rotatably connected to the first support portion 11 and the first connecting portion 211 located on the left side of the support body 13, respectively. The two ends of the second connecting rod 42 located on the left side of the support body 13 are rotatably connected to the second support portion 12 and the second connecting portion 212 located on the left side of the support body 13, respectively. The two ends of the first connecting rod 41 located on the right side of the support body 13 are rotatably connected to the first support portion 11 and the first connecting portion 211 located on the right side of the support body 13, respectively. The two ends of the second connecting rod 42 located on the right side of the support body 13 are rotatably connected to the second support portion 12 and the second connecting portion 212 located on the right side of the support body 13, respectively. This forms a planar linkage mechanism 43 on each of the left and right sides of the support body 13.

[0047] The first connecting rod 41 is rotatably connected to the first support portion 11 about an axis extending in a third direction, and the first connecting rod 41 is rotatably connected to the first connecting portion 211 about an axis extending in a third direction. The second connecting rod 42 is rotatably connected to the second support portion 12 about an axis extending in a third direction, and the second connecting rod 42 is rotatably connected to the second connecting portion 212 about an axis extending in a third direction. The first end of the first telescopic assembly 3 is rotatably connected to the first support frame 1 about an axis extending in a third direction, and the second end of the first telescopic assembly 3 is rotatably connected to the connector 21 about an axis extending in a third direction.

[0048] For example, the first connecting rod 41 is rotatably connected to the first support portion 11 about an axis in the left-right direction, and the first connecting rod 41 is rotatably connected to the first connecting portion 211 about an axis in the left-right direction. The second connecting rod 42 is rotatably connected to the second support portion 12 about an axis in the left-right direction, and the second connecting rod 42 is rotatably connected to the second connecting portion 212 about an axis in the left-right direction. The first end of the first telescopic assembly 3 is rotatably connected to the first support frame 1 about an axis in the left-right direction, and the second end of the first telescopic assembly 3 is rotatably connected to the connector 21 about an axis in the left-right direction.

[0049] When using the auxiliary support device 100 to grip the robot, it is difficult for the robot to move accurately to the position of the gripping component 2. The position of the gripping component 2 needs to be repeatedly adjusted so that the gripping member 22 moves to the gripping position. Once the gripping component 2 is in the gripping position, the gripping member 22 can precisely grip the robot's torso component. If the position of the gripping component 2 is adjusted by extending or retracting the first telescopic component 3, it is difficult to accurately control the extension length of the first telescopic component 3, resulting in low efficiency of the auxiliary support device 100 in gripping the robot.

[0050] Optionally, the first telescopic component 3 is a telescopic rod, for example, an electric push rod, etc.

[0051] Optionally, the first telescopic component 3 includes a telescopic rod and an extension rod, the extension rod being connected to the end of the telescopic rod near the clamping component 2, and the extension rod being rotatably connected to the clamping component 2.

[0052] By setting an extension rod, the maximum length of the first telescopic component 3 can be increased. While saving costs, the maximum length of the first telescopic component 3 is larger, so that the clamping component 2 can move a wider range in the second direction, further improving the versatility of the auxiliary support device 100.

[0053] Optionally, the first connecting rod 41 is rotatably connected to the first support portion 11 via a first bushing, and the first connecting rod 41 is rotatably connected to the first connecting portion 211 via a second bushing. The second connecting rod 42 is rotatably connected to the second support portion 12 via a third bushing, and the second connecting rod 42 is rotatably connected to the second connecting portion 212 via a fourth bushing.

[0054] For example, the first bushing is connected to the first support part 11 by fasteners, and the first connecting rod 41 hole of the first connecting rod 41 is fitted onto the first bushing, allowing the first connecting rod 41 to rotate about the axis of the first bushing. The second bushing is connected to the first connecting part 211 by fasteners, and the second connecting rod 42 hole of the first connecting rod 41 is fitted onto the second bushing, allowing the first connecting rod 41 to rotate about the axis of the second bushing. The third bushing is connected to the second support part 12 by fasteners, and the third connecting rod hole of the second connecting rod 42 is fitted onto the third bushing, allowing the second connecting rod 42 to rotate about the axis of the third bushing. The fourth bushing is connected to the second connecting part 212 by fasteners, and the fourth connecting rod hole of the second connecting rod 42 is fitted onto the fourth bushing, allowing the second connecting rod 42 to rotate about the axis of the fourth bushing. The fasteners can be screws, bolts, rivets, etc.

[0055] Optionally, the first end of the first telescopic component 3 is rotatably connected to the first support frame 1 via a first pivot.

[0056] For example, the first rotating shaft is connected to the first support frame 1, and the connecting hole of the first telescopic component 3 is fitted onto the first rotating shaft, so that the first telescopic component 3 can rotate around the axis of the first rotating shaft.

[0057] In some embodiments, the connector 21 is adjustablely connected to the first telescopic component 3 along a second direction.

[0058] For example, the connector 21 is adjustable in position along the vertical direction to be connected to the first telescopic component 3. By adjusting the position of the connector 21 along the vertical direction, the position of the clamping component 22 in the vertical direction can be adjusted so that the clamping component 22 can clamp the robot.

[0059] By making the connector 21 adjustable in the second direction, the position of the clamping member 22 can be adjusted in the second direction by adjusting the position of the connector 21. When using the auxiliary support device 100 to clamp the robot, the clamping member 22 can be positioned near the clamping position by first extending and retracting the first telescopic component 3, and then the connector 21 can be moved in the second direction to position the clamping member 22 in the clamping position so that the clamping member 22 can clamp the robot's torso component, without needing to accurately adjust the position of the clamping component 2 by extending and retracting the first telescopic component 3. This helps to reduce the difficulty of adjusting the position of the clamping component 2, improves the efficiency of the auxiliary support device 100 in clamping the robot, and enhances the ease of use of the auxiliary support device 100.

[0060] In some embodiments, such as Figures 5 to 7 As shown, the second end of the first telescopic component 3 is connected to the connector 21 via the connecting shaft 5. The connector 21 includes an oblong hole 213 extending in the second direction. The connecting shaft 5 is inserted into the oblong hole 213 and its position is adjustable in the second direction.

[0061] For example, connector 21 includes an oblong hole 213 extending in the vertical direction, and connector 5 is inserted into the oblong hole 213 and its position is adjustable in the vertical direction.

[0062] By adjusting the position of the connecting shaft 5 along the second direction, the position of the connecting member 21 can be adjusted along the second direction, and thus the position of the clamping member 22 can be adjusted along the second direction. This not only facilitates the adjustment of the position of the clamping member 22 in the second direction, further improving the ease of use of the auxiliary support device 100, but also simplifies the structure of the connecting member 21 and the first telescopic component 3, making it easier to manufacture the auxiliary support device 100.

[0063] Figure 8 The image shown is a partial cross-sectional view of the connecting rod assembly 4 and the clamping assembly 2 of the auxiliary support device 100 provided in an embodiment of this application.

[0064] In some embodiments, the clamping member 22 is adjustablely connected to the connector 21 along a first direction.

[0065] For example, the clamping member 22 is adjustable in position along the front-to-back direction and connected to the connector 21.

[0066] By adjusting the position of the clamping member 22 along the first direction, when using the auxiliary support device 100 to clamp the robot, the clamping member 22 can first be positioned near the clamping position by extending or retracting the first telescopic component 3, and then the clamping member 22 can be moved along the first direction to the clamping position so that the clamping member 22 can clamp the robot's torso component. This eliminates the need to precisely adjust the position of the clamping component 2 by extending or retracting the first telescopic component 3. This reduces the difficulty of adjusting the position of the clamping component 2, improves the efficiency of the auxiliary support device 100 in clamping the robot, and enhances the ease of use of the auxiliary support device 100.

[0067] In some embodiments, such as Figure 8 As shown, the connector 21 includes a first adjustment part 214, the clamping part 22 includes a clamping seat 25, the clamping seat 25 includes a second adjustment part 251, and the second adjustment part 251 is tunably connected to the first adjustment part 214 along a first direction.

[0068] By adjusting the relative positions of the first adjustment part 214 and the second adjustment part 251 along the first direction, the position of the clamping member 22 can be adjusted along the first direction, further reducing the difficulty of adjusting the position of the clamping assembly 2, improving the efficiency of the auxiliary support device 100 in clamping the robot, and improving the ease of use of the auxiliary support device 100.

[0069] In some embodiments, such as Figure 8 As shown, one of the first adjusting portion 214 and the second adjusting portion 251 is a socket extending along a first direction, and the other of the first adjusting portion 214 and the second adjusting portion 251 is a plug extending along the first direction. The plug is movably inserted into the socket along the first direction. The clamping assembly 2 also includes a locking member 215, which is disposed at the socket and used to lock the plug.

[0070] The locking mechanism can be a locking mechanism used in related technologies for locking the insert rod, for example, a locking mechanism used in related technologies for locking the seat.

[0071] For example, the first adjustment part 214 is a socket, and the second adjustment part 251 is a plug.

[0072] By setting one of the first adjustment part 214 and the second adjustment part 251 as a socket and the other of the first adjustment part 214 and the second adjustment part 251 as a rod, and using a locking member 215 to lock the rod, not only is the structure of the clamping assembly 2 simple and the manufacturing of the auxiliary support device 100 convenient, but the rod can also be used to guide the movement direction of the clamping member 22 by cooperating with the socket, avoiding the clamping member 22 from deflecting during movement, which helps to improve the reliability of the auxiliary support device 100.

[0073] Optionally, the insertion rod includes a first rod segment and a second rod segment, which are connected by a ball joint, and the connection point of the first rod segment and the second rod segment is located inside the insertion hole.

[0074] By setting the insertion rod to the above structure, the first rod segment can rotate relative to the second rod segment during the movement of the insertion rod relative to the insertion hole, so as to prevent the insertion rod from getting stuck between the insertion rod and the insertion hole, which helps to improve the reliability of the auxiliary support device 100.

[0075] In some embodiments, such as Figures 6 to 8 As shown, the clamping member 22 includes a first clamping jaw 221 and a second clamping jaw 222, which are disposed opposite to the first clamping jaw 221 along a third direction. The first clamping jaw 221 is rotatably connected to the connecting member 21, and the second clamping jaw 222 is rotatably connected to the connecting member 21. When the first clamping jaw 221 and the second clamping jaw 222 rotate relative to the connecting member 21, they clamp or release the torso assembly. The third direction is perpendicular to both the second and first directions.

[0076] For example, the first gripper 221 and the second gripper 222 are arranged opposite each other in the left-right direction. The first gripper 221 is rotatably connected to the connector 21 about an axis extending in the up-down direction, and the second gripper 222 is rotatably connected to the connector 21 about an axis extending in the up-down direction.

[0077] By rotatably connecting the first gripper 221 to the connector 21 and the second gripper 222 to the connector 21, the space between the first gripper 221 and the second gripper 222 can be adjusted. This allows for the clamping of torso components of different widths using the first gripper 221 and the second gripper 222, improving the versatility of the auxiliary support device 100. The width direction of the torso component is consistent with a third direction.

[0078] Optionally, the first gripper 221 and the second gripper 222 are both rotatably connected to the clamping seat 25, and the clamping seat 25 is connected to the connector 21.

[0079] The first gripper 221 is connected to the gripping seat 25 via a second rotating shaft, and the second gripper 222 is connected to the gripping seat 25 via a third rotating shaft. For example, the second rotating shaft is connected to the gripping seat 25 via a first bearing, and the second rotating shaft is connected to the first gripper 221 via a fastener, allowing the first gripper 221 to rotate relative to the gripping seat 25. The third rotating shaft is connected to the gripping seat 25 via a second bearing, and the third rotating shaft is connected to the second gripper 222 via a fastener, allowing the second gripper 222 to rotate relative to the gripping seat 25. The bearing can be a ball bearing, and the fastener can be a bolt, screw, etc.

[0080] In some embodiments, the torso assembly includes a first clamping portion and a second clamping portion. For example... Figures 6 to 8 As shown, the first gripper 221 is used to grip the first clamped part, and the second gripper 222 is used to grip the second clamped part. The gripping assembly 2 also includes a first locking member 23 and a second locking member 24. The first locking member 23 is disposed on the first gripper 221 and is used to lock the first gripper 221 to the first clamped part. The second locking member 24 is disposed on the second gripper 222 and is used to lock the second gripper 222 to the second clamped part.

[0081] By setting the first locking member 23 and the second locking member 24, the first gripper 221 is locked to the first clamped part and the second gripper 222 is locked to the second clamped part, which can effectively prevent the clamping component 2 from detaching from the torso component and improve the reliability of the auxiliary support device 100.

[0082] Optionally, a first reset member is provided between the first gripper 221 and the gripping seat 25, and a second reset member is provided between the second gripper 222 and the gripping seat 25. Both the first and second reset members are elastic elements. The first reset member provides a spring force to the first gripper 221 toward the second gripper 222, and the second reset member provides a spring force to the second gripper 222 toward the first gripper 221. The first and second reset members can be tension springs.

[0083] Optionally, the first clamped part includes a first clamping groove for accommodating the first gripper 221. The bottom wall of the first clamping groove is provided with a first limiting groove and a first communicating groove communicating with the first limiting groove. The first locking rod includes a first locking rod and a first elastic member. The first locking rod passes through the first gripper 221. The side of the first locking rod near the second gripper 222 is provided with a first protrusion. The first protrusion enters the first limiting groove through the communicating groove. By twisting the first locking rod, the first protrusion is misaligned with the first communicating groove to prevent the first protrusion from coming out of the first communicating groove. The side of the first gripper 221 away from the second gripper 222 is provided with a first spring groove. The first elastic member is located in the first spring groove and is used to provide a spring force to the first locking rod away from the second gripper 222. The first elastic member can be a tension spring.

[0084] When the first gripper 221 is located in the first clamping groove, pressing the first locking rod in the direction towards the second gripper 222 causes the first protrusion to enter the first limiting groove through the first connecting groove. Then, rotating the first locking rod disengages the first protrusion from the first connecting groove. At this point, under the elastic force of the first elastic member, the first protrusion abuts against the wall of the first limiting groove in the direction away from the second gripper 222. When it is necessary to remove the first gripper 221 from the first clamping groove, pressing the first locking rod in the direction towards the second gripper 222 releases the abutment between the first protrusion and the first limiting groove. Then, rotating the first locking rod aligns the first protrusion with the first connecting groove. Afterward, under the elastic force of the first elastic member, the first locking rod automatically disengages from the first limiting groove, allowing the first gripper 221 to be removed from the first clamping groove.

[0085] Optionally, the second clamped part includes a second clamping groove for accommodating the second gripper 222. The bottom wall of the second clamping groove is provided with a second limiting groove and a second communicating groove communicating with the second limiting groove. The second locking rod includes a second locking rod and a second elastic member. The second locking rod passes through the second gripper 222. A second protrusion is provided on the side of the second locking rod near the first gripper 221. The second protrusion enters the second limiting groove through the communicating groove. By twisting the second locking rod, the second protrusion is displaced from the second communicating groove to prevent the second protrusion from coming out of the second communicating groove. A second spring groove is provided on the side of the second gripper 222 away from the first gripper 221. The second elastic member is located in the second spring groove and is used to provide a spring force to the second locking rod away from the first gripper 221. The second elastic member can be a tension spring.

[0086] When the second gripper 222 is located in the second clamping groove, pressing the second locking rod in the direction towards the first gripper 221 causes the second protrusion to enter the second limiting groove through the second connecting groove. Then, rotating the second locking rod displaces the second protrusion from the second connecting groove. At this point, under the elastic force of the second elastic element, the second protrusion abuts against the groove wall of the second limiting groove in the direction away from the first gripper 221. When it is necessary to remove the second gripper 222 from the second clamping groove, pressing the second locking rod in the direction towards the first gripper 221 releases the abutment relationship between the second protrusion and the second limiting groove. Then, rotating the second locking rod aligns the second protrusion with the second connecting groove. Afterward, under the elastic force of the second elastic element, the second locking rod automatically disengages from the second limiting groove, allowing the second gripper 222 to be removed from the second clamping groove.

[0087] Figure 9 The diagram shown is a structural schematic of the second support frame and chassis assembly of an auxiliary support device provided in an embodiment of this application. Figure 10 The diagram shown is a structural schematic of the second support frame and chassis assembly of the auxiliary support device provided in one embodiment of this application from another perspective. Figure 11 The image shown is a front view of an auxiliary support device provided in an embodiment of this application. Figure 12 As shown Figure 12 BB cross-section.

[0088] In some embodiments, such as Figures 1 to 3 , Figure 5 , Figures 9 to 12 As shown, the auxiliary support device 100 also includes a second support frame 6 and a chassis assembly 7. The second support frame 6 is detachably connected to the first end of the first support frame 1, and the chassis assembly 7 is connected to the end of the second support frame 6 away from the first support frame 1. The chassis assembly 7 includes rollers 71.

[0089] For example, the upper end of the second support frame 6 is detachably connected to the lower end of the first support frame 1, and the chassis assembly 7 is connected to the lower end of the second support frame 6.

[0090] By detachably connecting the second support frame 6 to the first end of the first support frame 1, and connecting the chassis assembly 7 to the end of the second support frame 6 away from the first support frame 1, the second support frame 6 connected to the chassis assembly 7 can be detached from the first support frame 1 for the transfer of the auxiliary support device 100. Furthermore, by providing rollers 71 on the chassis assembly 7, the auxiliary support device 100 can be moved by rolling on the rollers 71, facilitating its movement.

[0091] Optionally, the roller 71 is a swivel wheel.

[0092] In some embodiments, such as Figure 9 , Figure 10 and Figure 12 As shown, in some embodiments, the second support frame 6 is detachably connected to the first end of the first support frame 1 via a first connecting assembly 101.

[0093] For example, the first connecting assembly 101 includes a first bolt and a first nut. The first nut is fixed inside the first bracket 81. The first support frame 1 has a first fixing hole 16 corresponding to the first nut, and the second support frame 6 has a second fixing hole 61. The first bolt passes through the first fixing hole 16 and the second fixing hole 61 and is threadedly connected to the first nut, thereby connecting the first support frame 1 and the second support frame 6. The bolt head of the first bolt has a tightening portion, which can be petal-shaped.

[0094] By providing a screw-on part on the head of the first bolt, the first bolt can be easily removed without the use of tools, so as to connect and disconnect the second support frame 6 from the first support frame 1.

[0095] In some embodiments, such as Figures 9 to 11 As shown, the chassis assembly 7 includes a first frame 72, a second frame 73, a connecting frame 74, and a drive mechanism 78. The connecting frame 74 extends along a third direction. In this direction, the first frame 72 and the second frame 73 are spaced apart and positioned on opposite sides of the connecting frame 74. The first frame 72 is rotatably connected to one end of the connecting frame 74, and the second frame 73 is rotatably connected to the other end of the connecting frame 74. The first frame 72 is provided with a first pedal 721, and the second frame 73 is provided with a second pedal 731. The first pedal 721 and the second pedal 731 are used by the robot's foot assembly to step on them. The drive mechanism 78 is used to drive the first frame 72 and the second frame 73 to rotate relative to the connecting frame 74, so that the first pedal 721 and the second pedal 731 move closer to or further away from each other.

[0096] For example, the first frame 72 is located on the left side of the connecting frame 74, and the second frame 73 is located on the right side of the connecting frame 74. The front end of the first frame 72 is rotatably connected to the left end of the connecting frame 74, and the front end of the second frame 73 is rotatably connected to the right end of the connecting frame 74. The drive mechanism 78 is used to drive the first frame 72 and the second frame 73 to rotate relative to the connecting frame 74, so that the first pedal 721 and the second pedal 731 move closer to or further away from each other in the left-right direction.

[0097] When in use, the auxiliary support device 100 can place the robot's two foot components on the first pedal 721 and the second pedal 731 respectively to limit the robot's foot components.

[0098] The distance between the first pedal 721 and the second pedal 731 can be adjusted as needed by moving the first pedal 721 and the second pedal 731 closer together or further apart. For example, when the robot needs to walk independently, the first pedal 721 and the second pedal 731 can be moved further apart to prevent them from obstructing the robot's movement.

[0099] Optionally, the drive mechanism 78 may include a first transmission rod, a second transmission rod, and a drive rod. In the third direction, the first transmission rod and the second transmission rod are respectively disposed on opposite sides of the drive rod. The middle part of the drive rod is rotatably connected to the connecting frame 74. The two ends of the first transmission rod are rotatably connected to the first frame 72 and one end of the drive rod, respectively. The two ends of the second transmission rod are rotatably connected to the second frame 73 and the other end of the drive rod, respectively. When the drive rod rotates relative to the connecting frame 74, the first transmission rod and the second transmission rod drive the first frame 72 and the second frame 73 to rotate relative to the connecting frame 74, so that the first pedal 721 and the second pedal 731 move closer to or further away from each other.

[0100] Optionally, such as Figure 9 and Figure 10 As shown, the connecting frame 74 includes a battery slot 75, a toolbox 76, and a power adapter 77. The battery slot 75 is used to hold batteries, and the toolbox 76 is used to hold tools. The battery slot 75 may have a slot, and the battery has a snap-fit ​​part that does not engage with the slot, thus stably securing the battery within the battery slot 75. Multiple battery slots 75 can be arranged at intervals along a third direction. The power adapter 77 has a universal robot adapter interface.

[0101] By incorporating a battery slot 75 into the connecting frame 74, the robot's spare battery can be stored within it, allowing for timely battery replacement when the robot runs out of power, thus preventing disruption to static displays or other operations. A toolbox 76 is also included in the connecting frame 74 for convenient access to tools.

[0102] Figure 13 The diagram shown is a structural schematic of the third support frame of the auxiliary support device provided in an embodiment of this application.

[0103] In some embodiments, such as Figures 1 to 3 , Figure 5 , Figures 11 to 13 As shown, the auxiliary support device 100 also includes a third support frame 8 and a hanging assembly. The third support frame 8 includes a first bracket 81 and a second bracket 82. The first bracket 81 extends along a second direction and is detachably connected to the second end of the first support frame 1. The end of the first bracket 81 away from the first support frame 1 is connected to the second bracket 82. In the first direction, the hanging assembly and the clamping assembly 2 are located on the same side of the first support frame 1, and the hanging assembly is located on the side of the clamping assembly 2 away from the first support frame 1. The hanging assembly is connected to one end of the second bracket 82. The lifting assembly 9 is used to suspend the robot.

[0104] For example, the first bracket 81 extends vertically, the lower end of the first bracket 81 is detachably connected to the upper end of the first support frame 1, and the upper end of the first bracket 81 is connected to the second bracket 82. The hanging assembly and the clamping assembly 2 are both located on the rear side of the first support frame 1, and the hanging assembly is located on the rear side of the clamping assembly 2.

[0105] By positioning the hanging assembly on the side of the clamping assembly 2 away from the first support frame 1, the robot can move freely in the space on that side, allowing for static display or other operations. Furthermore, the first bracket 81 is detachably connected to the second end of the first support frame 1, enabling the three support frames, along with the hanging assembly, to be removed from the first support frame 1 for transporting the auxiliary support device 100.

[0106] When using the auxiliary support device 100, the robot can be lifted by the hanging assembly to perform operations such as inspection, debugging and training on the robot, further improving the versatility of the auxiliary support device 100.

[0107] Optionally, the second telescopic component 83 is a telescopic rod, for example, an electric push rod, etc.

[0108] like Figures 11 to 13 As shown, the hoisting assembly 9 includes a hoisting frame 91, which is provided with a hook 911 for attaching a rope, which is used to connect to the robot's shoulder.

[0109] like Figure 12 and Figure 13 As shown, the lifting frame 91 is rotatably connected to one end of the second support 82. For example, the lifting frame 91 is rotatably connected to one end of the second support 82 via a rotating shaft 92.

[0110] By rotatably connecting the lifting frame 91 to one end of the second support 82, the robot can turn around and rotate by rotating the lifting frame 91 relative to the second support 82, thereby further improving the versatility of the auxiliary support device 100.

[0111] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figures 11 to 13 As shown, the second support 82 includes a rotating part 821 located between its two ends, and the rotating part 821 is rotatably connected to the end of the first support 81 away from the first support frame 1. The auxiliary support device 100 also includes a second telescopic assembly 83 located on the side of the first support frame 1 away from the clamping assembly 2, with its two ends respectively connected to the ends of the first support 81 and the second support 82 away from the hanging assembly. The second telescopic assembly 83, through telescoping, drives the second support 82 to move along a second direction.

[0112] For example, when the second telescopic component 83 extends, the robot rises with the hoisting component 9; when the second telescopic component 83 retracts, the robot descends with the hoisting component 9.

[0113] By placing the rotating part 821 between the two ends of the second bracket 82, the second telescopic component 83 is located on the side of the first support frame 1 away from the clamping component 2, which can effectively avoid interference between the second telescopic component 83 and the clamping component 2, and is conducive to further improving the reliability of the auxiliary support device 100.

[0114] In some embodiments, one end of the first bracket 81 is detachably connected to one end of the first support frame 1 via a second connecting assembly 102.

[0115] For example, such as Figure 5 , Figure 11 and Figure 13 As shown, the first support frame 1 has a first connecting hole 14, and the third support frame 8 has a second connecting hole 84. The second connecting assembly 102 includes a second bolt and a second nut. The second bolt passes through the first connecting hole 14 and the second connecting hole 84 and is threadedly connected to the second nut, thereby realizing the connection between the first support frame 1 and the third support frame 8. The bolt head of the second bolt and the second nut have a tightening portion, which can be petal-shaped.

[0116] By providing a screwing part on the bolt head and the second nut of the second bolt, the second bolt can be easily removed without the use of tools, so as to connect and disassemble the third support frame 8 with the first support frame 1.

[0117] like Figures 1 to 3 , Figure 5 and Figure 11 As shown, the first support frame 1 is provided with a handle 15 for the operator to hold.

[0118] For example, when it is necessary to move the auxiliary support device 100, the operator holds the handle 15 and pushes the auxiliary support device 100 to move.

[0119] Optionally, the auxiliary support device 100 further includes a controller, which is located on the side of the first support frame 1 away from the clamping component 2 and is connected to the first support frame 1. The controller can be signal-connected to the first telescopic component 3 and the second telescopic component 83. The controller can be signal-connected to the first telescopic component 3 and the second telescopic component 83 via cable or wireless communication.

[0120] Optionally, the auxiliary support device 100 also includes a remote controller, which is signal-connected to the first telescopic component 3 and the second telescopic component 83.

[0121] Optionally, the first support frame 1, clamping assembly 2, connecting rod assembly 4, second support frame 6, chassis assembly 7, and third support frame 8 are made of aluminum alloy to reduce the weight of the auxiliary support device 100. The connector 21 of the clamping assembly 2 may also be provided with weight-reducing holes.

[0122] The auxiliary support device 100 of this application embodiment can be used in the following scenarios: When the robot needs to be debugged and trained, the hoisting component 9 is connected to the robot's shoulder, the robot keeps its foot component in contact with the ground, and the robot walks autonomously. The operator pushes the auxiliary support device 100 to walk with the robot to prevent the robot from tipping over or causing accidents.

[0123] When the robot needs to be displayed statically, the torso component of the robot is held by the clamping component 2, and the robot is raised to the point where the foot component leaves the ground or is level with the ground by extending and retracting the second telescopic component 83. At this time, the power to the lower limbs of the robot can be cut off, and only the upper limbs are powered on to make various movements, so as to save power.

[0124] When the robot needs to be transferred, the lifting assembly 9 can be connected to the robot's shoulder, and the robot can be raised by extending and retracting the first telescopic assembly 3, or by using the clamping assembly 2 to clamp the robot's torso assembly, and then extending and retracting the second telescopic assembly 83, raising the robot until its foot assembly is off the ground. The robot is then slowly lowered, with its two foot assemblies positioned on the first pedal 721 and the second pedal 731 respectively. The auxiliary support device 100 is then pushed to move the robot. The robot can autonomously walk, placing its two foot assemblies on the first pedal 721 and the second pedal 731; alternatively, an operator can manually place the two foot assemblies on the first pedal 721 and the second pedal 731. When the two foot assemblies are positioned on the first pedal 721 and the second pedal 731, straps can be used to secure the foot assemblies to the corresponding pedals to prevent them from detaching.

[0125] When the robot needs to be repaired, the hoisting assembly 9 can be connected to the robot's shoulder and extended or retracted via the first telescopic assembly 3, or the clamping assembly 2 can be used to clamp the robot's torso assembly and extended or retracted via the second telescopic assembly 83 to raise the robot until the foot assembly is off the ground, so that the robot can be repaired.

[0126] The auxiliary support device 100 of this application embodiment provides convenient installation and maintenance tools by setting a toolbox 76 in the chassis assembly 7, which simplifies the robot's installation and maintenance process and improves installation and maintenance efficiency. By setting a hoisting assembly 9 and a second telescopic assembly 83, it supports various functional tests and walking training for the robot, improving the robot's stability and adaptability. The clamping assembly 2 and the first telescopic assembly 3 optimize the robot's static display effect. A battery slot 75 in the chassis assembly 7 allows for the placement of spare batteries, supporting the robot's rapid battery swapping function, reducing downtime due to insufficient power, and improving the robot's working efficiency. Furthermore, the power adapter 77 of the chassis assembly 7 has a universal robot adapter interface, enabling the auxiliary support device 100 to adapt to various types of humanoid robots, improving the device's versatility and flexibility.

[0127] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0128] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0129] Furthermore, 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, the features that define "first" and "second" may explicitly or implicitly include at least one of those features.

[0130] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0131] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. An auxiliary support device, characterized in that, Applied to a robot, the robot including a torso assembly, wherein the auxiliary support device includes: First support frame; A clamping assembly includes a connector and a clamping member, wherein in a first direction the connector is arranged toward the first support frame and the clamping member is arranged away from the first support frame, and the clamping member is used to clamp the torso assembly; A first telescopic assembly, wherein a first end of the first telescopic assembly is rotatably connected to the first support frame, and a second end of the first telescopic assembly is rotatably connected to the connector; A linkage assembly, one end of which is rotatably connected to the first support frame, and the other end of which is rotatably connected to the connector, wherein the first telescopic assembly drives the clamping assembly to move along a second direction, which is perpendicular to the first direction, by telescopic extension and retraction.

2. The supplemental support device of claim 1, wherein, The first support frame includes a first support portion and a second support portion arranged at intervals along the second direction; the connector includes a first connecting portion and a second connecting portion arranged at intervals along the second direction; and the linkage assembly includes: The first link has two ends that are rotatably connected to the first support and the first connecting part, respectively. The second link is arranged at a distance from the first link along the second direction, and the two ends of the second link are rotatably connected to the second support and the second connecting part, respectively. The first support frame, the first connecting rod, the second connecting rod, and the connecting member form a parallelogram-shaped planar linkage mechanism, and the plane in which the planar linkage mechanism is located is parallel to the second direction.

3. The supplemental support device of claim 2, wherein, The first support frame includes a support body. In the third direction, the support body has a first support portion and a second support portion on opposite sides. The connector has a first connecting portion and a second connecting portion on opposite sides. The support body also has a first connecting rod and a second connecting rod on opposite sides. In the third direction, on the same side of the supporting body, the two ends of the first connecting rod are rotatably connected to the first supporting part and the first connecting part, respectively, and the two ends of the second connecting rod are rotatably connected to the second supporting part and the second connecting part, respectively, so that the planar linkage mechanism is formed on opposite sides of the supporting body in the third direction, wherein the third direction is perpendicular to the second direction and the first direction.

4. The supplemental support device of claim 1, wherein, The connector is adjustablely connected to the first telescopic assembly along the second direction, and / or the clamping member is adjustablely connected to the connector along the first direction.

5. The supplemental support device of claim 4, wherein, The second end of the first telescopic component is connected to the connector via a connecting shaft. The connector includes an oblong hole extending along the second direction. The connecting shaft is inserted into the oblong hole and its position is adjustable along the second direction.

6. The supplemental support device of claim 4, wherein, The connector includes a first adjusting part, the clamping member includes a clamping seat, the clamping seat includes a second adjusting part, and the second adjusting part is tunably connected to the first adjusting part along the first direction.

7. The auxiliary support device according to claim 6, characterized in that, One of the first adjustment portion and the second adjustment portion is a socket extending along the first direction, and the other of the first adjustment portion and the second adjustment portion is a plug extending along the first direction. The plug is movably inserted into the socket along the first direction. The clamping assembly further includes a locking member, which is disposed at the socket and used to lock the plug.

8. The auxiliary support device according to any one of claims 1 to 7, characterized in that, The clamping element includes: The first gripper is rotatably connected to the connector; The second gripper is disposed opposite to the first gripper along a third direction. The second gripper is rotatably connected to the connector. When the first gripper and the second gripper rotate relative to the connector, they grip or release the torso assembly. The third direction is perpendicular to the second direction and the first direction.

9. The supplemental support device of claim 8, wherein, The torso assembly includes a first clamping part and a second clamping part, wherein the first clamping jaw is used to clamp the first clamping part and the second clamping jaw is used to clamp the second clamping part; The clamping assembly further includes: A first locking member is disposed on the first gripper, and the first locking member is used to lock the first gripper to the first clamped part; A second locking member is disposed on the second gripper, and the second locking member is used to lock the second gripper to the second clamped part.

10. The supplemental support device of any one of claims 1 to 7, wherein, Also includes: The second support frame is detachably connected to the first end of the first support frame; A chassis assembly is connected to the end of the second support frame away from the first support frame, and the chassis assembly includes rollers.

11. The supplemental support device of any one of claims 1 to 7, wherein, Also includes: The third support frame includes a first support and a second support. The first support extends along the second direction and is detachably connected to the second end of the first support frame. The end of the first support away from the first support frame is connected to the second support. The suspension assembly, in the first direction, is located on the same side of the first support frame as the clamping assembly, and the suspension assembly is located on the side of the clamping assembly away from the first support frame. The suspension assembly is connected to one end of the second bracket, and the suspension assembly is used to suspend the robot.

12. The supplemental support device of claim 11, wherein, The second bracket includes a rotating part located between its two ends, and the rotating part is rotatably connected to the end of the first bracket away from the first support frame. The auxiliary support device further includes a second telescopic component, which is located on the side of the first support frame away from the clamping component. The two ends of the second telescopic component are rotatably connected to the ends of the first bracket and the second bracket away from the hanging component, respectively. The second telescopic component drives the second bracket to move along the second direction by telescoping.

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