robot

Abstract

The utility model discloses a kind of robots, including middle frame, first power mechanism, limiting part, cooperation part and first metal piece.First power mechanism is installed in middle frame by a fixed part, and have the output part that can rotate around first rotation axis;Limiting part is protruded in middle frame or protruded in the fixed part of first power mechanism, and limiting part is set on the rotation path of the output part of first power mechanism;Cooperation part is set in the output part of first power mechanism or the component driven by output part, when the output part of first power mechanism rotates to preset position, cooperation part cooperates with limiting part to limit output part continue to rotate;First metal piece is set to limiting part outside and is fixedly connected with limiting part, and first metal piece at least includes the collision surface for limiting part and the collision fit of cooperation part.The robot presented by the utility model, first metal piece can withstand greater impact force without deformation, and impact force is transmitted to middle frame, and impact force is effectively dispersed.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to robots. Background Technology

[0002] To improve the robot's mobility, multiple power mechanisms are often installed in the robot's leg units to increase the degree of freedom of the leg units.

[0003] In related technologies, during the movement of the robot's leg unit, the next-level power mechanism rotates under the drive of the output end of the previous-level power mechanism. The outer shell of the next-level power mechanism is prone to friction and collision with the outer shell of the previous-level power mechanism, which can damage or even break the outer shells of both power mechanisms, thus shortening their service life. Utility Model Content

[0004] In view of this, the present invention proposes a robot that aims to achieve reliable angular limiting during the rotation of the output part of the first power mechanism, and the impact force during limiting can be quickly transmitted and dispersed through the middle frame, thereby improving the reliability of the robot components and extending their service life.

[0005] This utility model discloses a robot comprising: a mid-frame; a first power mechanism, which is mounted on the mid-frame via a fixing part and has an output part capable of rotating around a first rotation axis; a limiting part, which protrudes from the mid-frame or from the fixing part of the first power mechanism and is disposed on the rotation path of the output part of the first power mechanism; a mating part, which is disposed on the output part of the first power mechanism or a component driven by the output part, wherein when the output part of the first power mechanism rotates to a preset position, the mating part engages with the limiting part to restrict the output part from continuing to rotate; and a first metal member, which is disposed outside the limiting part and fixedly connected to the limiting part, wherein the first metal member includes at least a collision surface for the collision engagement between the limiting part and the mating part.

[0006] As can be seen from the above technical solution, the robot proposed by this utility model, by setting a limiting part and a mating part, and setting a first metal part on the limiting part, when the output part of the first power mechanism rotates along the first rotation axis, the limiting part and the mating part form a rotation limit, and during the limiting collision process, the collision surface of the first metal part collides with the mating part. The mechanical structure performance of the first metal part is good, it can withstand a large impact force without deformation, and can quickly transmit the impact force to the middle frame, effectively dispersing the impact force, thereby avoiding damage to the limiting part and the mating part by impact.

[0007] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model; Figure 2 This is a partial explosion diagram of the robot proposed in some embodiments of this utility model; Figure 3 This is an exploded view of part of the structure of the robot proposed in some embodiments of this utility model; Figure 4 This is a schematic diagram showing the separation of two second power mechanisms and two first metal parts according to some embodiments of this utility model; Figure 5 This is a partial exploded view of a part of the robot structure proposed in some embodiments of this utility model; Figure 6 This is a schematic diagram of the separate structure of the circuit board support, middle frame, power supply frame, battery, and vibration isolation component in some embodiments of this utility model; Figure 7 This is a schematic diagram of the robot structure in some embodiments of this utility model.

[0010] Explanation of reference numerals in the attached figures: 1000, Robot; 1001, Sagittal plane; 101. Shell; 102. Clearance section; 110. Mid-frame; 113. Assembly port; 117. Mounting through hole; 120. Circuit board support; 1211. Cutout area; 130. Power supply frame; 140. Accommodation space; 200. Limb components; 202. Leg components; 211. First power mechanism; 2111. Fixed part; 2112. Output part; 213. First rotation axis; 212. Second power mechanism; 2121. Input section; 2122. Output end; 214. Second rotation axis; 220. Vibration isolation components; 510. Circuit board; 511. Controller; 600. Heat dissipation components; 700. Battery; 810. Limiting part; 820. Fitting part; 830. Protrusion; 910. First metal part; 911. Metal sleeve; 912. Metal connecting piece; 920, Second metal part; 940, Collision surface; 941, First collision surface; 942, Second collision surface. Detailed Implementation

[0011] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0012] Robots are typically equipped with limb components to enhance their mobility and the richness of their movements. Limb components usually consist of one or both leg and arm components. To increase the degrees of freedom of movement of the limb components, it is often necessary to incorporate multiple power components for actuation.

[0013] In related technologies, during the movement of the robot's leg unit, among multiple power mechanisms, the next-level power mechanism rotates under the drive of the output end of the previous-level power mechanism. The outer shell of the power mechanism is usually made of plastic. The outer shell of the next-level power mechanism is prone to friction and collision with the outer shell of the previous-level power mechanism, causing the plastic shells of the two power mechanisms to collide hard. Over time, this can easily lead to damage or even breakage, shortening the service life.

[0014] In view of this, this application proposes a robot 1000, which aims to achieve reliable angle limiting during the rotation of the output part 2112 of the first power mechanism 211, and the impact force during limiting can be quickly transmitted and dispersed through the middle frame 110, thereby improving the activity reliability of each component of the robot 1000 and extending its service life.

[0015] Provided that the solutions do not contradict each other, the following embodiments can be combined with each other.

[0016] The robot 1000 of this application can be in the form of a legged robot, a wheel-legged robot, a wheeled robot, etc. The robot 1000 can also be a robot with an animal-like form. The robot 1000 can be a bipedal, quadrupedal, or other multi-legged robot.

[0017] Combination Figure 1 , Figure 2 , Figure 3As shown in the figure, a robot 1000 proposed in this embodiment of the present invention includes: a middle frame 110, a first power mechanism 211, a limiting part 810, a mating part 820, and a first metal part 910.

[0018] Among them, reference Figure 3 The first power mechanism 211 is mounted on the middle frame 110 via a fixing part 2111 and has an output part 2112 that can rotate around the first rotation axis 213. A limiting part 810 protrudes from the middle frame 110 or from the fixing part 2111 of the first power mechanism 211, and the limiting part 810 is disposed on the rotation path of the output part 2112 of the first power mechanism 211.

[0019] refer to Figure 2 The mating part 820 is provided on the output part 2112 of the first power mechanism 211 or the component driven by the output part 2112. When the output part 2112 of the first power mechanism 211 rotates to a preset position, the mating part 820 cooperates with the limiting part 810 to limit the output part 2112 from continuing to rotate.

[0020] refer to Figure 4 The first metal part 910 is disposed on the outside of the limiting part 810 and is fixedly connected to the limiting part 810. The first metal part 910 includes at least a collision surface 940 for collision engagement between the limiting part 810 and the mating part 820.

[0021] As can be seen from the above, in the robot 1000 proposed in this embodiment of the present invention, the output part 2112 can rotate around the first rotation axis 213, thereby being able to rotate relative to the fixed part 2111. The limiting part 810 and the mating part 820 are respectively provided on the two relatively rotating components. For example, the limiting part 810 is provided on the middle frame 110, and the mating part 820 is provided on the output part 2112; for example, the limiting part 810 is provided on the middle frame 110, and the mating part 820 is provided on the component driven by the output part 2112; for example, the limiting part 810 is provided on the fixed part 2111, and the mating part 820 is provided on the output part 2112; for example, the limiting part 810 is provided on the fixed part 2111, and the mating part 820 is provided on the component driven by the output part 2112.

[0022] By setting the limiting part 810 and the mating part 820, and setting the first metal part 910 on the limiting part 810, the mechanical structure performance of the first metal part 910 is better. It can withstand a large impact force without deformation and is not easily damaged, forming a stress isolation layer. The first metal part 910 can also quickly disperse the force and prevent stress from concentrating in one place. For example, it can quickly transmit the impact force to the fixed part 2111 or the middle frame 110 connected to it, thereby further reducing the impact force on the first metal part 910 and the limiting part 810.

[0023] When the output part 2112 of the first power mechanism 211 rotates along the first rotation axis 213, the limiting part 810 and the mating part 820 form a rotation limit. During the limiting collision between the two, the collision surface 940 of the first metal part 910 collides with the mating part 820. The first metal part 910 can effectively disperse the impact force and is not easily deformed under force, thereby avoiding damage to the limiting part 810 and the mating part 820 from the impact.

[0024] It is understandable that by setting the first metal part 910, the limiting part 810 can be provided with a certain degree of protection, effectively preventing damage during the limiting impact process, so that the limiting part 810 can remain intact and not deformed during long-term use.

[0025] For example, the fixing part 2111 can be a fixing bracket, or a motor housing, mounting base, or reducer housing, etc. These parts do not rotate around the first rotation axis 213, and these parts remain stationary relative to the middle frame 110.

[0026] For example, the output part 2112 is a mechanical output part that can drive other components to rotate together around the first rotation axis 213. For example, for a motor in which the rotor rotates and the stator is stationary, the rotor serves as the output part 2112; for example, when the first power mechanism 211 includes a rotary motor and a reducer, the load output end formed by the reducer serves as the output part 2112.

[0027] For example, the first metal part 910 is fixedly connected to the limiting part 810, for example, by injection molding, adhesive bonding, interference fit or other connection methods.

[0028] The specific solutions for the first metal part 910 and the second metal part 920 are described below as examples.

[0029] In some embodiments, combined with Figure 2 and Figure 4 The robot 1000 also includes a second metal part 920, which is mechanically coupled to the mating part 820. When the output part 2112 rotates to a preset position, the first metal part 910 and the second metal part 920 collide and engage. By setting the second metal part 920, the mechanical structure of the second metal part 920 has better performance, can withstand greater impact without deformation, and is not easily damaged. The second metal part 920 can also quickly disperse the force, preventing stress concentration in one place. Thus, during the limiting collision between the limiting part 810 and the mating part 820, the second metal part 920 provides protection for the mating part 820, allowing the first metal part 910 and the second metal part 920 to collide directly instead of the mating part 820 colliding with the first metal part 910. This prevents the impact force generated by the collision from damaging the mating part 820, and enables the limiting part 810 and the mating part 820 to work stably together for a long time.

[0030] For example, the connection between the second metal part 920 and the mating part 820 can be by interference fit, fastener connection, adhesive bonding, or injection molding inserts.

[0031] In some embodiments, reference Figure 3 The first metal part 910 includes a metal sleeve 911 that is fitted with the limiting part 810 and a metal connecting piece 912. The two ends of the metal connecting piece 912 are respectively connected to the two ends of the metal sleeve 911 that are arranged opposite each other in the circumferential direction. The metal connecting piece 912 is arranged circumferentially around the first rotation axis 213. The metal connecting piece 912 can increase the force transmission area between the metal sleeve 911 and the fixing part 2111 or the middle frame 110, so that during the collision between the limiting part 810 and the mating part 820, the impact force on the metal sleeve 911 can be further dispersed and transmitted quickly through the metal connecting piece 912, thereby further improving the protective effect of the first metal part 910 on the limiting part 810. In a specific embodiment, a metal connecting piece 912 is provided on one side of the middle frame 110 and has multiple connecting holes. Fasteners pass through the connecting holes, so that the first metal piece 910 is detachably connected to the middle frame 110. After the fixing part 2111 is connected to the middle frame 110 and the first metal piece 910 is detachably connected to the middle frame 110, the metal sleeve 911 is fitted onto the limiting part 810 and is interference-fitted with the limiting part 810, so that the position of the first metal piece 910 relative to the fixing part 2111 and the middle frame 110 is fixed respectively.

[0032] For example, the materials of the first metal part 910 and the second metal part 920 are selected from at least one of steel, aluminum alloy, etc. Any material that can achieve high strength, is not easily deformed by impact, and is easy to process and form can be used to make the first metal part 910 and the second metal part 920 of this application.

[0033] For example, at least a portion of the first metal member 910 is in contact with the middle frame 110, which facilitates the rapid dispersion and transmission of the impact force to the middle frame 110 when the first metal member 910 is subjected to an impact, thereby reducing the destructive effect of the impact force on the first metal member 910. For example, the first metal member 910 is directly connected to the middle frame 110, or the metal sleeve 911 of the first metal member 910 is fitted onto the limiting part 810, and the metal connecting piece 912 of the first metal member 910 is connected to the middle frame 110, so that at least a portion of the first metal member 910 can directly transmit the force with the middle frame 110, accelerating the dispersion of the impact force.

[0034] The following example illustrates the design of the shock absorber.

[0035] In some embodiments, reference Figure 4The robot 1000 also includes a shock absorber (not shown in the figure). The shock absorber is disposed on the collision surface 940 of the first metal part 910 and / or the second metal part 920 for impact, so that when the first metal part 910 collides with the mating part 820, the impact force can be further reduced by the shock absorber, thereby reducing the damage to the impact surfaces of the first metal part 910 and the mating part 820; or when the first metal part 910 collides with the second metal part 920, the impact force can be reduced by the shock absorber, thereby reducing the damage to the impact surfaces of the first metal part 910 and the second metal part 920, making the first metal part 910 and the second metal part 920 less prone to deformation and scratches when impacted.

[0036] For example, the shock absorber is a silicone part, a rubber part, a thermoplastic elastomer, or other component, which can generate a certain buffering force on the collision surface 940 when the first metal part 910 and the mating part 820 collide, or generate a certain buffering force on the collision surface 940 when the first metal part 910 and the second metal part 920 collide. For example, the shock absorber generates an elastic force, making it less likely for the components to be damaged during the collision; the shock absorber can also provide a certain noise reduction effect, reducing the noise generated during the collision.

[0037] In a specific embodiment, the damping element includes a first damping element (not shown) and a second damping element (not shown), referenced. Figure 4 and Figure 5 The first metal component 910 includes a first impact surface 941, and the first impact surface 941 is connected to a first shock absorber; Reference Figure 4 The second metal part 920 includes a second collision surface 942, and the second collision surface 942 is connected to a second shock absorber. When the first metal part 910 and the second metal part 920 approach and collide, a certain impact force can be offset by the elastic force generated by the contact between the first shock absorber and the second shock absorber, thereby improving the reliability of the angle limit when the power mechanism of the robot 1000 rotates, and making the limiting part 810 and the mating part 820 less prone to damage.

[0038] For example, the first metal part 910 and / or the second metal part 920 are provided with a limiting groove. The shock absorber is interference-fitted into the limiting groove. The shock absorber protrudes from the groove opening of the limiting groove to form a surface to be impacted. This means that when the limiting part 810 and the mating part 820 are angularly limited, the shock absorber can be squeezed to generate an elastic reaction force to offset part of the impact force, so that the shock absorber has a better shock absorption effect.

[0039] The following example illustrates the cooperation scheme between the middle frame 110 and the first power mechanism 211.

[0040] In some embodiments, combined with Figure 3 and Figure 5The middle frame 110 is provided with a mounting through hole 117, through which the first power mechanism 211 passes and is fixedly connected to the middle frame 110. In a further embodiment, combined with Figure 3 and Figure 5 The first power mechanism 211 includes a fixing part 2111 and an output part 2112. The fixing part 2111 passes through the mounting through hole 117 and is fixedly connected to the middle frame 110. The metal connecting piece 912 and the limiting part 810 are located on the same side of the middle frame 110. The metal connecting piece 912 has multiple connecting holes. Fasteners pass through the connecting holes and fix the metal connecting piece 912 to the middle frame 110. At the same time, the metal sleeve 911 and the limiting part 810 are positioned and cooperated to realize that the first metal part 910, the fixing part 2111 and the limiting part 810 of the first power mechanism 211 are all fixedly set relative to the middle frame 110.

[0041] The following is an example of the design of the limiting part 810.

[0042] In some embodiments, reference Figure 3 and Figure 5 The limiting part 810 has a hollow structure, which can generate a certain force buffer space. For example, when the limiting part 810 is an injection molded part, the limiting part 810 has a certain force buffer performance, which can absorb a certain impact energy and save materials; and / or, the limiting part 810 is integrally formed with the middle frame 110, saving the assembly process of the limiting part 810 and the middle frame 110, so that the limiting part 810 and the middle frame 110 can transmit force evenly. When the first metal part 910 on the limiting part 810 is impacted, the first metal part 910 can protect the limiting part 810 and prevent the limiting part 810 from being damaged. The impact force borne by the first metal part 910 can also be quickly transmitted and dispersed to the middle frame 110 through the limiting part 810, or the impact force can be dispersed to the middle frame 110 by the first metal part 910 itself, so that the first metal part 910 and the limiting part 810 are not easily damaged.

[0043] In an exemplary embodiment, reference is made to Figure 3 and Figure 5 The robot 1000 includes two limiting parts 810, which are circumferentially spaced around the first rotation axis 213. Each limiting part 810 is provided with a first metal part 910. The arrangement of the two limiting parts 810 can adjust the maximum angle that the mating part 820 can rotate before and after colliding with the limiting part 810, so that the range of the rotatable angle of the output part 2112 around the first rotation axis 213 can be flexibly adjusted. The setting of two limiting parts 810 respectively cooperating with the mating part 820 can also improve the reliability of angle limiting, so that the mating part 820 can form limiting cooperation with different limiting parts 810 when rotating in different directions.

[0044] The following describes, by way of example, the circuit board support 120, the second power mechanism 212, the limb assembly 200, the protrusion 830, and the setting position of the mating part 820.

[0045] In some embodiments, combined with Figure 1 , Figure 2 , Figure 3 As shown, the robot 1000 also includes: a circuit board support 120, a limb assembly 200, and a second power mechanism 212.

[0046] Among them, reference Figure 2 and Figure 3 The circuit board bracket 120 is used to mount the circuit board 510. The circuit board bracket 120 is mechanically coupled to the middle frame 110, and an accommodating space 140 is formed between the middle frame 110 and the circuit board bracket 120. The input part 2121 of the second power mechanism 212 can be driven to rotate by the output part 2112 of the first power mechanism 211. (Refer to...) Figure 4 The output end 2122 of the second power mechanism 212 can rotate around the second rotation axis 214, and the output end 2122 of the second power mechanism 212 is mechanically coupled to the limb assembly 200 to drive the limb assembly 200 to move; combined with Figure 2 and Figure 4The mating part 820 is provided at the input part 2121 of the second power mechanism 212, and the extension direction of the first rotation axis 213 and the extension direction of the second rotation axis 214 are approximately perpendicular; the output part 2112 of the first power mechanism 211 and the input part 2121 of the second power mechanism 212 are provided in the accommodating space 140. In these embodiments, the input part 2121 of the second power mechanism 212, as the component driven by the output part 2112 in the aforementioned embodiments, can be a part of the second power mechanism 212 that does not rotate around the second rotation axis 214. For example, the input part 2121 can be a motor housing or a mounting frame. When the mating part 820 is provided on the input part 2121, and the output part 2112 of the first power mechanism 211 drives the input part 2121 of the second power mechanism 212 to rotate around the first rotation axis 213, the mating part 820 can make a limiting impact with the first metal part 910 on the limiting part 810. The first metal part 910 can quickly disperse and transmit the impact force to the limiting part 810, the fixing part 2111, the middle frame 110, and other parts, so that the impact force is dispersed, effectively preventing damage to the limiting part 810 and the mating part 820, and also extending the service life of the first metal part 910. The circuit board support 120 is mechanically coupled to the middle frame 110. Together, they form a rigid frame that can quickly disperse the impact force from the limiting engagement of the first metal part 910 and the mating part 820, and also disperse other impact forces received by the robot 1000, such as the impact force during tipping. This allows the accommodating space 140 enclosed by the circuit board support 120 and the middle frame 110 to maintain a certain configuration, providing some protection for the first power mechanism 211 and the second power mechanism 212, and also providing reliable support for them. The first power mechanism 211 and the second power mechanism 212 can respectively drive the limb assembly 200 to move in different directions, allowing the limb assembly 200 to move as... Figure 1 The leg assembly 202 shown is capable of movement in a large three-dimensional workspace, and the limb assembly 200 has more flexible and varied movements. Exemplarily, the first rotation axis 213 and the second rotation axis 214 are selected from any two of the roll axis, pitch axis, and yaw axis, and any combination of the above two axes can form perpendicular axes.

[0047] In other embodiments, the component driven by the output end 2122 also includes a bracket. The bracket is fixedly connected to the output part 2112 of the first power mechanism 211. The bracket can rotate around the first rotation axis 213 under the drive of the output part 2112. The mating part 820 is provided on the bracket. The second power mechanism 212 is installed on the bracket and rotates synchronously with the bracket. When the bracket rotates around the first rotation axis 213, the mating part 820 and the limiting part 810 are angularly limited, and the first metal part 910 collides with the mating part 820. This also allows the first metal part 910 to quickly disperse and transmit the impact force to the limiting part 810, the fixing part 2111, the middle frame 110, and other parts, so that the impact force is dispersed. The setting position of the limiting part 810 can be flexibly selected according to actual needs.

[0048] In some embodiments, reference Figure 3 and Figure 5 The robot 1000 also includes at least one protrusion 830, which protrudes from the surface of the middle frame 110 facing the circuit board support 120. The at least one protrusion 830 and the limiting part 810 are arranged circumferentially at a distance from each other on the first rotation axis 213. During the rotation of the output part 2112 of the first power mechanism 211, the protrusion 830 avoids the mating part 820. By setting the protrusion 830, the collision force between the mating part 820 and the first metal part 910 can be further quickly dispersed to the middle frame 110 by the protrusion 830, further reducing the probability of deformation of the first metal part 910 during the impact.

[0049] In some exemplary embodiments, the limiting part 810 protrudes along a direction parallel to the first rotation axis 213; the limiting part 810 and the mating part 820 are at least partially staggered along the direction of the first rotation axis 213, so as to form a limiting stop during the rotation of the second power mechanism 212 following the output part 2112 of the first power mechanism 211. The limiting part 810 and the mating part 820 can achieve limiting collision, while the protrusion 830 mainly plays the role of dispersing the force and does not limit the collision with the mating part 820. While accelerating the dispersion of the force, the angle of rotation of the output part 2112 around the first rotation axis 213 is set within a preset angle. When the first metal part 910 and the mating part 820 collide, the impact force can be quickly dispersed.

[0050] Based on the embodiment with protrusion 830, referring to Figure 3 and Figure 5In some embodiments, the robot 1000 further includes a metal connecting piece 912 and a metal sleeve 911. The metal connecting piece 912 covers each protrusion 830 and is detachably connected to the middle frame 110. The metal sleeve 911 is fitted onto the limiting portion 810, and the metal connecting piece 912 and the metal sleeve 911 are mechanically coupled. Therefore, when the metal sleeve 911 collides with the mating portion 820, the impact force on the metal sleeve 911 can be quickly transmitted to the protrusion 830 through the metal connecting piece 912, and then further dispersed by the middle frame 110. Alternatively, the impact force on the metal sleeve 911 can be further transmitted to the middle frame 110 through the limiting portion 810, achieving the effect of quickly dispersing the impact force towards the middle frame 110. The detachable connection between the metal connecting piece 912 and the middle frame 110 can be, for example, through a fastener connection.

[0051] In some embodiments, combined with Figure 1 and Figure 2 As shown, the robot 1000 includes two first power mechanisms 211 and two second power mechanisms 212. Both first power mechanisms 211 are connected to the middle frame 110. (Refer to...) Figure 1 The two first power mechanisms 211 are arranged symmetrically with respect to the sagittal plane 1001 of the robot 1000; combined with Figure 3 and Figure 4 Each first power mechanism 211's output 2112 is mechanically coupled to the input 2121 of a second power mechanism 212, and each second power mechanism 212's output 2122 is mechanically coupled to a set of limb components 200. Each second power mechanism 212's input 2121 is provided with a mating part 820. Along the path where the first power mechanism 211 drives the second power mechanism 212 to rotate, the middle frame 110 is provided with at least one limiting part 810 that mates with the mating part 820. The two first power mechanisms 211 and the two second power mechanisms 212 can respectively drive the movement of two sets of limb components 200, making the robot 1000's movement more flexible, for example, enabling it to move or display richer actions. During the rotation of each first power mechanism 211 around its own first rotation axis 213, the first metal part 910 on the limiting part 810 and the mating part 820 form an impact engagement. The first metal part 910 can quickly transmit force and is not easily damaged.

[0052] The following describes an exemplary configuration of the power supply frame 130, battery 700, and heat dissipation assembly 600.

[0053] Combination Figure 2 , Figure 3 and Figure 6The robot 1000 also includes a power supply frame 130 and a battery 700. The middle frame 110 has an assembly port 113. The power supply frame 130 passes through the assembly port 113 and is detachably connected to the circuit board support 120. The space enclosed by the circuit board support 120, the middle frame 110, and the power supply frame 130 is an accommodating space 140. A battery compartment (not shown) is formed within the power supply frame 130, where the battery 700 can be installed. The middle frame 110 is fitted to the power supply frame 130 through the assembly port 113. After the power supply frame 130 is connected to the circuit board support 120, the power supply frame 130, the middle frame 110, and the circuit board support 120 together form a tightly connected rigid frame, further enhancing the structural strength and force distribution performance of the entire rigid frame. The battery 700 can also be arranged through the power supply frame 130, allowing the battery 700 to be protected by the rigid frame from damage by external impacts. When the output portion 2112 of the first power mechanism 211 rotates around the first rotation axis 213, the force generated by the collision between the first metal part 910 and the mating portion 820 can be quickly dispersed by the aforementioned rigid frame. In some exemplary embodiments, the detachable connection between the power supply frame 130 and the circuit board support 120 can be at least one of plug-in, snap-fit, or fastener connection, which can be flexibly selected according to actual needs. The battery 700 can transmit electrical energy to different power components through the power board, such as the circuit board 510, the first power mechanism 211, the second power mechanism 212, the heat dissipation assembly 600, etc.

[0054] In some embodiments, reference Figure 2 The robot 1000 also includes a heat dissipation component 600 and a circuit board 510. The circuit board 510 and the heat dissipation component 600 are respectively located on opposite sides of the circuit board support 120, and the heat dissipation component 600 is located in the accommodating space 140. During the rotation of the cooling fan of the heat dissipation component 600, it can drive the airflow in the accommodating space 140. The heat generated by the circuit board 510, the heat generated by the battery 700, the heat generated by the first power mechanism 211, and the heat generated by the second power mechanism 212 are continuously dispersed during the airflow, reducing heat accumulation and facilitating the stable operation of each heat-generating component.

[0055] In some embodiments, combined with Figure 2 , Figure 3 and Figure 6The circuit board support 120 has a hollow area 1211 along the extension direction of the first rotation axis 213. The hollow area 1211 is connected to one side of the heat dissipation component 600 and one side of the circuit board 510 respectively. When the heat dissipation fan of the heat dissipation component 600 rotates, it can drive the airflow around the circuit board 510 to exchange with the airflow in the accommodating space 140. In the process of continuous heat exchange, the heat generated by the circuit board 510 can be dispersed and transferred to the outside of the robot 1000, thereby better dissipating heat from the circuit board 510.

[0056] The following is an exemplary description of the controller 511, housing 101, and vibration isolation component 220.

[0057] In some embodiments, combined with Figure 2 and Figure 7 The circuit board 510 includes a controller 511, which is electrically connected to the first power mechanism 211 and the second power mechanism 212 respectively. The controller 511 is configured to send control signals to the first power mechanism 211 and / or the second power mechanism 212 in response to user input operations, so as to make the output part 2112 of the first power mechanism 211 rotate around the first rotation axis 213, and / or make the output end 2122 of the second power mechanism 212 rotate around the second rotation axis 214.

[0058] In some embodiments, combined with Figure 1 and Figure 2 The robot 1000 also includes a housing 101, a limb assembly 200 including a leg assembly 202, a mid-frame 110 and a circuit board support 120 disposed within the housing 101, and the leg assembly 202 is mechanically coupled to the second power mechanism 212; combined with Figure 1 , Figure 2 and Figure 5The housing 101 is provided with a clearance portion 102, which connects to the accommodating space 140. The clearance portion 102 avoids the second power mechanism 212 and / or the leg assembly 202, so that the first power mechanism 211 and / or the second power mechanism 212 can drive the leg assembly 202 to move relative to the housing 101. By providing the housing 101, internal components such as the middle frame 110 and the circuit board bracket 120 can be shielded, preventing dust, hair, and other contaminants from entering the interior and affecting the operation of electrical components. A clearance portion 102 is provided on the housing 101 to prevent the first power mechanism 211 and / or the second power mechanism 212 from interfering with the housing 101 when driving the leg assembly 202. When the output portion 2112 of the first power mechanism 211 rotates around the first rotation axis 213, it enables the leg assembly 202 to move with a first degree of freedom. When the output end 2122 of the second power mechanism 212 rotates around the second rotation axis 214, it enables the leg assembly 202 to move with a second degree of freedom. When the output portion 2112 of the first power mechanism 211 rotates around the first rotation axis 213, the first power mechanism 211, the second power mechanism 212, and the leg assembly 202 can all move flexibly without colliding with the housing 101, allowing the output portion 2112 of the first power mechanism 211 to rotate smoothly and forming a collision limit via the first metal part 910 and the mating part 820. For example, the clearance portion 102 can be a through-hole and / or a channel.

[0059] For example, the housing 101 is provided with an air inlet and outlet that connect the accommodating space 140 and the external environment, so that the gas in the accommodating space 140 can be exchanged with the gas in the external environment during the rotation of the cooling fan of the heat dissipation assembly 600.

[0060] In some embodiments, in order to improve the vibration damping effect and protection of the first power mechanism 211, combined with Figure 2 and Figure 6 The robot 1000 also includes a vibration damper 220, which is disposed between the middle frame 110 and the housing 101, and located between the fixing portions 2111 of the two first power mechanisms 211. The vibration damper 220 can buffer and isolate the rear of the housing 101, and absorb and buffer the impact force when the robot 1000 tilts backward and falls, reducing the impact on the first power mechanism 211 and the middle frame 110. For example, the vibration damper 220 includes foam, which can be cushioning foam, thermoplastic resin such as EVA (Ethylene Vinyl Acetate), PORON cotton, silicone pad, elastic rubber or similar materials, thereby greatly improving the elastic deformation performance of the vibration damper 220 and effectively reducing the probability of deformation of the housing 101 and the first power mechanism 211.

[0061] In this utility model, 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. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include one or more of the stated features.

[0062] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0063] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: Mid-frame; The first power mechanism is mounted on the middle frame via a fixing part and has an output part that can rotate around a first rotation axis; A limiting part protrudes from the middle frame or from the fixing part of the first power mechanism, and the limiting part is disposed on the rotation path of the output part of the first power mechanism. A mating part is provided at the output part of the first power mechanism or a component driven by the output part. When the output part of the first power mechanism rotates to a preset position, the mating part cooperates with the limiting part to restrict the output part from continuing to rotate. A first metal component is disposed outside the limiting portion and fixedly connected to the limiting portion. The first metal component includes at least a collision surface for collision engagement between the limiting portion and the mating portion.

2. The robot as described in claim 1, characterized in that, The robot also includes a second metal component, which is mechanically coupled to the mating part. When the output part rotates to a preset position, the first metal component and the second metal component collide and engage.

3. The robot as described in claim 1 or 2, characterized in that, The first metal component includes a metal sleeve and a metal connecting piece that are fitted onto the limiting part. The two ends of the metal connecting piece are respectively connected to the two ends of the metal sleeve that are arranged opposite each other in the circumferential direction. The metal connecting piece is arranged circumferentially around the first rotation axis.

4. The robot as described in claim 2, characterized in that, The robot also includes shock absorbers disposed on the impact surfaces of the first metal part and / or the second metal part.

5. The robot as described in claim 1 or 2, characterized in that, At least a portion of the first metal component is in contact with the middle frame.

6. The robot as described in claim 1 or 2, characterized in that, The limiting part is a hollow structure; and / or, the limiting part is integrally formed with the middle frame.

7. The robot as described in claim 1 or 2, characterized in that, The robot includes two limiting parts, which are arranged circumferentially around the first rotation axis; each limiting part is provided with one of the first metal parts.

8. The robot as described in claim 1 or 2, characterized in that, The robot also includes: A circuit board bracket for mounting a circuit board, the circuit board bracket being mechanically coupled to the middle frame, and an accommodating space being formed between the middle frame and the circuit board bracket; Limb components; The second power mechanism has an input section that can be driven to rotate by the output section of the first power mechanism, and an output end that can rotate around a second rotation axis. The output end of the second power mechanism is mechanically coupled to the limb assembly to drive the limb assembly to move. The mating part is disposed at the input section of the second power mechanism. The extension direction of the first rotation axis is approximately perpendicular to the extension direction of the second rotation axis; the output part of the first power mechanism and the input part of the second power mechanism are located in the accommodating space.

9. The robot as described in claim 8, characterized in that, The robot further includes at least one protrusion, which protrudes from the surface of the middle frame facing the circuit board support, and the at least one protrusion and the limiting part are arranged circumferentially at a distance from each other along the first rotation axis. During the rotation of the output part of the first power mechanism, the protrusion avoids the mating part.

10. The robot as described in claim 9, characterized in that, The limiting part protrudes along a direction parallel to the first rotation axis; the limiting part and the mating part are at least partially staggered along the direction of the first rotation axis to form a limiting stop during the rotation of the second power mechanism following the output part of the first power mechanism.

11. The robot as described in claim 9, characterized in that, The robot also includes a metal connecting piece and a metal sleeve. The metal connecting piece covers each of the protrusions and is detachably connected to the middle frame. The metal sleeve is fitted onto the limiting part.

12. The robot as described in claim 8, characterized in that, The robot also includes a housing, the limb assembly includes a leg assembly, the mid-frame and the circuit board bracket are disposed within the housing, and the leg assembly is mechanically coupled to the second power mechanism; The housing is provided with a clearance portion that communicates with the accommodating space. The clearance portion avoids the second power mechanism and / or the leg assembly, so that the first power mechanism and / or the second power mechanism can drive the leg assembly to move relative to the housing.

13. The robot as described in claim 8, characterized in that, The robot includes two first power mechanisms and two second power mechanisms. The two first power mechanisms are connected to the mid-frame and are arranged symmetrically with respect to the sagittal plane of the robot. The output of each first power mechanism is mechanically coupled to the input of one of the second power mechanisms, and the output of each second power mechanism is mechanically coupled to a set of limb components. Each input section of the second power mechanism is provided with a mating part, and on the path along which the first power mechanism drives the second power mechanism to rotate, the middle frame is provided with at least one limiting part that mates with the mating part.

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