Robot

Abstract

A robot (10) including a main body (100), a handle (200) provided with an assembly member (210), a locking mechanism (400), and an unlocking mechanism (500), wherein the assembly member (210) is provided with a first position limiting groove (211) and a connection pin (300), the locking mechanism (400) includes a locking member (410) connected to the main body (100) and hinged to the assembly member (210) and a locking pin (420), the locking member (410) is provided with a second position limiting groove (411), the locking pin (420) moves along the axial direction of the second position limiting groove (411) and is movable within the first position limiting groove (211) and the second position limiting groove (411), and the unlocking mechanism (500) is configured to drive the connection pin (300) to move along the axial direction of the first position limiting groove (211) and drive the locking pin (420) to disengage from the first position limiting groove (211).

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of a Chinese patent application with the application number CN202223453041.5 and the application title "Robot", which was filed with the China National Intellectual Property Administration on December 20, 2022, and all of its contents are incorporated herein by reference.

[0002] This application relates to the technical field of smart cleaning devices, and particularly to robots.

Background Art

[0003] Robots can improve environmental sanitation and save people's labor. Conventional robots are all manually operated, and usually, by providing a handle on the top of the outer surface of the robot, it assists the user to move the robot body to complete various work tasks. However, the handles of conventional robots are usually fixed to the body, and the structure of conventional handles usually occupies a large space.

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to various embodiments of the present application, a robot is provided.

Means for Solving the Problems

[0005] The robot includes a main body, a handle, one end of the handle is provided with an assembly member, and the assembly member is provided with a first position - limiting groove and a connection pin that penetrates through the first position - limiting groove and is movably provided along the axial direction of the first position - limiting groove. A locking mechanism, the locking mechanism includes a locking member and a locking pin fixedly connected to the main body, the locking member is hingedly connected to the assembly member so that the handle can be inverted with respect to the main body, and a second position limiting groove for accommodating the locking pin is provided in the locking member. When the handle is inverted with respect to the main body by a predetermined angle, the locking pin is movable along the axial direction of the second position limiting groove, and a locking mechanism that moves within the first position limiting groove and the second position limiting groove to lock the handle in the first state. An unlocking mechanism, the unlocking mechanism is located at one end of the connecting pin, the locking pin is located at the other end of the connecting pin, and the unlocking mechanism drives the connecting pin to move along the axial direction of the first position limiting groove to drive the locking pin to disengage from the first position limiting groove, thereby switching the handle from the first state to the second state.

[0006] Details of one or more embodiments of the present application are described in the following drawings and description. Other features and advantages of the present application will become apparent from the specification, drawings and claims.

[0007] In the following, in order to more clearly explain the technical solutions of the embodiments or the prior art of the present application, the drawings necessary for the description of the embodiments or the prior art will be briefly described. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain the drawings of other embodiments from these drawings without creative efforts.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, for the purpose of facilitating the understanding of the present application, the present application will be described more completely with reference to the related drawings. The drawings show preferred embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described in this specification. On the contrary, these embodiments are provided for the purpose of making the understanding of the disclosure content of the present application more thorough and complete.

[0010] Unless otherwise defined, all technical terms and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application are only for the purpose of explaining specific embodiments and are not intended to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0011] As shown in FIGS. 1, 2, and 4, a robot 10 according to an embodiment of the present application includes a main body 100, a handle 200, a locking mechanism 400, and an unlocking mechanism 500. The handle 200 is hinged to the main body 100 and is rotatable with respect to the main body 100. The locking mechanism 400 is configured to lock the handle 200 at a predetermined angle with respect to the main body 100. The unlocking mechanism 500 is configured to unlock the locked handle 200.

[0012] As shown in FIGS. 1, 2, 3, and 4, an assembly member 210 is provided at one end of the handle 200. The assembly member 210 is provided with a first position limiting groove 211 and a connecting pin 300 that penetrates the first position limiting groove 211 and is movably provided along the axial direction of the first position limiting groove 211. Preferably, the handle 200 and the assembly member 210 may have an integrally formed structure. The assembly member 210 may be fixedly connected to one end of the handle 200.

[0013] As shown in FIGS. 3, 4, 6, and 8, the locking mechanism 400 includes a locking member 410 and a locking pin 420 fixedly connected to the main body 100. The locking member 410 is hinged to the assembly member 210 such that the handle 200 can be reversed with respect to the main body 100, and the locking member 410 is provided with a second position limiting groove 411 for accommodating the locking pin 420. Specifically, the central axis of the first position limiting groove 211 in the assembly member 210 coincides with the central axis of the second position limiting groove 411, and the opening of the first position limiting groove 211 and the opening of the second position limiting groove 411 are provided to face each other.

[0014] Preferably, the assembly member 210 is hinged to the locking pin 420 and thus hinged to the locking member 410.

[0015] In another preferred embodiment, the locking member 410 is hinge-connected to the assembling member 210 via a hinge assembly. The hinge assembly includes an annular locking block provided on the assembling member 210 and an annular locking groove provided on the locking member 410 and fitted with the annular locking block. The central axis of the annular locking block and the central axis of the annular locking groove overlap each other. More specifically, the central axis of the annular locking block and the central axis of the first position limiting groove 211 overlap each other. The central axis of the annular locking groove and the central axis of the second position limiting groove overlap each other.

[0016] As shown in FIGS. 1, 4, 7, and 8, when the handle 200 is reversed relative to the main body 100 to a predetermined angle, the locking pin 420 moves along the axial direction of the second position limiting groove 411 and moves into the first position limiting groove 211 and the second position limiting groove 411, so that the handle 200 can be locked in the first state. When the locking pin 420 moves into the first position limiting groove 211 and the second position limiting groove 411, the handle 200 can be locked, the handle 200 cannot be reversed relative to the main body 100, and the stability of the handle 200 is maintained. That is, the first state is a state in which the handle 200 cannot be reversed relative to the main body 100.

[0017] As shown in FIGS. 1, 4, 5, and 6, the unlocking mechanism 500 is located at one end of the connecting pin 300, and the locking pin 420 is located at the other end of the connecting pin 300. The unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first position limiting groove 211, and drives the locking pin 420 to disengage from the first position limiting groove 211, so as to switch the handle 200 from the first state to the second state. When the locking pin 420 disengages from the first position limiting groove 211, the reversal of the handle 200 is not affected by the locking pin 420, the locked handle 200 can be unlocked, and the handle 200 can be reversed relative to the main body 100 to any angle. That is, the first state is a state in which the handle 200 can be arbitrarily reversed relative to the main body 100.

[0018] In a preferred embodiment, the connection pin 300 may be provided separately from the lock pin 420, may always be in contact with each other, or may be provided at an interval. When the locked handle 200 is unlocked, the connection pin 300 comes into contact with the lock pin 420.

[0019] In another preferred embodiment, the connection pin 300 may be fixedly connected to the lock pin 420, for example, may be integrally formed, or may be fixed by means such as welding or screw connection, which is not limited herein.

[0020] By providing the locking mechanism 400 and the assembly member 210, when the handle 200 is reversed to a predetermined angle with respect to the main body 100, the lock pin 420 is provided in the first position limiting groove 211 and the second position limiting groove 411 so as to be movable along the axial direction of the second position limiting groove 411, and the handle 200 is locked, thereby maintaining the stability of the handle 200. By providing the unlocking mechanism 500 and the connection pin 300, the unlocking mechanism 500 drives the connection pin 300 to move along the axial direction of the first position limiting groove 211, drives the lock pin 420 to disengage from the first position limiting groove 211, thereby realizing unlocking of the locked handle 200 and enabling the handle 200 to be reversed to an arbitrary angle with respect to the main body 100.

[0021] As shown in FIGS. 4, 6, 9, and 10, according to some embodiments of the present application, preferably, in the first state, the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 on the projection plane is located within the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 on the projection plane. In the second state, the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 on the projection plane and the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 on the projection plane are partially offset. The projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove 211.

[0022] In addition, when the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane is located within the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 onto the projection plane, the lock pin 420 can move along the axial direction of the second position limiting groove 411 and can move within the first position limiting groove 211 and the second position limiting groove 411. When the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane and the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 onto the projection plane are partially displaced, one end of the lock pin 420 close to the first position limiting groove 211 abuts against one end of the lock pin 420 close to the first position limiting groove 211 of the first position limiting groove 211, so that one end of the lock pin 420 close to the first position limiting groove 211 restricts the movement of the lock pin 420, and further the lock pin 420 cannot move within the first position limiting groove 211 and the second position limiting groove 411.

[0023] In a preferred embodiment, in the first state, the fact that the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane is located within the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 onto the projection plane may be that the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane overlaps with the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 onto the projection plane.

[0024] In another preferred embodiment, in the first state, the fact that the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane is located within the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 onto the projection plane may be that the orthographic projection of the first opening facing the second position limiting groove 411 of the first position limiting groove 211 onto the projection plane is smaller than the orthographic projection of the second opening facing the first position limiting groove 211 of the second position limiting groove 411 and is located within the orthographic projection. This is not limited here.

[0025] In a preferred embodiment, the locking pin 420 may be a uniform cylinder along the axial direction (i.e., a cylinder with the same cross-section) or a cylinder with a part being a uniform cylinder along the axial direction. Its first position limiting groove 211 and second position limiting groove 411 may be at least partially a uniform groove body, and the orthographic projection of the uniform part of the first position limiting groove 211 onto the projection plane overlaps with the orthographic projection of the first opening onto the projection plane. Similarly, the orthographic projection of the uniform part of the second position limiting groove 411 onto the projection plane overlaps with the orthographic projection of the second opening onto the projection plane. Thereby, when entering the first state, a part of the locking pin 420 can move from the second position limiting groove 411 to the first position limiting groove 211.

[0026] In another preferred embodiment, the locking pin 420 may be a tapered body along the axial direction. For example, preferably, one end of the locking pin 420 close to the first position limiting groove 211 is smaller than the end away from the first position limiting groove 211. Correspondingly, at least a part of the first position limiting groove 211 and the second position limiting groove 411 may be tapered grooves.

[0027] Preferably, the orthographic projection of the tapered groove part of the first position limiting groove 211 onto the projection plane is smaller than the orthographic projection of the first opening onto the projection plane, and gradually becomes smaller along the direction away from the first opening. The orthographic projection of the tapered groove part of the second position limiting groove 411 onto the projection plane is larger than the orthographic projection of the first opening onto the projection plane, and preferably gradually becomes larger along the direction away from the second opening.

[0028] Preferably, the orthographic projection refers to a projection perpendicular to the projection plane. For example, the orthographic projection of the first opening of the first position limiting groove 211 onto the projection plane is the projection of the first opening of the first position limiting groove 211 onto the projection plane along the axis of the first position limiting groove 211. The orthographic projection of the first opening of the second position limiting groove 411 onto the projection plane is the projection of the first opening of the second position limiting groove 411 onto the projection plane along the axis of the second position limiting groove 411.

[0029] As shown in FIGS. 4, 6, 9, and 10, according to some embodiments of the present application, preferably, the cross-section perpendicular to the axial direction of the first position limiting groove 211 of the first position limiting groove 211 and the cross-section perpendicular to the axial direction of the second position limiting groove 411 of the second position limiting groove 411 are both polygonal structures.

[0030] In a preferred embodiment, the cross-section perpendicular to the axial direction of the first position limiting groove 211 of the first position limiting groove 211 and the cross-section perpendicular to the axial direction of the second position limiting groove 411 of the second position limiting groove 411 are both rectangular structures. That is, when the first position limiting groove 211 rotates 0° or 180° with respect to the second position limiting groove 411, the orthographic projection of the first opening of the first position limiting groove 211 onto the projection plane facing the second position limiting groove 411 is located within the orthographic projection of the second opening of the second position limiting groove 411 onto the projection plane facing the first position limiting groove 211. When the first position limiting groove 211 rotates by another angle with respect to the second position limiting groove 411, the orthographic projection of the first opening of the first position limiting groove 211 onto the projection plane facing the second position limiting groove 411 and the orthographic projection of the second opening of the second position limiting groove 411 onto the projection plane facing the first position limiting groove 211 are partially displaced.

[0031] The second position limiting groove 411 is provided obliquely with respect to the length direction or the width direction of the locking member 410. That is, one side wall of the second position limiting groove 411 forms an angle with the length direction or the width direction of the locking member 410. By setting the inclination angle of the second position limiting groove 411 with respect to the length direction or the width direction of the locking member 410, the handle 200 can be locked at a predetermined angle with respect to the main body 100. It should be noted that the present application does not limit the inclination angle of the second position limiting groove 411 with respect to the length direction or the width direction of the locking member 410, and can be set according to the predetermined angle at which the handle 200 is locked with respect to the main body 100.

[0032] In another preferred embodiment, the cross-section perpendicular to the axial direction of the first position limiting groove 211 of the first position limiting groove 211 and the cross-section perpendicular to the axial direction of the second position limiting groove 411 of the second position limiting groove 411 may be a quadrilateral structure or a pentagonal structure, and the present application does not limit this.

[0033] As shown in FIGS. 1, 4, 6, and 8, in some embodiments of the present application, preferably, the locking mechanism 400 further includes a lock driving assembly 430. When the handle 200 is inverted to a predetermined angle with respect to the main body 100, the lock driving assembly 430 drives the lock pin 420 to move along the axial direction of the second position limiting groove 411 into the first position limiting groove 211 and the second position limiting groove 411.

[0034] Preferably, the lock driving assembly 430 includes a lock return elastic member 431 and a lock end cap 432. The lock end cap 432 is provided at one end of the locking member 410 away from the assembly member 210. The lock return elastic member 431 is located between the lock pin 420 and the lock end cap 432. Preferably, the lock return elastic member 431 uses a spring.

[0035] When the handle 200 is in the second state, the lock return elastic member 431 is in a compressed state. When the handle 200 is inverted to a predetermined angle with respect to the main body 100, under the action of the elastic force of the lock return elastic member 431, the lock return elastic member 431 can drive the lock pin 420 to move along the axial direction of the second position limiting groove 411 into the first position limiting groove 211 and the second position limiting groove 411.

[0036] As shown in FIGS. 4, 9, 10, and 11, a first tapered surface 2111 is provided in both the first position limiting groove 211 and the second position limiting groove 411. A second tapered surface 421 is provided on the outer periphery of the lock pin 420. By matching the second tapered surface 421 with the first tapered surface 2111, it becomes easier for the lock pin 420 to move into the first position limiting groove 211 and the second position limiting groove 411.

[0037] Preferably, the size of the second tapered surface 421 gradually decreases from one end close to the lock return elastic member 431 to the end away from the lock return elastic member 431, which is advantageous for movement into the first position limiting groove 211 and the second position limiting groove 411 and can play a guiding role.

[0038] As shown in FIGS. 4, 6, and 8, in some embodiments of the present application, preferably, the assembly member 210 is provided with a sliding hole 212, and the sliding hole 212 is formed at the bottom of the first position limiting groove 211. The connection pin 300 includes a sliding portion 310 slidably connected to the sliding hole 212, and the sliding portion 310 is connected to the locking pin 420. Specifically, when the unlocking mechanism 500 drives the connection pin 300 to move along the axial direction of the first position limiting groove 211, the sliding portion 310 of the connection pin 300 is connected to the locking pin 420, and further drives the locking pin 420 to disengage from the first position limiting groove 211.

[0039] In a preferred embodiment, the connection pin 300 further includes an abutting portion 320 provided at one end close to the locking pin 420. The abutting portion 320 is connected to the locking pin 420 and can abut against the bottom of the first position limiting groove 211. In this embodiment, the diameter of the abutting portion 320 is larger than the diameters of the sliding hole 212 and the sliding portion 310.

[0040] When the unlocking mechanism 500 drives the connection pin 300 to move along the axial direction of the first position limiting groove 211, the abutting portion 320 can abut against the locking pin 420 and drive the locking pin 420 to move in a direction away from the first position limiting groove 211. By providing the abutting portion 320 to abut against the bottom of the first position limiting groove 211, the abutting portion 320 does not disengage from the first position limiting groove 211 and can play a role in position limiting for the connection pin 300.

[0041] In another preferred embodiment, one end of the sliding portion 310 away from the locking pin 420 can abut against the bottom of the first position limiting groove 211, whereby the sliding portion 310 does not disengage from the first position limiting groove 211 and can play a role in position limiting for the connection pin 300.

[0042] In still another preferred embodiment, the sliding portion 310 and the locking pin 420 have an integrally formed structure. Specifically, the diameter of the sliding portion 310 is smaller than the length and width of the locking pin 420.

[0043] As shown in FIGS. 4, 6, and 8, in some embodiments of the present application, preferably, the connection pin 300 further includes a connection portion 330 connected to the unlocking mechanism 500. Specifically, the unlocking mechanism 500 uses an unlocking button, and the unlocking mechanism 500 is fixedly connected to the connection portion 330 of the connection pin 300.

[0044] As shown in FIGS. 4, 6, and 8, in some embodiments of the present application, preferably, the robot 10 further includes a damping stop assembly 600, and the damping stop assembly 600 is attached between the assembly member 210 and the connection pin 300 and is configured to apply a damping force to the inversion of the assembly member 210. By providing the damping stop assembly 600, a damping force can be applied to the inversion of the assembly member 210, and further, it can be realized that the handle 200 stops halfway at a specific angle.

[0045] The robot 10 further includes an unlocking elastic member 700, and both ends located on the opposite side of the unlocking elastic member 700 are respectively in contact with the sliding portion 310 and the damping stop assembly 600. Specifically, the unlocking elastic member 700 uses a spring. When the unlocking mechanism 500 is pushed, the unlocking elastic member 700 is in a compressed state. After the unlocking mechanism 500 is released, the unlocking elastic member 700 provides an elastic force to drive the connection pin 300 and the unlocking mechanism 500 to return.

[0046] As shown in FIGS. 4, 6, and 8, in some embodiments of the present application, preferably, the assembly member 210 is engaged with the connection pin 300. The damping intermediate stop assembly 600 includes a damper 610 and a damper mounting plate 620. The damper 610 is fitted into the connection pin 300 to provide resistance to the rotation of the connection pin 300 and to provide resistance to the reversal of the assembly member 210. The damper mounting plate 620 includes a first mounting portion and a second mounting portion. The first mounting portion is connected to the damper 610 and is fitted into the connection pin 300. The second mounting portion 330 is fixedly connected to the locking member 410.

[0047] As shown in FIGS. 1, 2, and 3, in some embodiments of the present disclosure, preferably, the robot 10 further includes a display 800, and the display 800 is connected to the handle 200. When the handle 200 is reversed with respect to the main body 100, the display 800 can rotate following the reversal of the handle 200.

[0048] The technical features of the above-described embodiments can be arbitrarily combined. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0049] The above embodiments merely illustrate some embodiments of the present application. Although the description is specific and detailed, it should not be understood as limiting the scope of the invention of the present application. It should be noted that those skilled in the art can make some modifications and improvements within the scope of the present application without departing from the idea of the present application. Therefore, the scope of the patent of the present application shall be subject to the appended claims.

Description of Reference Numerals

[0050] 10 Robot 100 Main Body 200 Handle 210 Assembly Member 211 First position limiting groove 2111 First tapered surface 212 Sliding hole 300 Connecting pin 310 Sliding part 320 Contact part 330 Connecting part 400 Lock mechanism 410 Locking member 411 Second position limiting groove 420 Locking pin 421 Second tapered surface 430 Lock driving assembly 431 Lock return elastic member 432 Lock end cap 500 Lock release mechanism 600 Damping intermediate stop assembly 610 Damper 620 Damper mounting plate 700 Lock release elastic member 800 Display

Claims

1. A main body (100), a handle (200), one end of the handle (200) is provided with an assembly member (210), and the assembly member (210) is provided with a first position limiting groove (211) and a connection pin (300) which is provided through the first position limiting groove (211) and is movably provided along the axial direction of the first position limiting groove (211), a locking mechanism (400), the locking mechanism (400) includes a locking member (410) and a locking pin (420) fixedly connected to the main body (100), the locking member (410) is hingedly connected to the assembly member (210) so that the handle (200) can be inverted with respect to the main body (100), and the locking member (410) is provided with a second position limiting groove (411) for accommodating the locking pin (420). When the handle (200) is inverted with respect to the main body (100) to a predetermined angle, the locking pin (420) is movable along the axial direction of the second position limiting groove (411), and the locking mechanism (400) moves into the first position limiting groove (211) and the second position limiting groove (411) to lock the handle (200) in the first state, a unlocking mechanism (500), the unlocking mechanism (500) is located at one end of the connection pin (300), the locking pin (420) is located at the other end of the connection pin (300), and the unlocking mechanism (500) drives the connection pin (300) to move along the axial direction of the first position limiting groove (211), and drives the locking pin (420) to disengage from the first position limiting groove (211), thereby switching the handle (200) from the first state to the second state. The robot (10) is characterized by including the above components.

2. In the first state, the orthographic projection of the first opening of the first position limiting groove (211) facing the second position limiting groove (411) on the projection plane is located within the orthographic projection of the second opening of the second position limiting groove (411) facing the first position limiting groove (211) on the projection plane, The projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove (211). The robot (10) according to claim 1 is characterized by this.

3. In the second state, the orthographic projection of the first opening of the first position limiting groove (211) toward the second position limiting groove (411) on the projection plane and the orthographic projection of the second opening of the second position limiting groove (411) toward the first position limiting groove (211) on the projection plane are partially offset. The projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove (211). The robot (10) according to claim 1, characterized in that.

4. The connection pin (300) is provided separately from the lock pin (420). The robot (10) according to claim 1, characterized in that.

5. The connection pin (300) is fixedly connected to the lock pin (420). The robot (10) according to claim 1, characterized in that.

6. The cross-section perpendicular to the axial direction of the first position limiting groove (211) of the first position limiting groove (211) and the cross-section perpendicular to the axial direction of the second position limiting groove (411) of the second position limiting groove (411) are both polygonal structures. The robot (10) according to claim 1, characterized in that.

7. The locking mechanism (400) further includes a lock driving assembly (430). When the handle (200) is inverted to a predetermined angle with respect to the main body (100), the lock driving assembly (430) drives the lock pin (420) to move along the axial direction of the second position limiting groove (411) into the first position limiting groove (211) and the second position limiting groove (411). The robot (10) according to claim 1, characterized in that.

8. The lock driving assembly (430) includes a lock return elastic member (431) and a lock end cap (432). The lock end cap (432) is provided at one end of the lock member (410) away from the assembly member (210). The lock return elastic member (431) is located between the lock pin (420) and the lock end cap (432). The robot (10) according to claim 7, characterized in that.

9. In both the first position limiting groove (211) and the second position limiting groove (411), a first tapered surface (2111) is provided. On the outer periphery of the lock pin (420), a second tapered surface (421) is provided. The second tapered surface (421) is combined with the first tapered surface (2111), so that the lock pin (420) can move easily within the first position limiting groove (211) and the second position limiting groove (411). The robot (10) according to claim 8, characterized in that.

10. One end of the second tapered surface (421) close to the lock return elastic member (431) to the end away from the lock return elastic member (431) gradually decreases in size. The robot (10) according to claim 9, characterized in that.

11. Further including a damping mid-stop assembly (600), the damping mid-stop assembly (600) is attached between the assembly member (210) and the connection pin (300), and is configured to apply a damping force to the inversion of the assembly member (210). The robot (10) according to claim 1, characterized in that.

12. The assembly member (210) is provided with a sliding hole (212), the sliding hole (212) is formed at the bottom of the first position limiting groove (211), and the connection pin (300) includes a sliding portion (310) slidably connected to the sliding hole (212). The sliding portion (310) is connected to the lock pin (420). The robot (10) according to claim 11, characterized in that.

13. The connection pin (300) further includes a contact portion (320) provided at one end close to the lock pin (420), and the contact portion (320) is connected to the lock pin (420) and can contact the bottom of the first position limiting groove (211). The robot (10) according to claim 12, characterized in that.

14. One end of the sliding portion (310) away from the lock pin (420) can contact the bottom of the first position limiting groove (211). The robot (10) according to claim 12, characterized in that.

15. The sliding portion (310) and the lock pin (420) have an integrally formed structure. The robot (10) according to claim 12, characterized in that.

16. The connection pin (300) further includes a connection part (330) connected to the unlocking mechanism (500). The robot (10) further includes an unlocking elastic member (700). Both ends located on the opposite sides of the unlocking elastic member (700) are respectively in contact with the sliding part (310) and the damping intermediate stop assembly (600). The robot (10) according to claim 12, characterized in that.

17. The assembly member (210) is combined in conjunction with the connection pin (300). The damping intermediate stop assembly (600) includes a damper (610). The damper (610) is fitted into the connection pin (300) so as to apply a resistance to the rotation of the connection pin (300) and apply a resistance to the reverse rotation of the assembly member (210). The robot (10) according to claim 11, characterized in that.

18. The damping intermediate stop assembly (600) further includes a damper mounting plate (620). The damper mounting plate (620) includes a first mounting part and a second mounting part. The first mounting part is connected to the damper (610), and the first mounting part is fitted into the connection pin (300). The second mounting part is fixedly connected to the locking member (410). The robot (10) according to claim 17, characterized in that.

19. Further includes a display (800). The display (800) is connected to the handle (200). The robot (10) according to claim 1, characterized in that.

20. The locking member (410) is hingedly connected to the assembly member (210) via a hinge assembly. The hinge assembly includes an annular locking block provided on the assembly member (210) and an annular locking groove provided on the locking member (410) and fitted with the annular locking block. The robot (10) according to claim 1, characterized in that.

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