Robot

Abstract

A robot (1000), comprising a chassis (10) and a housing (60), wherein the housing (60) is rotationally arranged on the chassis (10). The housing (60) comprises a first housing (62) and a second housing (64), wherein the first housing (62) is provided with a first guide structure (625); the second housing (64) is sleeved on a part of the first housing (62) in a liftable manner; the second housing (64) is provided with a second guide structure (649); and the first guide structure (625) is connected to the second guide structure (649) so as to guide the second housing (64) when same ascends and descends relative to the first housing (62), and to drive the first housing (62) to rotate synchronously when the second housing (64) rotates, such that the housing (60) rotates relative to the chassis (10).

Description

robot

[0001] Priority information

[0002] This application claims priority and benefits to patent application No. 202411933526.5, filed with the China National Intellectual Property Administration on December 25, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of robotics, specifically to a robot. Background Technology

[0004] With the development of technology, robots have been widely used in industries such as home, healthcare, catering, and construction, bringing numerous conveniences to people's lives and production. Robot designs are also becoming increasingly diverse, including humanoid and humanoid models; traditional humanoid service robots have a circular outer shell, primarily functioning to enclose internal components. However, current robot shells are mostly fixed and cannot meet the demands of multidimensional robot movement. Summary of the Invention

[0005] This application provides a robot to solve at least one of the aforementioned technical problems.

[0006] A robot according to an embodiment of this application includes a chassis and a housing. The housing is rotatably mounted on the chassis. The housing includes a first housing and a second housing. The first housing is provided with a first guide structure. The second housing is vertically and elliptically fitted onto a portion of the first housing. The second housing is provided with a second guide structure. The first guide structure and the second guide structure are connected to guide the second housing when it is raised or lowered relative to the first housing, and to cause the first housing to rotate synchronously when the second housing rotates, thereby causing the housing to rotate relative to the chassis.

[0007] In the robot described above, the first guide structure is connected to the second guide structure to guide the second shell when it is raised or lowered relative to the first shell, and to drive the first shell to rotate synchronously when the second shell rotates, thereby causing the shell to rotate relative to the chassis. This enables the robot to raise or lower the second shell and rotate the shell as a whole, which to a certain extent meets the needs of the robot's multi-dimensional motion.

[0008] In some embodiments, the first shell includes an outer shell and an inner shell connected to each other, the outer shell being rotatably connected to the chassis, the inner shell having the first guide structure, and the second shell being fitted onto the inner shell.

[0009] In some embodiments, the first shell includes an outer shell and an inner shell connected to each other, the outer shell being rotatably connected to the chassis, the inner shell having the first guide structure, and the second shell being fitted onto the inner shell.

[0010] In some embodiments, the robot has an initial state and a raised state, wherein in the initial state, the second shell is connected to the outer shell and the inner shell is completely covered by the second shell; and in the raised state, the second shell is separated from the outer shell and at least a portion of the inner shell is exposed by the second shell.

[0011] In some embodiments, the robot includes a lifting assembly disposed within the housing. The lifting assembly includes a first drive member and a transmission assembly. The first drive member is fixed to the chassis and connected to the second housing via the transmission assembly. The first drive member is used to drive the second housing to move up and down relative to the first housing via the transmission assembly.

[0012] In some embodiments, the transmission assembly includes a lifting column, a lead screw, and a nut. The lifting column is connected to the second housing. The output end of the first drive member is connected to the lead screw. The nut is sleeved on the lead screw and connected to the lifting column. When the first drive member drives the lead screw to rotate, the nut drives the lifting column to rise and fall along the axial direction of the lead screw, thereby driving the second housing to rise and fall relative to the first housing.

[0013] In some embodiments, the lifting assembly includes a gas spring, a lifting fixed plate, and a lifting top plate. The first driving member is disposed on the lifting fixed plate, the lifting column is connected to the second housing through the lifting top plate, and the gas spring is connected to the lifting fixed plate and the lifting top plate.

[0014] In some embodiments, the lifting assembly includes a lifting outer frame disposed around the periphery of the lifting top plate and extending toward the lifting fixed plate, and the housing is disposed around the periphery of the lifting outer frame.

[0015] In some embodiments, the robot includes a rotating assembly, the rotating assembly including a second drive member, the second housing being connected to the transmission assembly via the second drive member, the second drive member being used to drive the second housing to rotate relative to the transmission assembly, thereby causing the housing to rotate relative to the chassis.

[0016] In some embodiments, the second driving member includes a stator and a rotor, the rotating assembly includes a rotating connecting rod, the stator is fixedly connected to the second housing, and the rotor is fixedly connected to the transmission assembly via the rotating connecting rod. The second driving member is used to rotate the stator relative to the rotor during operation, thereby driving the second housing to rotate relative to the transmission assembly.

[0017] In some embodiments, the rotating assembly includes a first bearing and a rotating movable frame, the transmission assembly includes a lifting top plate, the first bearing is disposed inside the rotating movable frame, the outer side of the first bearing is fixedly connected to the inner side of the rotating movable frame, and the outer side of the lifting top plate is fixedly connected to the inner side of the first bearing.

[0018] In some embodiments, the rotating movable frame is provided with a support, and the second shell is connected to the rotating movable frame through the support.

[0019] In some embodiments, the robot includes a body portion mounted on the rotating assembly, the rotating assembly being used to drive the body portion and the housing to rotate synchronously.

[0020] In some embodiments, the robot includes a connecting base plate, a support cylinder, and two second bearings located within the first shell. The lifting assembly is connected to the chassis via the connecting base plate. The support cylinder includes a first part and a second part. The second part is rotatably connected to the first shell. The first part is fixed to the connecting base plate. The two second bearings are respectively sleeved at both ends of the second part along the axial direction of the support cylinder and connected to the inner side of the first shell.

[0021] In some embodiments, the robot includes a sleeve located within the first housing, the sleeve being fitted onto the first portion, and the sleeve being connected to the connecting base plate and a second bearing adjacent to the connecting base plate.

[0022] In some embodiments, one of the first guide structure and the second guide structure is provided with a boss and the other is provided with a groove, the boss being slidably embedded in the groove.

[0023] In some embodiments, the first shell is provided with a plurality of first guide structures, which are arranged at intervals along the circumferential direction of the first shell; the second shell is provided with a plurality of second guide structures, which are arranged at intervals along the circumferential direction of the second shell; and the plurality of first guide structures and the plurality of second guide structures are connected in a one-to-one correspondence.

[0024] In some embodiments, the chassis includes a chassis housing, a running gear, and a radar. The radar is mounted on the running gear, which is located inside the chassis housing. A portion of the radar extends out of the chassis housing. A detection window is formed between the first housing and the chassis housing, and the radar is used to detect the environment through the detection window.

[0025] In some embodiments, the housing includes a transition shell and a column shell, the robot includes a column mounted on the walking assembly, the first shell is movably connected to the column, the transition shell is fitted onto the end of the first shell near the chassis, the transition shell is spaced from the chassis shell by the column shell to form the detection window, and the column shell covers the column from the outside of the housing.

[0026] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0028] Figure 1 is a structural schematic diagram of the robot according to an embodiment of this application in its initial state;

[0029] Figure 2 is a structural schematic diagram of the robot according to an embodiment of this application in the raised state;

[0030] Figure 3 is an exploded view of the robot according to an embodiment of this application;

[0031] Figure 4 is a partial structural schematic diagram of the robot according to an embodiment of this application;

[0032] Figure 5 is a schematic diagram of another part of the structure of the robot according to an embodiment of this application;

[0033] Figure 6 is a partial structural schematic diagram of the robot according to an embodiment of this application;

[0034] Figure 7 is a schematic diagram of the lower body of the robot according to an embodiment of this application;

[0035] Figure 8 is a cross-sectional schematic diagram of the housing according to an embodiment of this application;

[0036] Figure 9 is another cross-sectional view of the housing according to an embodiment of this application;

[0037] Figure 10 is a schematic diagram of the outer shell structure according to an embodiment of this application;

[0038] Figure 11 is a schematic diagram of the inner shell structure according to an embodiment of this application;

[0039] Figure 12 is a partial structural schematic diagram of the shell according to an embodiment of this application;

[0040] Figure 13 is a schematic diagram of another part of the shell structure according to an embodiment of this application;

[0041] Figure 14 is another structural schematic diagram of the housing according to an embodiment of this application;

[0042] Figure 15 is a partial cross-sectional schematic diagram of the housing according to an embodiment of this application;

[0043] Figure 16 is a front view of the shell in Figure 15;

[0044] Figure 17 is a schematic diagram of the structure of the front second shell according to an embodiment of this application;

[0045] Figure 18 is a partial structural diagram of the fuselage portion according to an embodiment of this application;

[0046] Figure 19 is a partially exploded and cross-sectional schematic diagram of the rotating component according to an embodiment of this application;

[0047] Figure 20 is a partially exploded schematic diagram of the chassis according to an embodiment of this application.

[0048] Explanation of key component reference numerals: Chassis-10, Chassis outer shell-12, First chassis outer shell-12a, Second chassis outer shell-12b, Outer shell bracket-14, Chassis bracket-16, Chassis base plate-18; Walking assembly-20, Drive wheel-23, Caster wheel-26, Radar-30, Battery-40, Charging contact-43, Chassis electronic control board-46, Detection window-50; Housing-60, First housing-62, Outer housing-62a, Inner housing-62b, Limiting protrusion-621, Limiting hole-623, First guide structure-625, Threaded hole-627, Second housing-64, Front second housing-64a, Rear second housing-64b, First screw post-641, Second screw post-643, Second guide structure-649, Transition housing-66, Column housing-68; Emergency stop switch-70; Lifting assembly-80, first drive component-81, transmission assembly-83, lifting column-831, lead screw-833, nut-835, drive wheel-837, belt-838, driven wheel-839, gas spring-84, lifting fixed bracket-85, lifting fixed plate-86, enclosure plate-861, lifting top plate-87, lifting outer frame-89; Rotating assembly-90, second drive component-91, rotating connecting rod-93, rotating fixed bracket-95, first bearing-97, rotating movable frame-99, first rotating movable frame-99a, middle bracket-992, first through hole-992a, fourth through hole-992b, second rotating movable frame-99b, lower bracket-994, second through hole-994a, robotic arm base-99c; Body section - 100, Body shell - 101, First body shell - 101a, Second body shell - 101b, Third screw post - 103, Fourth screw post - 107, Body connecting bracket - 101c, Computing module - 110; Body electronic control board - 120, Head - 130, Head bracket assembly - 140, Neck connecting bracket - 142, Upper bracket - 144, Third through hole - 146. Bionic robotic arm-150, dexterous hand-160, support cylinder-170, first part-170a, second part-170b, second bearing-172, upper second bearing-172a, lower second bearing-172b, first cylindrical step-174, second cylindrical step-176, pressure plate-178, sleeve-180, connecting base plate-190, frustum-192, third cylindrical step-194, connecting block-196; column-200, robot-1000. Detailed Implementation

[0049] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0050] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0052] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0053] This disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described herein. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0054] Please refer to Figures 1 and 2. An embodiment of this application provides a robot 1000 including a chassis 10 and a housing 60. The housing 60 is rotatably mounted on the chassis 10. The housing 60 includes a first housing 62 and a second housing 64. The first housing 62 is provided with a first guide structure 625. The second housing 64 is vertically and flexibly fitted onto a portion of the first housing 62. The second housing 64 is provided with a second guide structure 649. The first guide structure 625 and the second guide structure 649 are connected to guide the second housing 64 when it is raised or lowered relative to the first housing 62, and to cause the first housing 62 to rotate synchronously when the second housing 64 rotates, thereby causing the housing 60 to rotate relative to the chassis 10.

[0055] In the robot 1000 described above, the first guide structure 625 is connected to the second guide structure 649 to guide the second shell 64 when it is raised or lowered relative to the first shell 62, and to drive the first shell 62 to rotate synchronously when the second shell 64 rotates, thereby causing the shell 60 to rotate relative to the chassis 10. This enables the second shell 64 of the robot 1000 to be raised or lowered and the shell 60 to rotate as a whole, which to a certain extent meets the needs of the robot 1000 for multi-dimensional motion.

[0056] Specifically, robot 1000 is a machine device capable of automatically performing tasks. Optionally, referring to Figure 1, robot 1000 can be a humanoid service robot. Robot 1000 includes a chassis 10 and a housing 60, with the housing 60 rotatably mounted on the chassis 10, providing sufficient support for the housing 60. The chassis 10 may include a battery module 40, a control module, a walking assembly 20, etc. The control module is electrically connected to both the battery module 40 and the walking assembly 20 to enable the movement function of robot 1000. The housing 60 is the external protective structure of robot 1000, used to enclose and protect the internal mechanical components, electronic components, or other components of robot 1000.

[0057] In related technologies, robots are widely and deeply applied in various industries such as home services, medical care, catering services, and construction, bringing unprecedented convenience to people's daily lives and work. The design and appearance of robots are also becoming increasingly diverse and personalized, no longer limited to traditional single forms. However, for traditional humanoid service robots, the overall shell typically uses a relatively simple circular structure as the main body of the robot, used to enclose and protect the internal components, enabling the robot to operate stably and safely. However, with the continuous expansion of robot application scenarios and the increasing demands from users for robot flexibility and interactivity, the existing fixed robot shell structure has gradually revealed its limitations, making it difficult to fully meet the multi-dimensional movement needs of robots performing complex tasks.

[0058] In this embodiment of the application, referring to Figures 2, 7, 12, and 13, the housing 60 includes a first housing 62 and a second housing 64, with the second housing 64 being vertically and flexibly fitted onto a portion of the first housing 62. The first housing 62 and the second housing 64 are coaxially arranged. The first housing 62 is provided with a first guide structure 625, and the second housing 64 is provided with a second guide structure 649. The first guide structure 625 and the second guide structure 649 are correspondingly connected and can guide the lifting and lowering of the first housing 62 relative to the first housing 62. When the second housing 64 rotates, the first guide structure 625 and the second guide structure 649 are tightly connected, allowing the second housing 64 to drive the first housing 62 to rotate synchronously, thereby enabling the housing 60 to rotate relative to the chassis 10. Therefore, the first guide structure 625 is connected to the second guide structure 649, which can guide the second shell 64 when it is raised or lowered relative to the first shell 62, and cause the first shell 62 to rotate synchronously when the second shell 64 rotates, thereby causing the shell 60 to rotate relative to the chassis 10. This enables the second shell 64 of the robot 1000 to be raised or lowered and the shell 60 to rotate as a whole, which to a certain extent meets the needs of the robot 1000 for multi-dimensional motion.

[0059] In some embodiments, the first shell 62 includes an outer shell 62a and an inner shell 62b connected to each other. The outer shell 62a is rotatably connected to the chassis 10, and the inner shell 62b is provided with a first guide structure 625. The second shell 64 is sleeved on the inner shell 62b.

[0060] Thus, the stable connection between the outer shell 62a and the inner shell 62b allows the outer shell 62a to rotate together with the inner shell 62b.

[0061] Specifically, referring to Figures 2, 7, 12, and 13, the first shell 62 includes an outer shell 62a and an inner shell 62b. In Figures 2 and 11, the inner shell 62b is provided with a first guide structure 625. Optionally, the first guide structure 625 can be a groove, and the bottom of the first guide structure 625 is provided with a threaded hole 627. In Figures 2 and 10, the outer shell 62a is provided with a limiting protrusion 621 corresponding to the first guide structure 625. The limiting protrusion 621 protrudes inward from the inner edge of the outer shell 62a, and the limiting protrusion 621 is provided with a limiting hole 623.

[0062] Referring to Figures 2, 7, and 9, the outer shell 62a can be fitted onto the inner shell 62b. The limiting protrusion 621 and the corresponding first guide structure 625 cooperate to guide the outer shell 62a and the inner shell 62b to move relative to each other, so that the limiting hole 623 of the outer shell 62a and the threaded hole 627 of the inner shell 62b are connected. Then, the screw passes through the limiting hole 623 and the threaded hole 627 to fix the outer shell 62a and the inner shell 62b together.

[0063] The number of limiting protrusions 621 and first guide structures 625 can be specifically limited according to the actual situation. One limiting protrusion 621 corresponds to one first guide structure 625. This application does not make a specific limitation in this regard. In one example, referring to Figures 9 to 11, the number of limiting protrusions 621 and first guide structures 625 are both 4.

[0064] The outer shell 62a is rotatably connected to the chassis 10. Optionally, the bottom surface of the outer shell 62a and the top surface of the chassis 10 are both circular and coaxial, so that the outer shell 62a can be well matched with the chassis 10 without interference when rotating.

[0065] In some embodiments, the robot 1000 has an initial state and a raised state. In the initial state, the second shell 64 is connected to the outer shell 62a, and the inner shell 62b is completely covered by the second shell 64.

[0066] When in the raised state, the second shell 64 separates from the outer shell 62a, and at least a portion of the inner shell 62b is exposed by the second shell 64.

[0067] In this way, when the robot 1000 is moving up and down, its appearance will not show any discontinuity or breaks, giving the robot 1000 a good overall aesthetic appearance.

[0068] Specifically, referring to Figure 1, when the robot 1000 is in its initial state, the lower edge of the second shell 64 is tightly connected to the upper edge of the outer shell 62a. Simultaneously, the smooth transition between the outer shapes of the outer shell 62a and the second shell 64 creates a streamlined, overall appearance, preventing the internal mechanical components of the robot 1000 from being directly visible from the outside. The inner shell 62b is completely covered by the second shell 64 and cannot be seen from the outside. Referring to Figure 2, when the robot 1000 is in its raised state, the lower edge of the second shell 64 separates from the upper edge of the outer shell 62a, exposing at least a portion of the inner shell 62b in the gap between the second shell 64 and the outer shell 62a. Again, the smooth transition between the outer shell 62a, a portion of the inner shell 62b, and the outer shape of the second shell 64 creates a streamlined, overall appearance, preventing the internal mechanical components of the robot 1000 from being directly visible from the outside. Therefore, when the robot 1000 is performing lifting and lowering movements, the appearance of the robot 1000 will not show any discontinuities, giving the robot 1000 a good overall aesthetic appearance.

[0069] In some embodiments, the robot 1000 includes a lifting assembly 80 disposed within the housing 60. The lifting assembly 80 includes a first drive member 81 and a transmission assembly 83. The first drive member 81 is fixed to the chassis 10 and is connected to the second housing 64 via the transmission assembly 83. The first drive member 81 is used to drive the second housing 64 to rise and fall relative to the first housing 62 via the transmission assembly 83.

[0070] This allows the second shell 64 to move up and down, which can, to some extent, meet the needs of the robot 1000 for height and posture adjustment in different scenarios.

[0071] Specifically, referring to Figure 5, the lifting assembly 80 is housed within the first housing 62. The first drive component 81 within the lifting assembly 80 is fixedly connected to the chassis 10, providing the power required for the lifting movement of the lifting assembly 80. In this embodiment, the first drive component 81 is driven by an electric motor. It is understood that in other embodiments, the first drive component 81 may also be driven by a hydraulic system or a cylinder.

[0072] The first driving component 81 is connected to the second shell 64 via the transmission assembly 83. The power generated by the first driving component 81 can be transmitted to the second shell 64 through the transmission assembly 83, enabling the first driving component 81 to drive the second shell 64 to move up and down relative to the first shell 62. Driven by the lifting assembly 80, the robot 1000 can adjust its overall height to adapt to different scenarios.

[0073] In some embodiments, the transmission assembly 83 includes a lifting column 831, a lead screw 833, and a nut 835. The lifting column 831 is connected to the second housing 64. The output end of the first driving member 81 is connected to the lead screw 833. The nut 835 is sleeved on the lead screw 833 and connected to the lifting column 831. When the first driving member 81 drives the lead screw 833 to rotate, the nut 835 drives the lifting column 831 to rise and fall along the axial direction of the lead screw 833, thereby driving the second housing 64 to rise and fall relative to the first housing 62.

[0074] Thus, the first driving component 81 and the transmission component 83 work together to realize the lifting and lowering movement of the second shell 64 relative to the first shell 62.

[0075] Specifically, in this embodiment, referring to Figures 5 and 6, the first driving member 81 can be a rotary motor. Optionally, the transmission assembly 83 further includes a lifting and fixing bracket 85, with a through lead screw 833 installed in the middle of the lifting and fixing bracket 85. Referring to Figure 6, the output end of the first driving member 81 is connected to the driving wheel 837, and the lead screw 833 is connected to the driven wheel 839. The driving wheel 837 is connected to the driven wheel 839 via a belt 838. The first driving member 81 drives the driving wheel 837 to rotate, and the rotation of the driving wheel 837 is transmitted to the driven wheel 839 through the friction of the belt 838, causing the driving wheel 839 to rotate. Thus, the power output by the first driving member 81 can be transmitted to the lead screw 833 via a synchronous belt drive. In other embodiments, the first driving member 81 can transmit the output power to the lead screw 833 via gear transmission.

[0076] Nut 835 is fitted onto lead screw 833. When the first drive component 81 is energized, it rotates. The rotational force is transmitted to nut 835 through lead screw 833, allowing nut 835 to move along the axial direction of lead screw 833. Each end of nut 835 is connected to a lifting column 831, which is fixedly connected to the first housing 62. Therefore, nut 835 can drive lifting column 831 to rise and fall along the axial direction of lead screw 833, thereby driving second housing 64 to rise and fall relative to first housing 62.

[0077] In other embodiments, the first driving element 81 may be a linear motor. The type of the first driving element 81 may be specifically limited according to the actual situation, and this application does not make a specific limitation in this regard.

[0078] In some embodiments, the lifting assembly 80 includes a gas spring 84, a lifting fixed plate 86, and a lifting top plate 87. A first driving member 81 is disposed on the lifting fixed plate 86. The lifting column 831 is connected to the second housing 64 through the lifting top plate 87. The gas spring 84 is connected to the lifting fixed plate 86 and the lifting top plate 87.

[0079] In this way, the power output by the first drive component 81 when the fuselage is raised can be reduced, which can ensure the stability of the second shell 64 during the lifting process to a certain extent.

[0080] Specifically, referring to Figure 5, the second shell 64 is fixedly connected to the lifting top plate 87, and the lifting column 831 is connected to the lower end of the lifting top plate 87. Thus, when the first driving component 81 drives the lifting column 831 to move up and down via the lead screw 833 and nut 835, the lifting column shell 68 drives the second shell 64 to move up and down via the lifting top plate 87. The first driving component 81 is fixedly connected to the lifting fixing plate 86. During the lifting process, the first driving component 81 and the lifting fixing plate 86 remain stationary and do not move up and down with the lifting column 831.

[0081] The lower end of the gas spring 84 is fixedly connected to the lifting plate 86, and the upper end is connected to the lifting top plate 87. When the robot 1000 rises or falls, the gas spring 84 extends and retracts along with the lifting top plate 87, thus providing support and cushioning. When the robot 1000 changes from the initial state to the raised state, the gas inside the gas spring 84 is compressed, which, together with the lead screw 833 and nut 835, pushes the lifting top plate 87 upward, reducing the power output by the first drive component 81. When the robot 1000 returns to the initial state from the raised state, the gas inside the gas spring 84 is released. By controlling the release rate of the gas pressure, the lifting top plate 87 can be lowered stably to a certain extent. Therefore, the gas spring 84 can ensure the stability of the robot 1000 during the rising or falling process to a certain extent.

[0082] In some embodiments, the lifting assembly 80 includes a lifting outer frame 89, which is disposed around the periphery of the lifting top plate 87 and extends toward the lifting fixed plate 86, and the housing 60 is disposed around the lifting outer frame 89.

[0083] In this way, the lifting assembly 80 is supported to a certain extent, preventing the housing 60 from tilting or shifting during the lifting process.

[0084] Specifically, referring to Figure 5, the lifting outer frame 89 is located at the periphery below the lifting top plate 87 and extends towards the lifting fixed plate 86. The lower end of the lifting outer frame 89 is not connected to the lifting fixed plate 86. Referring to Figure 14, multiple lifting outer frames 89 can form an integral frame structure. The lifting screw 833, nut 835, and gas spring 84 are all located inside the frame structure of the lifting outer frame 89.

[0085] Referring to Figure 14, the housing 60 is located on the periphery of the lifting outer frame 89, so that when the housing 60 rotates, it will not interfere with the mechanical parts located inside the lifting outer frame 89. The lifting outer frame 89 can provide a certain support for the housing 60, avoiding problems such as tilting or displacement of the housing 60 when it is lifting. At the same time, the housing 60 can hide the lifting component 80, which improves the overall aesthetics of the robot 1000 to a certain extent.

[0086] The number of lifting outer frames 89 can be specifically limited according to the actual situation, and this application does not make a specific limit on this.

[0087] Optionally, the lifting outer frame 89 is also equipped with cable carriers, slide rails and other components to support and guide the lifting assembly 80 to lift, further ensuring the smooth operation and operational accuracy of the lifting assembly 80.

[0088] In some embodiments, the robot 1000 includes a rotating assembly 90, which includes a second drive member 91. A second housing 64 is connected to a transmission assembly 83 via the second drive member 91. The second drive member 91 is used to drive the second housing 64 to rotate relative to the transmission assembly 83, thereby causing the housing 60 to rotate relative to the chassis 10.

[0089] Thus, the second drive component 91 can drive the housing 60 to rotate relative to the transmission component 83 during operation, which to a certain extent meets the needs of robot 1000 for orientation adjustment in different scenarios.

[0090] Specifically, referring to Figures 4, 6, and 19, the second drive member 91 of the rotating assembly 90 is fixedly connected to the upper end of the lifting top plate 87, and the lifting top plate 87 is fixedly connected to the transmission assembly 83. The second drive member 91 provides the power required for the rotational movement of the rotating assembly 90. In this embodiment, the second drive member 91 is driven by an electric motor. It is understood that in other embodiments, the second drive member 91 may also be driven by a hydraulic system or a cylinder.

[0091] The second drive component 91 is connected to the second housing 64 via the transmission assembly 83. The power generated by the second drive component 91 can be transmitted to the second housing 64, causing the second drive component 91 to rotate relative to the transmission assembly 83. The second housing 64 can then rotate the first housing 62 relative to the transmission assembly 83, thereby allowing the housing 60 to rotate relative to the chassis 10. Driven by the rotation assembly 90, the robot 1000 can rotate to adapt to different scenarios.

[0092] In some embodiments, the second drive member 91 includes a stator and a rotor, the rotating assembly 90 includes a rotating connecting rod 93, the stator is fixedly connected to the second housing 64, and the rotor is fixedly connected to the transmission assembly 83 via the rotating connecting rod 93. The second drive member 91 is used to rotate the stator relative to the rotor during operation, thereby driving the second housing 64 to rotate relative to the transmission assembly 83.

[0093] In this way, the rotating component 90 can drive the housing 60 to achieve flexible rotational movement, which expands the working range of the robot 1000 to a certain extent.

[0094] Specifically, referring to Figure 9, optionally, the second drive component 91 can be a rotary motor. The rotating assembly 90 includes a rotating fixed bracket 95, the bottom of which is fixedly connected to the upper end of the lifting top plate 87 via a rotating connecting rod 93. The second drive component 91 is fixed to the upper end of the rotating fixed bracket 95. The stator of the second drive component 91 is fixedly connected to the second housing 64 via a rotating movable frame 99, and the rotor of the second drive component 91 is fixedly connected to the lifting top plate 87 via the rotating connecting rod 93. When the second drive component 91 is energized, the rotor remains stationary, the stator rotates relative to the rotor, and drives the rotating movable frame 99 to rotate relative to the transmission assembly 83, thereby driving the second housing 64 to rotate relative to the transmission assembly 83.

[0095] Optionally, the second drive component 91 has a hollow structure, which facilitates the routing of electrical control circuits, thereby enabling the rotating component 90 to achieve rotation of more than 360 degrees, which to a certain extent meets the omnidirectional rotation function requirements of the robot 1000.

[0096] In some embodiments, the rotating assembly 90 includes a first bearing 97 and a rotating movable frame 99, and the transmission assembly 83 includes a lifting top plate 87. The first bearing 97 is disposed inside the rotating movable frame 99, and the outer side of the first bearing 97 is fixedly connected to the inner side of the rotating movable frame 99. The outer side of the lifting top plate 87 is fixedly connected to the inner side of the first bearing 97.

[0097] Thus, the first bearing 97 can be used to support the rotating movable frame 99 and reduce the friction and wear generated by the rotating movable frame 99 relative to the lifting top plate 87 during rotation to a certain extent.

[0098] Specifically, referring to Figure 9, the top outer surface of the lifting ceiling plate 87 is cylindrical, and the lower inner surface of the rotating movable frame 99 is also cylindrical. The outer surface of the first bearing 97 is fixedly connected to the inner surface of the rotating movable frame 99, and the inner surface of the first bearing 97 is fixedly connected to the outer surface of the lifting ceiling plate 87. The rotating movable frame 99, the first bearing 97, and the lifting ceiling plate 87 are all coaxial, so that the rotating movable frame 99 can match the lifting ceiling plate 87 well when rotating without interference.

[0099] When the second drive unit 91 is not energized, the rotating movable frame 99 remains relatively stationary with respect to the lifting ceiling 87. At this time, the rotating movable frame 99 is connected to the lifting ceiling 87 via the first bearing 97, which supports the rotating movable frame 99. When the second drive unit 91 is energized, the second drive force outputs power to the rotating movable frame 99, causing it to rotate relative to the lifting ceiling 87. Due to the supporting and lubricating effect of the first bearing 97, the rotation of the rotating movable frame 99 becomes smooth and stable, reducing friction and wear between the rotating movable frame 99 and the lifting ceiling 87 during rotation to a certain extent.

[0100] In some embodiments, the rotating movable frame 99 is provided with a bracket, and the second shell 64 is connected to the rotating movable frame 99 through the bracket.

[0101] Thus, the rotating component 90 can drive the second shell 64 to rotate by rotating the movable frame 99 and the bracket.

[0102] Specifically, referring to Figures 4 and 9, the rotating movable frame 99 includes a first rotating movable frame 99a and a second rotating movable frame 99b. The first rotating movable frame 99a is used to cover the second driving member 91, the rotating fixed bracket 95, and the rotating connecting rod 93. The second rotating movable frame 99b is used to cover the first bearing 97 and the lifting top plate 87. The first rotating movable frame 99a has two symmetrically arranged central supports 992, which extend outward from the main body of the first rotating movable frame 99a. The central supports 992 have a first through hole 992a. The second rotating movable frame 99b has two symmetrically arranged lower supports 994, which extend outward from the main body of the second rotating movable frame 99b. The lower supports 994 have a second through hole 994a.

[0103] Referring to Figures 3, 4, and 17, the second shell 64 includes a front second shell 64a and a rear second shell 64b. The front second shell 64a has screw posts, including a first screw post 641 and a second screw post 643, with the first screw post 641 located above the second screw post 643. The rear second shell 64b has a first fixing hole corresponding to the first screw post 641 and a second fixing hole corresponding to the second screw post 643. The front second shell 64a can be connected to the second fixing hole of the rear second shell 64b through a first through hole 992a via the first screw post 641, and the second screw post 643 of the front second shell 64a can be connected to the second fixing hole of the rear second shell 64b through a second through hole 994a. This allows the front and rear second shells 64a and 64b to be fixedly connected to the rotating movable frame 99. The edges of the front and rear second shells 64a and 64b are interconnected to form a continuous second shell 64. Therefore, the rotating assembly 90 can drive the second shell 64 to rotate by rotating the movable frame 99, the middle support 992, and the lower support 994.

[0104] The number of screw posts, through holes, and fixing holes can be specifically limited according to the actual situation, with one screw post corresponding to one through hole and one fixing hole. This application does not make specific limitations in this regard. In one example, referring to Figure 17, the number of the first screw post 641, the first through hole 992a, and the first fixing hole are all two. A middle bracket 992 has one first through hole 992a. The number of the second screw post 643, the second through hole 994a, and the second fixing hole are all two. A lower bracket 994 has one second through hole 994a.

[0105] It is understood that in other embodiments, magnets may be provided on the front first shell 62 and the front second shell 64a, and magnets may also be provided at corresponding mounting points on the middle support 992 and the lower support 994, with the N and S poles of the magnets pointing in the same direction. During installation, the corresponding magnets are attracted and fixed, allowing the front second shell 64a and the rear second shell 64b to be fixedly connected to the rotating movable frame 99. The edges of the front second shell 64a and the rear second shell 64b are connected to form a continuous second shell 64. Therefore, the purpose of quick installation and removal of the second shell 64 can be achieved to a certain extent. The number of magnets can be specifically limited according to the actual situation.

[0106] Optionally, referring to Figure 3, an emergency stop switch 70 is provided on the second rear housing 64b, and the emergency stop switch 70 is electrically connected to the second drive unit 91. When the machine encounters an unknown state or an unexpected situation during debugging, the emergency stop switch 70 can be used to stop the robot 1000 from an unsafe state in a timely manner, thus playing a certain role in safety protection.

[0107] In some embodiments, the robot 1000 includes a body portion 100, which is disposed on a rotating assembly 90, which drives the body portion 100 and the housing 60 to rotate synchronously.

[0108] In this way, the robot 1000 can perform functions in different directions, which improves the flexibility of the robot 1000 to a certain extent.

[0109] Specifically, referring to Figures 3 and 18, the upper middle part of the rotating movable frame 99 is fixedly connected to the head support assembly 140. The head support assembly 140 includes a neck connecting bracket 142. The head 130 of the robot 1000 is fixedly connected to the rotating movable frame 99 through the neck connecting bracket 142 and the body connecting bracket 101c. The neck connecting bracket 142 is provided with two symmetrically arranged upper brackets 144, which extend outward from the main body of the neck connecting bracket 142. The upper brackets 144 are provided with a third through hole 146. The rotating movable frame 99 includes a first part 170a, which is provided with two symmetrically arranged middle brackets 992, which extend outward from the main body of the rotating movable frame 99. The middle brackets 992 are provided with a fourth through hole 992b.

[0110] The fuselage portion 100 includes a fuselage outer shell 101, which comprises a first fuselage outer shell 101 and a second fuselage outer shell 101. The first fuselage outer shell 101 has screw posts, including a third screw post 103 and a fourth screw post 107, with the third screw post 103 located above the fourth screw post 107. The second fuselage outer shell 101 has a third fixing hole corresponding to the third screw post 103 and a fourth fixing hole corresponding to the fourth screw post 107. The first outer shell 101 can be connected to the third fixing hole of the second outer shell 101 through the third through hole 146 via the third screw post 103. The fourth screw post 107 of the first outer shell 101 can be connected to the fourth fixing hole of the second outer shell 101 through the fourth through hole 992b. This allows the first and second outer shells to be fixedly connected to the neck connecting bracket 142 and the rotating movable frame 99. The edges of the first and second outer shells 101 are connected to each other to form a continuous outer shell 101. Since the second shell 64 is fixedly connected to the rotating movable frame 99, the body part 100 and the head 130 of the robot 1000 can move up, down, and rotate together with the second shell 64.

[0111] The number of screw posts, through holes, and fixing holes can be specifically limited according to the actual situation, with one screw post corresponding to one through hole and one fixing hole. This application does not make specific limitations in this regard. In one example, referring to Figures 3 and 4, the number of third screw posts 103, third through holes 146, and third fixing holes are all four; an upper bracket 144 has two third through holes 146; the number of fourth screw posts 107, fourth through holes 992b, and fourth fixing holes are all two; and a middle bracket 992 has one fourth through hole 992b.

[0112] It is understood that in other embodiments, magnets may be provided on the first and second housing shells 101, and magnets may also be provided at corresponding mounting points on the upper support 144 and the middle support 992, with the N and S poles of the magnets pointing in the same direction. During installation, the corresponding magnets are attracted and fixed, allowing the first and second housing shells 101 to be fixedly connected to the neck connecting support 142 and the rotating movable frame 99. The edges of the first and second housing shells 101 are connected to each other to form a continuous housing shell 101. Therefore, the purpose of quick installation and removal of the housing shell 101 can be achieved to a certain extent. The number of magnets can be specifically limited according to the actual situation.

[0113] Referring to Figures 13 and 18, the robot 1000 may include a bionic robotic arm 150 and a dexterous hand 160. The bionic robotic arm is movably connected to two robotic arm bases 99c on the upper end of the body connecting bracket 101c. The dexterous hand 160 is movably connected to the bionic robotic arm and can move with the movement of the robotic arm, cooperating with the robotic arm to perform various complex operational tasks.

[0114] Optionally, referring to Figure 18, the body part 100 may include a computing power module 110 and a body electronic control board 120. The body electronic control board 120 is electrically connected to the computing power module 110, and the robot 1000 can control the movement state of the robot 1000 and perform computing power calculations through the body electronic control board 120.

[0115] In some embodiments, the robot 1000 includes a connecting base plate 190, a support cylinder 170, and two second bearings 172 located within a first housing 62. The lifting assembly 80 is connected to the chassis 10 via the connecting base plate 190. The support cylinder 170 includes a first part 170a and a second part 170b. The second part 170b is rotatably connected to the first housing 62. The first part 170a is fixed on the connecting base plate 190. The two second bearings 172 are respectively sleeved on both ends of the second part 170b along the axial direction of the support cylinder 170 and connected to the inner surface of the first housing 62.

[0116] This restricts the inner shell 62b to only rotate around the central axis due to the constraints of the two second bearings 172.

[0117] Specifically, referring to Figure 14, the lifting assembly 80 includes a lifting fixing plate 86, which is fixedly connected to the connecting base plate 190 and is located within the connecting base plate 190. The lifting assembly 80 is mounted on the lifting fixing plate 86 and fixedly connected to the chassis 10 via the connecting base plate 190.

[0118] The support cylinder 170 is sleeved around the outer frame 89 of the lifting assembly 80. The support cylinder 170 includes a first part 170a and a second part 170b. The first shell 62 includes an outer shell 62a and an inner shell 62b. The second part 170b and the second bearing 172 are located inside the inner shell 62b, and the first part 170a is located outside the inner shell 170b. The second part 170b is fixed to the lifting fixing plate 86, and the support cylinder 170 and the lifting fixing plate 86 are coaxially arranged.

[0119] Referring to Figures 14 to 16, the second bearing 172 is connected to the inner side of the inner shell 62b. The second bearing 172 includes an upper second bearing 172a and a lower second bearing 172b. The two second bearings 172 are respectively sleeved at both ends of the second part 170b along the axial direction of the support cylinder 170, and the two second bearings 172 are coaxially arranged with the support cylinder 170. The upper end of the first part 170a is provided with a first cylindrical step 174. The upper second bearing 172a is sleeved on the first cylindrical step 174, and the lower end of the upper second bearing 172a abuts against the step surface of the first cylindrical step 174. At the same time, the robot 1000 also includes a pressing plate 178. Optionally, the pressing plate 178 is annular, and the annulus is coaxially arranged with the support cylinder 170. The pressure plate 178 and the support cylinder 170 are fixedly connected by screws. The upper second bearing 172a is located between the pressure plate 178 and the support cylinder 170, thereby preventing the upper second bearing 172a from axially moving (i.e., the second bearing 172a will not undergo relative displacement in the axial direction). The lower end of the second part 170b of the support cylinder 170 is provided with a second cylindrical step 176, and the upper end of the lower second bearing 172b abuts against the step surface of the second cylindrical step 176.

[0120] The inner surface of the middle part of the inner shell 62b mates with the inner surface of the upper second bearing 172a, and the inner surface of the bottom of the inner shell 62b mates with the outer surface of the lower second bearing 172b. Under the constraint of the two second bearings 172, the inner shell 62b can only rotate around its central axis. Optionally, a greater distance exists between the two second bearings 172, allowing the load to be distributed more evenly on the second bearings 172, avoiding local overload and stress concentration, and reducing the power required by the inner shell 62b during rotation to some extent.

[0121] In some embodiments, the robot 1000 includes a sleeve 180 located within a first housing 62, the sleeve 180 being fitted onto a first portion 170a, and the sleeve 180 being connected to a connecting base plate 190 and a second bearing 172 adjacent to the connecting base plate 190.

[0122] Thus, the sleeve 180, used to support the second bearing 172 near the connecting base plate 190, does not experience axial movement.

[0123] Specifically, referring to Figures 14 to 16, the sleeve 180 is fitted onto the first part 170a of the support cylinder 170. The second bearing 172 near the connecting base plate 190 is the lower second bearing 172b. The upper end of the sleeve 180 abuts against the lower end of the lower second bearing 172b. The second cylindrical step 176 of the support cylinder 170 and the sleeve 180 cooperate with each other to prevent the lower second bearing 172b from axially moving.

[0124] Referring to Figures 14 to 16, a frustum 192 is provided on the connecting base plate 190, and a third cylindrical step 194 is provided on the surface of the frustum 192 facing the central axis of the connecting base plate 190. The lower end of the support cylinder 170 abuts against the stepped surface of the third cylindrical step 194, and the lower end of the sleeve 180 abuts against the upper end of the frustum 192, so that the support cylinder 170 and the sleeve 180 can be connected to the connecting base plate 190. A surrounding plate 861 is provided on the lifting and fixing plate 86, and the first driving member 81 can be accommodated in the accommodating space enclosed by the surrounding plate 861 and fixedly connected to the lifting and fixing plate 86.

[0125] The robot 1000 includes connecting blocks 196. The lower end of the connecting base plate 190 is connected to the lifting and fixing plate 86 via the connecting blocks 196, such that the surrounding plate 861 of the lifting and fixing plate 86 passes through the frustum 192 of the connecting base plate 190. The connecting blocks 196 are symmetrically arranged on the lifting and fixing plate 86 and connected to the connecting base plate 190. The number of connecting blocks 196 can be specifically limited according to actual conditions. In this embodiment, the number of connecting blocks 196 is not specifically limited. In one example, the number of connecting blocks 196 is two.

[0126] In some embodiments, one of the first guide structure 625 and the second guide structure 649 is provided with a boss and the other is provided with a groove, the boss being slidably embedded in the groove.

[0127] Thus, the boss and the groove cooperate and connect with each other, so that the second shell 64 can rise and fall relative to the first shell 62, and the second shell 64 can drive the first shell 62 to rotate together.

[0128] Specifically, in this embodiment, referring to Figures 7 and 8, the first guide structure 625 of the inner shell 62b has a groove, and the second guide structure 649 of the second shell 64 has a boss, which is slidably embedded in the groove. The second shell 64 is sleeved on the outside of the first shell 62. When the boss slides in the groove, the second shell 64 can move up and down relative to the first shell 62 along the axial direction of the boss. When the first shell 62 rotates, the tight fit between the boss and the groove allows the first shell 62 to drive the second shell 64 to rotate together.

[0129] In other embodiments, the first guide structure 625 of the inner shell 62b is provided with a boss, and the second guide structure 649 of the second shell 64 is provided with a groove.

[0130] In some embodiments, the first shell 62 is provided with a plurality of first guide structures 625, which are arranged at intervals along the circumferential direction of the first shell 62. The second shell 64 is provided with a plurality of second guide structures 649, which are arranged at intervals along the circumferential direction of the second shell 64. The plurality of first guide structures 625 and the plurality of second guide structures 649 are connected in a one-to-one correspondence.

[0131] Thus, through the cooperation of multiple first guide structures 625 and multiple second guide structures 649, the stability and reliability of the robot 1000's lifting and rotating processes can be guaranteed to a certain extent.

[0132] Specifically, referring to Figures 1 to 3, the first shell 62 is provided with multiple first guide structures 625 at intervals in the circumferential direction, and the second shell 64 is provided with multiple corresponding second guide structures 649 at intervals in the circumferential direction. This can ensure that the shell 60 has sufficient support and guidance in each direction to a certain extent, thereby improving the stability and load-bearing capacity of the entire robot 1000.

[0133] Multiple first guide structures 625 and multiple second guide structures 649 are connected in a one-to-one correspondence, allowing the first shell 62 to be raised and lowered relative to it. Furthermore, due to the surrounding guide and limiting structures, the first shell 62 can easily drive the second shell 64 to rotate. Therefore, through the cooperation of the multiple first guide structures 625 and multiple second guide structures 649, the robot 1000 can maintain stability and reliability during raising, lowering, and rotating processes to a certain extent.

[0134] The number of the first guide structure 625 and the second guide structure 649 can be specifically limited according to the actual situation, and this application does not make a specific limitation. In one example, referring to Figure 8, the number of both the first guide structure 625 and the second guide structure 649 is 4.

[0135] In some embodiments, the chassis 10 includes a chassis housing 12, a running gear 20, and a radar 30. The radar 30 is disposed on the running gear 20, which is disposed inside the chassis housing 12. A portion of the radar 30 extends out of the chassis housing 12. A detection window 50 is formed between the first housing 62 and the chassis housing 12. The radar 30 is used to detect the environment through the detection window 50.

[0136] In this way, the stability and reliability of the chassis 10 during movement are guaranteed to a certain extent, enabling the robot 1000 to move autonomously and perform tasks in complex environments.

[0137] Specifically, referring to Figure 20, the chassis 10 is located at the bottom of the robot 1000. The chassis 10 includes, but is not limited to, a two-wheel differential chassis 10, an omnidirectional wheel chassis 10, and an idler wheel chassis 10. Optionally, in this embodiment, the chassis 10 may be a two-wheel differential chassis 10. The walking component 20 provided within the chassis 10 may include drive wheels 23 and auxiliary omnidirectional wheels 26. The drive wheels 23 are located at the rear end of the chassis 10 and are responsible for the main forward and backward movements of the chassis 10. The auxiliary omnidirectional wheels 26 are used to help the chassis 10 maintain balance and stability when turning. Optionally, the movement modes of the chassis 10 include, but are not limited to, basic movement modes such as forward, backward, and turning.

[0138] Referring to Figure 20, the chassis 10 includes a battery 40 and a charging contact 43. The walking assembly 20 also includes a chassis base plate 18. The drive wheels 23, casters 26, battery 40, and charging contact 43 are all fixedly connected to the chassis base plate 18. A chassis electronic control board 46 is provided above the battery 40. The chassis electronic control board 46 is electrically connected to components including but not limited to the battery 40, the walking assembly 20, and the radar 30. The chassis 10 has a housing support 14. The chassis housing 12 includes a first chassis housing 12a and a second chassis housing 12b. The first chassis housing 12a and the second chassis housing 12b are respectively fixedly connected to the housing support 14 by means of, but not limited to, screws, clips, etc., so that the edges of the first chassis housing 12a and the second chassis housing 12b are connected to each other to form a continuous chassis housing 12.

[0139] Referring to Figures 1, 2, and 20, a chassis support 16 is provided above the walking component 20. The chassis support 16 is fixedly connected to the lifting and fixing chassis 10 via a column 200, which allows a detection window 50 to be formed between the first shell 62 and the chassis shell 12. The radar 30 is fixedly connected to the chassis support 16, and a part of the radar 30 extends out of the chassis shell 12, allowing the detection part of the radar 30 to operate through the detection window 50, for detecting surrounding objects including but not limited to position, speed, and other related information. The radar 30 can move with the robot 1000, thereby achieving dynamic detection of the environment.

[0140] It is understandable that the chassis 10 may also include, but is not limited to, components such as a line laser and an RGBD lens. The line laser can be used to provide high-precision distance measurement, and the RGBD lens, including a color camera and a depth sensor, can be used to provide rich visual information and depth data. The radar 30, the line laser, and the RGBD lens work together to improve the environmental perception and navigation capabilities of the chassis 10 to a certain extent.

[0141] In some embodiments, housing 60 includes a transition shell 66 and a column shell 68. Robot 1000 includes a column 200, which is disposed on walking assembly 20. First shell 62 is movably connected to column 200. Transition shell 66 is sleeved on the end of first shell 62 near chassis 10. Transition shell 66 is spaced from chassis shell 12 by column shell 68 to form detection window 50. Column shell 68 covers column 200 from the outside of housing 60.

[0142] This can improve the smoothness and overall aesthetics of the robot's appearance to some extent.

[0143] Specifically, referring to Figures 5, 12, and 13, a chassis support 16 is placed on the walking assembly 20. The chassis support 16 is connected to the lifting fixing plate 86 in the lifting assembly 80 via a column 200 and a connecting base plate 190. A transition shell 66 is fitted onto the end of the inner shell 62b near the chassis 10 and is fixedly connected to the upper end of the connecting base plate 190. The transition shell 66 is coaxial with the center of the connecting base plate 190. The upper edge of the transition shell 66 is connected to the lower edge of the outer shell 62a, serving as a connection and transition for the appearance of the robot 1000. The shell 60 also includes a column shell 68, which is optionally fixedly connected to the lower end of the connecting base plate 190 via screws and a limiting structure. The transition shell 66, separated from the chassis shell 12 by the column shell 68, can form a detection window 50, allowing the detection part of the radar 30 to operate through the detection window 50. The column shell 68 covers the column 200 from the outside of the shell 60, which not only prevents external objects from directly impacting the column 200, but also hides the column 200, making it more aesthetically pleasing. Optionally, the transition shell 66 covers part of the column shell 68, and through the smooth transition of the outer shell 62a, the transition shell 66, the column shell 68, and the outer shape of the chassis shell 12, a smooth and streamlined appearance is formed, which improves the smoothness and overall aesthetics of the robot 1000 to a certain extent.

[0144] The number of columns 200 and column shells 68 can be specifically limited according to the actual situation. One column 200 corresponds to one column shell 68, and this application does not make a specific limitation in this regard. In one example, referring to Figures 5 and 13, the number of columns 200 and column shells 68 is 4.

[0145] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0146] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robot, characterized in that, include: Chassis; The housing is rotatably mounted on the chassis. The housing includes a first shell and a second shell. The first shell is provided with a first guide structure. The second shell is vertically and flexibly fitted onto a portion of the first shell. The second shell is provided with a second guide structure. The first guide structure and the second guide structure are connected to guide the second shell when it is raised or lowered relative to the first shell, and to cause the first shell to rotate synchronously when the second shell rotates, thereby causing the housing to rotate relative to the chassis.

2. The robot according to claim 1, characterized in that, The first shell includes an outer shell and an inner shell that are connected to each other. The outer shell is rotatably connected to the chassis. The inner shell is provided with the first guide structure. The second shell is sleeved on the inner shell.

3. The robot according to claim 2, characterized in that, The robot has an initial state and a raised state. In the initial state, the second shell is connected to the outer shell, and the inner shell is completely covered by the second shell. In the raised state, the second shell separates from the outer shell, and at least a portion of the inner shell is exposed by the second shell.

4. The robot according to any one of claims 1-3, characterized in that, The robot includes a lifting assembly disposed within the housing. The lifting assembly includes a first drive component and a transmission component. The first drive component is fixed to the chassis and is connected to the second housing via the transmission component. The first drive component is used to drive the second housing to move up and down relative to the first housing via the transmission component.

5. The robot according to claim 4, characterized in that, The transmission assembly includes a lifting column, a lead screw, and a nut. The lifting column is connected to the second housing. The output end of the first drive member is connected to the lead screw. The nut is sleeved on the lead screw and connected to the lifting column. When the first drive member drives the lead screw to rotate, the nut drives the lifting column to rise and fall along the axial direction of the lead screw, thereby driving the second housing to rise and fall relative to the first housing.

6. The robot according to claim 5, characterized in that, The lifting assembly includes a gas spring, a lifting fixed plate, and a lifting top plate. The first driving component is disposed on the lifting fixed plate. The lifting column is connected to the second shell through the lifting top plate. The gas spring is connected to the lifting fixed plate and the lifting top plate.

7. The robot according to claim 6, characterized in that, The lifting assembly includes a lifting outer frame, which is located around the periphery of the lifting top plate and extends toward the lifting fixed plate. The housing is located around the lifting outer frame.

8. The robot according to any one of claims 4-7, characterized in that, The robot includes a rotating assembly, which includes a second driving member. The second shell is connected to the transmission assembly via the second driving member. The second driving member is used to drive the second shell to rotate relative to the transmission assembly, thereby causing the shell to rotate relative to the chassis.

9. The robot according to claim 8, characterized in that, The second driving component includes a stator and a rotor. The rotating assembly includes a rotating connecting rod. The stator is fixedly connected to the second housing. The rotor is fixedly connected to the transmission assembly via the rotating connecting rod. The second driving component is used to rotate the stator relative to the rotor during operation, thereby driving the second housing to rotate relative to the transmission assembly.

10. The robot according to claim 8, characterized in that, The rotating assembly includes a first bearing and a rotating movable frame, and the transmission assembly includes a lifting top plate. The first bearing is disposed inside the rotating movable frame, and the outer side of the first bearing is fixedly connected to the inner side of the rotating movable frame. The outer side of the lifting top plate is fixedly connected to the inner side of the first bearing.

11. The robot according to claim 10, characterized in that, The rotating movable frame is provided with a support, and the second shell is connected to the rotating movable frame through the support.

12. The robot according to claim 8, characterized in that, The robot includes a body part, which is mounted on the rotating assembly. The rotating assembly is used to drive the body part and the shell to rotate synchronously.

13. The robot according to any one of claims 1-12, characterized in that, The robot includes a connecting base plate, a support cylinder, and two second bearings located inside the first shell. The lifting assembly is connected to the chassis through the connecting base plate. The support cylinder includes a first part and a second part. The second part is rotatably connected to the first shell. The first part is fixed on the connecting base plate. The two second bearings are respectively sleeved on both ends of the second part along the axial direction of the support cylinder and connected to the inner side of the first shell.

14. The robot according to claim 13, characterized in that, The robot includes a sleeve located inside the first shell, the sleeve being fitted onto the first part, and the sleeve being connected to the connecting base plate and a second bearing near the connecting base plate.

15. The robot according to any one of claims 1-14, characterized in that, One of the first guide structure and the second guide structure is provided with a boss, and the other is provided with a groove, wherein the boss is slidably embedded in the groove.

16. The robot according to any one of claims 1-15, characterized in that, The first shell is provided with a plurality of first guide structures, which are arranged at intervals along the circumferential direction of the first shell. The second shell is provided with a plurality of second guide structures, which are arranged at intervals along the circumferential direction of the second shell. The plurality of first guide structures and the plurality of second guide structures are connected in a one-to-one correspondence.

17. The robot according to any one of claims 1-16, characterized in that, The chassis includes a chassis shell, a running gear, and a radar. The radar is mounted on the running gear, which is located inside the chassis shell. A portion of the radar extends out of the chassis shell. A detection window is formed between the first shell and the chassis shell, and the radar is used to detect the environment through the detection window.

18. The robot according to claim 17, characterized in that, The housing includes a transition shell and a column shell. The robot includes a column, which is mounted on the walking assembly. The first shell is movably connected to the column. The transition shell is fitted onto the end of the first shell near the chassis. The transition shell is spaced from the chassis shell by the column shell to form the detection window. The column shell covers the column from the outside of the housing.

Images