CN105619419A - Robot - Google Patents

Abstract

The invention provides a robot. The robot comprises a chassis, a support arm, a head part and a first driving mechanism, wherein the support arm is arranged on the chassis in a manner of swinging up and down around the first pivot axis; the head part is arranged on the support arm; and the first driving mechanism is arranged in the chassis or in the support arm and drives the support arm, and thus, the support arm is provided with a retracting position and an outward swinging position. The technical scheme effectively solves the problem that the robot in the prior art occupies large space.

Description

Robot

Technical field

The present invention relates to technical field of mechanical equipment, specifically, it relates to a kind of robot.

Background technology

In recent years, robot has obtained in our life and has utilized widely. Such as, museum carries out the robot explained, the robot being responsible for food delivery in restaurant and the robot that people can be accompanied to chat etc. There is a common feature in above-mentioned robot, and the volume being exactly overall is relatively big, takies space bigger.

Summary of the invention

It is desirable to provide a kind of robot, take the bigger problem in space to solve robot in prior art.

In order to realize above-mentioned purpose, the present invention provides a kind of robot, comprising: chassis; Sway brace, sway brace can be arranged on chassis with swinging up and down around the first pivot axis; Head, is arranged on sway brace; First driving mechanism, is arranged in chassis or is arranged in sway brace, and the first driving mechanism drives sway brace, so that sway brace has reclaims position and outer pendulum position.

Further, the first driving mechanism comprises the first motor and the first transmission rig, and the bearing of trend of the output shaft of the first motor is perpendicular to the first pivot axis, and the first motor drives sway brace by the first transmission rig.

Further, first driving mechanism is arranged in chassis, first transmission rig comprises intermeshing first cone gear and the 2nd cone gear and the first transmission shaft with the 2nd cone gear coaxial rotation, first cone gear is driven by the output shaft of the first motor, and the rotation of the first transmission shaft drives sway brace to swing.

Further, first driving mechanism is arranged in sway brace, first transmission rig comprises intermeshing first cone gear and the 2nd cone gear and determines axle with the 2nd cone gear is coaxially connected, and the first cone gear is driven by the output shaft of the first motor, determines the relative chassis of axle and is fixedly installed.

Further, sway brace comprises the first sway brace and the 2nd sway brace, the first end of the first sway brace is arranged on chassis swingably around the first pivot axis and is driven by the first driving mechanism, the first end of the 2nd sway brace is arranged on the 2nd end of the first sway brace around the 2nd pivot axis swingably, and head is arranged on the 2nd end of the 2nd sway brace.

Further, robot also comprises: the 2nd driving mechanism, is arranged in the first sway brace or is arranged in the 2nd sway brace, and the 2nd driving mechanism drives the 2nd sway brace, so that the 2nd sway brace swings.

Further, the 2nd driving mechanism comprises the 2nd motor and the 2nd transmission rig, and the bearing of trend of the output shaft of the 2nd motor is perpendicular to the 2nd pivot axis, and the 2nd motor drives the 2nd sway brace by the 2nd transmission rig.

Further, 2nd driving mechanism is arranged in the first sway brace, 2nd transmission rig comprises intermeshing triconodont wheel and the 4th cone gear and the second driving shaft with the 4th cone gear coaxial rotation, triconodont wheel is driven by the output shaft of the 2nd motor, and the rotation of second driving shaft drives the 2nd sway brace to swing.

Further, the first sway brace is two be oppositely arranged, and the 2nd sway brace is one and is arranged between two the first sway braces.

Further, chassis being provided with the accommodation groove holding sway brace and head, sway brace is in sway brace and head when reclaiming position and is recycled to the upper surface holding and not protruding from chassis in groove.

Further, head can be arranged on sway brace with swinging up and down around the 3rd pivot axis, and head can swing around about the 4th pivot axis.

Further, head comprises pedestal and head body, and pedestal is arranged on sway brace swingably around the 3rd pivot axis, and head body is arranged on pedestal rotationally along the 4th pivot axis.

Further, the first steering wheel that pedestal comprises Connection Block and is arranged on Connection Block, head body is arranged on Connection Block rotationally.

Further, head body comprises shell, the display unit that is arranged on shell and arrange the 2nd steering wheel in the enclosure, and shell is connected with Connection Block by the 2nd steering wheel.

Further, chassis is provided with travel mechanism.

Further, chassis is provided with floor sweeping mechanism.

The technical scheme of application the present invention, sway brace has recovery position and outer pendulum position under the driving of the first driving mechanism. The head being arranged on sway brace also can move along with sway brace. Drive sway brace to be in outer pendulum position when robot is in running order by the first driving mechanism, drive sway brace to be in when robot is in off-position by the first driving mechanism and reclaim position. Sway brace is in and when reclaiming position, the space that takies of robot is obviously reduced, and is convenient to storage like this and deposits. First driving mechanism is arranged in described chassis or is arranged in described sway brace, efficiently utilizes the space of robot self like this so that robot one-piece construction is compacter, attractive in appearance.

Accompanying drawing explanation

The Figure of description of the part forming the application is used to provide a further understanding of the present invention, and the schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention. In the accompanying drawings:

Fig. 1 shows the perspective view of the embodiment one of the robot according to the present invention;

Fig. 2 shows the schematic side view of the robot of Fig. 1;

Fig. 3 shows the mated condition schematic diagram of the sway brace of the robot of Fig. 1, the first driving mechanism and the 2nd driving mechanism;

Fig. 4 shows the structural representation of the head of the robot of Fig. 1;

Fig. 5 shows the structural representation of the pedestal of the head of Fig. 4;

Fig. 6 shows the structural representation of the installing sleeve between the head of Fig. 4 and sway brace; And

Fig. 7 shows the mated condition schematic diagram of the sway brace of the embodiment two of the robot according to the present invention, the first driving mechanism and the 2nd driving mechanism.

Wherein, above-mentioned accompanying drawing comprises the following drawings mark:

10, chassis; 11, groove is held; 20, sway brace; 21, the first sway brace; 22, the 2nd sway brace; 30, head; 31, pedestal; 311, Connection Block; 312, the first steering wheel; 32, head body; 40, the first driving mechanism; 41, the first motor; 42, the first cone gear; 43, the 2nd cone gear; 44, the first transmission shaft; 45, axle is determined; 50, the 2nd driving mechanism; 51, the 2nd motor; 52, triconodont wheel; 53, the 4th cone gear; 54, second driving shaft; 61, the first steady arm; 62, standby positioning device; 63, the 2nd steady arm; 70, installing sleeve; S1, the first pivot axis; S2, the 2nd pivot axis; S3, the 3rd pivot axis; S4, the 4th pivot axis.

Embodiment

It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually. Below with reference to the accompanying drawings and come the present invention is described in detail in conjunction with the embodiments.

As depicted in figs. 1 and 2, the robot of embodiment one comprises: chassis 10, sway brace 20, head 30 and the first driving mechanism 40. Sway brace 20 can be arranged on chassis 10 around the first pivot axis S1 with swinging up and down, and this sway brace 20 has recovery position and outer pendulum position. Head 30 is arranged on sway brace 20, and this head 30 can arrange the parts such as display unit and loud speaker, and display unit can the using state of display device people or be convenient to exchange with people. First driving mechanism 40 is arranged in chassis 10, and the first driving mechanism 40 drives sway brace 20, so that sway brace 20 has reclaims position and outer pendulum position.

The technical scheme of Application Example one, sway brace 20 has recovery position and outer pendulum position under the driving of the first driving mechanism 40. The head 30 being arranged on sway brace 20 also can move along with sway brace 20. Drive sway brace 20 to be in outer pendulum position when robot is in running order by the first driving mechanism, drive sway brace 20 to be in when robot is in off-position by the first driving mechanism and reclaim position. Sway brace 20 is in and when reclaiming position, the space that takies of robot is obviously reduced, and is convenient to storage like this and deposits. First driving mechanism 40 is arranged in chassis 10, efficiently utilizes the space of robot self like this so that robot one-piece construction is compacter, attractive in appearance.

In order to more reasonably utilize space, make robot architecture compacter, as shown in Figure 3, in the robot of embodiment one, first driving mechanism 40 comprises the first motor 41 and the first transmission rig, the bearing of trend of the output shaft of the first motor 41 is perpendicular to the first pivot axis S1, and the first motor 41 drives sway brace 20 by the first transmission rig. The motor that commercially can buy is growth tubular or oblong-shaped generally, and its axial size is bigger. In order to take into account manufacturing cost and the requirement of robot miniaturization, it is more reasonable that the integral layout of the first driving mechanism 40 needs. In embodiment one, the bearing of trend of the output shaft of the first motor 41 is perpendicular to the first pivot axis S1 of sway brace 20, and the power transmitting the first motor 41 by the first transmission rig is to sway brace 20. Can arrange compact in sway brace 20 no matter above-mentioned first driving mechanism 40 is arranged in chassis 10 or is arranged on, save space.

As shown in Figure 3, in embodiment one, first transmission rig comprises intermeshing first cone gear 42 and the 2nd cone gear 43 and the first transmission shaft 44 with the 2nd cone gear 43 coaxial rotation, first cone gear 42 is driven by the output shaft of the first motor 41, and the rotation of the first transmission shaft 44 drives sway brace 20 to swing. Transmission of power to the first transmission shaft 44 and is driven sway brace 20 to swing by the first transmission shaft 44 by intermeshing first cone gear 42 and the 2nd cone gear 43 by the output shaft of the first motor 41. Preferably, can be linked together by fastening piece between the first transmission shaft 44 and sway brace 20, such as screw. Certainly, first transmission shaft 44 can not also directly be connected with sway brace 20, but be connected with sway brace 20 by a middleware, it is only necessary to meeting the first transmission shaft 44 and sway brace 20 can be driven to swing, concrete connection relation is not limited to the above-mentioned mode being enumerated to.

The concrete structure of sway brace 20 can have various ways, and sway brace can be only a joint or can comprise interconnective more piece. Those skilled in the art will know that, the concrete joint number of sway brace can be selected according to actual needs. As shown in Figure 3, in embodiment one, sway brace 20 comprises the first sway brace 21 and the 2nd sway brace 22, the first end of the first sway brace 21 is arranged on chassis 10 swingably around the first pivot axis S1 and is driven by the first driving mechanism 40, the first end of the 2nd sway brace 22 is arranged on the 2nd end of the first sway brace 21 around the 2nd pivot axis S2 swingably, and head 30 is arranged on the 2nd end of the 2nd sway brace 22. The sway brace 20 of embodiment one has stable, the advantages such as scope of activity is big. Preferably, being formed with cavity in the 2nd sway brace 22, this cavity, for arranging circuit card, the 2nd sway brace 22 was provided with string holes.

As shown in Figure 3, in embodiment one, robot also comprises the 2nd driving mechanism 50. 2nd driving mechanism 50 is arranged in the first sway brace 21, and the 2nd driving mechanism 50 drives the 2nd sway brace 22, so that the 2nd sway brace 22 swings. In the present embodiment, drive the 2nd sway brace 22 to make it swing by the 2nd driving mechanism 50, the first sway brace 21 and the 2nd sway brace 22 can be made like this to control respectively, make the control of sway brace 20 more flexible like this. Certainly, in other not shown enforcement modes, the 2nd sway brace 22 can be driven by the first driving mechanism 40 too, now needs to increase suitable transmission rig between the 2nd sway brace 22 and the first transmission shaft 44.

In order to more reasonably utilize space, make robot architecture compacter, as shown in Figure 3, in embodiment one, 2nd driving mechanism 50 comprises the 2nd motor 51 and the 2nd transmission rig, the bearing of trend of the output shaft of the 2nd motor 51 is perpendicular to the 2nd pivot axis S4, and the 2nd motor 51 drives the 2nd sway brace 22 by the 2nd transmission rig. With managing in the principle of design of the first driving mechanism, the 2nd driving mechanism 50 of embodiment one has integral layout more reasonably advantage, can meet the requirement of robot miniaturization like this.

As shown in Figure 3, in embodiment one, 2nd transmission rig comprises intermeshing triconodont wheel 52 and the 4th cone gear 53 and the second driving shaft 54 with the 4th cone gear 53 coaxial rotation, triconodont wheel 52 is driven by the output shaft of the 2nd motor 51, and the rotation of second driving shaft 54 drives the 2nd sway brace 22 to swing. Transmission of power to second driving shaft 54 and is driven the 2nd sway brace 22 to swing by second driving shaft 54 by intermeshing triconodont wheel 52 and the 4th cone gear 53 by the output shaft of the 2nd motor 51. Preferably, can be linked together by fastening piece between second driving shaft 54 and the 2nd sway brace 22, such as screw. Certainly, second driving shaft 54 can not also directly be connected with the 2nd sway brace 22, but be connected with the 2nd sway brace 22 by a middleware, it is only necessary to meeting second driving shaft 54 and the 2nd sway brace 22 can be driven to swing, concrete connection relation is not limited to the above-mentioned mode being enumerated to.

In order to take into account structural stability and stability of motion, as shown in Figure 3, in embodiment one, the first sway brace 21 is be oppositely arranged two, and the 2nd sway brace 22 is one and is arranged between two the first sway braces 21. In the present embodiment, the first driving mechanism 40 drives one of them first sway brace 21, and another first sway brace 21 is coordinated with chassis 10 by rotating shaft. Certainly, as those skilled in the art will know that, the quantity of the first sway brace 21 and the 2nd sway brace 22 is not limited to this, and the first sway brace 21 and the 2nd sway brace 22 can also be one, or the first sway brace 21 is one and the 2nd sway brace 22 is be oppositely arranged two. Quantity and the decoration form of the first sway brace 21 and the 2nd sway brace 22 can be arranged according to actual needs flexibly.

In embodiment one, the first motor 41 and the 2nd motor 51 are self-locking motor. As shown in Figure 3, for the ease of being controlled by the first motor 41, it is possible to arrange the first steady arm 61, the rotation angle of the first sway brace 21 is judged by the first steady arm 61. And then the first motor 41 is controlled by the signal according to the first steady arm 61. In embodiment one, the first steady arm 61 is arranged in the rotating shaft of the first sway brace 21 not coordinated with the first driving mechanism 40. To be on the safe side, it is possible on the first transmission shaft 44, standby positioning device 62 is set. As a same reason, for the ease of being controlled by the 2nd motor 51, the 2nd steady arm 63 can be set equally, judged the rotation angle of the 2nd sway brace 22 by the 2nd steady arm 63. 2nd steady arm 63 is arranged on second driving shaft 54. Certainly, those skilled in the art will know that, as feasible enforcement mode, the first motor 41 and the 2nd motor 51 can also adopt other drives structure such as steering wheel. When the first motor 41 and the 2nd motor 51 are steering wheel, the position of the first driving mechanism 40 and the 2nd driving mechanism 50 needs to adjust adaptively.

As shown in Figure 1, in embodiment one, chassis 10 being provided with the accommodation groove 11 holding sway brace 20 and head 30, sway brace 20 is in sway brace 20 and head 30 when reclaiming position and is recycled to the upper surface holding and not protruding from chassis 10 in groove 11. Said structure makes structure attractive in appearance. Preferably, sway brace 20 is in when reclaiming position, sway brace 20 and head 30 are positioned at same plane with the upper surface on chassis 10, make the appearance looks elegant of robot like this, it is to increase Consumer's Experience.

As depicted in figs. 1 and 2, in embodiment one, head 30 can be arranged on sway brace 20 around the 3rd pivot axis S3 with swinging up and down, and head 30 can swing around the 4th pivot axis about S4. Said structure makes head 30 to swing up and down simultaneously can also left and right swing. Like this, when robot realizes human-computer interaction function, it is possible to realize the action nodded or shake the head, and then effectively improve Consumer's Experience.

In order to simplify structure, considering that reducing the space of robot when not working takies, as shown in Figure 1, in embodiment one, the first pivot axis S1, the 2nd pivot axis S2 and the 3rd pivot axis S3 are parallel to each other simultaneously. Said structure also can improve integrally-built stability.

As shown in Figure 4, in embodiment one, head 30 comprises pedestal 31 and head body 32, and pedestal 31 is arranged on sway brace 20 around the 3rd pivot axis S3 swingably, and head body 32 is arranged on pedestal 31 rotationally along the 4th pivot axis S4. Said structure can realize swinging up and down and left and right swing of head 30, and structure is simple, it is easy to realizes.

As shown in Figure 5, in embodiment one, the first steering wheel 312 that pedestal 31 comprises Connection Block 311 and is arranged on Connection Block 311, head body 32 is arranged on Connection Block 311 rotationally. Connection Block 311 can support the first steering wheel 312, and the position of corresponding first steering wheel 312 output shaft of Connection Block 311 is provided with coupling shaft. Like this, Connection Block 311 and the first steering wheel 312 can together be arranged on sway brace 20 around the 3rd pivot axis S3 swingably, and then can realize swinging up and down of head 30. Arranging Connection Block 311 makes head 30 structure more stable. Certainly, as feasible enforcement mode, pedestal can only comprise steering wheel, and now, head body is arranged on steering wheel rotationally. So also need to be changed a little by steering wheel.

In embodiment one, head body 32 comprises shell, the display unit that is arranged on shell and arrange the 2nd steering wheel in the enclosure, and shell is connected with Connection Block 311 by the 2nd steering wheel. The left and right that the setting of the 2nd steering wheel can realize head 30 swings, and structure simply easily realizes.

It should be noted that, the first above-mentioned steering wheel 312 and the installation mode of the 2nd steering wheel can see prior aries. Specifically, in the installation mode of the first steering wheel 312. As shown in Figure 6, the junction of the 2nd sway brace 22 and the first steering wheel 312 is provided with installing sleeve 70, and this installing sleeve 70 and the 2nd sway brace 22 are fixedly installed. The inwall of this installing sleeve 70 is provided with spline tangent plane, at the bottom of the cylinder of installing sleeve 70, there is through hole. The end of the output shaft of the first steering wheel 312 is provided with screw, and the output shaft end of this first steering wheel 312 wears to above-mentioned installing sleeve 70 and has the limited tangent plane coordinated with spline tangent plane. Coordinate between spline tangent plane with limited tangent plane and can not relatively rotate between the output shaft making the first steering wheel 312 and installing sleeve 70. Wear screw the first steering wheel 312 is fixed in installing sleeve 70 in the through hole of installing sleeve 70 and in the screw of the output shaft of the first steering wheel 312. Like this, when the first steering wheel 312 starts, its main part together can swing with Connection Block 311. The installation mode of the 2nd steering wheel is similar to the installation mode of the first steering wheel, is fixed on by installing sleeve on Connection Block 311, and is arranged in above-mentioned installing sleeve by the output shaft of the 2nd steering wheel.

As those skilled in the art will know that, the position of the first steering wheel 312 and the 2nd steering wheel is not limited to the content of foregoing description, and the first steering wheel 312 can also be arranged in the 2nd sway brace 22, and the 2nd steering wheel can also be arranged in pedestal 31. In addition, it is achieved head 30 swing up and down and left and right swing mode be not limited to adopt steering wheel, it also can be real for being driven by motor, it is only necessary to adjusted adaptively the position of motor.

The chassis 10 of the robot of the present embodiment is provided with travel mechanism, makes robot can move according to pre-provisioning request like this. Certainly, in other figs. in unshowned enforcement mode, robot can not also arrange travel mechanism, and now robot can not walk, and is fixed on certain predetermined position and uses.

In embodiment one, chassis 10 is provided with floor sweeping mechanism. The robot of the present embodiment can take into account cleaning, safety precaution service and exchange with people, such as communication. Meanwhile, the robot of the present embodiment can be applied in commercial kitchen area and domestic environments.

The embodiment two of the robot according to the application is only with the difference of above-described embodiment: the first driving mechanism position and type of drive are set. Specifically, as shown in Figure 7, in embodiment two, the first driving mechanism 40 is arranged in one of them sway brace 20. First transmission rig comprises intermeshing first cone gear 42 and the 2nd cone gear 43 and determines axle 45 with the 2nd cone gear 43 is coaxially connected. First cone gear 42 is driven by the output shaft of the first motor 41, determines axle 45 and is relatively fixedly installed on chassis 10. The first cone gear 42 can be driven to rotate when the output shaft rotation of the first motor 41, owing to the 2nd cone gear 43 chassis 10 relative to determining axle 45 is fixedly installed, now the first cone gear 42 can drive sway brace 20 to rotate. 2nd driving mechanism 50 is arranged in another sway brace 20. The rest part of the robot of embodiment two is all substantially identical with embodiment one, does not repeat them here.

Embodiment three (not shown) of the robot according to the application and the difference of above-described embodiment are: the 2nd driving mechanism position and type of drive are set. Specifically, the 2nd driving mechanism is arranged in the 2nd sway brace, and the concrete structure of the 2nd driving mechanism is similar to the principle of design of the first driving mechanism of embodiment two, by motor, two intermeshing cone gears and determine axle and realize transmission. The principle of work of embodiment three and the principle of work of above-described embodiment are substantially identical, do not repeat them here.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations. Within the spirit and principles in the present invention all, any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (16)

1. a robot, it is characterised in that, comprising:

Chassis (10);

Sway brace (20), described sway brace (20) can be arranged on described chassis (10) around the first pivot axis (S1) with swinging up and down;

Head (30), is arranged on described sway brace (20);

First driving mechanism (40), it is arranged in described chassis (10) or it is arranged in described sway brace (20), described first driving mechanism (40) drives described sway brace (20), so that described sway brace (20) has reclaims position and outer pendulum position.

2. robot according to claim 1, it is characterized in that, described first driving mechanism (40) comprises the first motor (41) and the first transmission rig, the bearing of trend of the output shaft of described first motor (41) is perpendicular to described first pivot axis (S1), and described first motor (41) drives described sway brace (20) by described first transmission rig.

3. robot according to claim 2, it is characterized in that, described first driving mechanism (40) is arranged in described chassis (10), described first transmission rig comprises intermeshing first cone gear (42) and the 2nd cone gear (43) and the first transmission shaft (44) with described 2nd cone gear (43) coaxial rotation, described first cone gear (42) is driven by the output shaft of described first motor (41), and the rotation of described first transmission shaft (44) drives described sway brace (20) to swing.

4. robot according to claim 2, it is characterized in that, described first driving mechanism (40) is arranged in described sway brace (20), described first transmission rig comprise intermeshing first cone gear (42) and the 2nd cone gear (43) and coaxial with described 2nd cone gear (43) be connected determine axle (45), described first cone gear (42) is driven by the output shaft of described first motor (41), described determine the relatively described chassis (10) of axle (45) and is fixedly installed.

5. robot according to claim 1, it is characterized in that, described sway brace (20) comprises the first sway brace (21) and the 2nd sway brace (22), the first end of described first sway brace (21) is arranged on described chassis (10) swingably around described first pivot axis (S1) and above and is driven by described first driving mechanism (40), the first end of described 2nd sway brace (22) is arranged on swingably around the 2nd pivot axis (S2) on the 2nd end of described first sway brace (21), described head (30) is arranged on the 2nd end of described 2nd sway brace (22).

6. robot according to claim 5, it is characterised in that, described robot also comprises:

2nd driving mechanism (50), it is arranged in described first sway brace (21) or it is arranged in described 2nd sway brace (22), described 2nd driving mechanism (50) drives described 2nd sway brace (22), so that described 2nd sway brace (22) swings.

7. robot according to claim 6, it is characterized in that, described 2nd driving mechanism (50) comprises the 2nd motor (51) and the 2nd transmission rig, the bearing of trend of the output shaft of described 2nd motor (51) is perpendicular to described 2nd pivot axis (S2), and described 2nd motor (51) drives described 2nd sway brace (22) by described 2nd transmission rig.

8. robot according to claim 7, it is characterized in that, described 2nd driving mechanism (50) is arranged in described first sway brace (21), described 2nd transmission rig comprises intermeshing triconodont wheel (52) and the 4th cone gear (53) and the second driving shaft (54) with described 4th cone gear (53) coaxial rotation, described triconodont wheel (52) is driven by the output shaft of described 2nd motor (51), and the rotation of described second driving shaft (54) drives described 2nd sway brace (22) to swing.

9. robot according to claim 5, it is characterized in that, described first sway brace (21) is be oppositely arranged two, and described 2nd sway brace (22) is one and is arranged between two described first sway braces (21).

10. robot according to claim 1, it is characterized in that, being provided with the accommodation groove (11) holding described sway brace (20) and described head (30) on described chassis (10), when described sway brace (20) is in described recovery position, described sway brace (20) and described head (30) are recycled to the upper surface not protruding from described chassis (10) in described accommodation groove (11).

11. robots according to claim 1, it is characterized in that, described head (30) can be arranged on described sway brace (20) around the 3rd pivot axis (S3) with swinging up and down, and described head (30) can swing around the 4th pivot axis (S4) left and right.

12. robots according to claim 11, it is characterized in that, described head (30) comprises pedestal (31) and head body (32), described pedestal (31) is arranged on described sway brace (20) around described 3rd pivot axis (S3) swingably, and described head body (32) is arranged on described pedestal (31) rotationally along described 4th pivot axis (S4).

13. robots according to claim 12, it is characterized in that, the first steering wheel (312) that described pedestal (31) comprises Connection Block (311) and is arranged on described Connection Block (311), described head body (32) is arranged on described Connection Block (311) rotationally.

14. robots according to claim 13, it is characterized in that, the 2nd steering wheel that described head body (32) comprises shell, arranges display unit on the housing and be arranged in described shell, described shell is connected with described Connection Block (311) by described 2nd steering wheel.

15. robots according to claim 1, it is characterised in that, described chassis is provided with travel mechanism on (10).

16. robots according to claim 15, it is characterised in that, described chassis is provided with floor sweeping mechanism on (10).