Wheel foot type humanoid robot

Abstract

The invention discloses a wheel-foot type humanoid robot, which belongs to the technical field of robots and is characterized in that a robot head is arranged on a robot main body and can be used for visual perception; the tool magazine is arranged on the robot main body and is used for storing operation tools and a hand driving wheel with a hub motor; the two mechanical legs are arranged on the robot body, and leg driving wheels with hub motors are arranged at the foot ends of the mechanical legs. The two mechanical arms are arranged on the robot body, and quick-change connectors are installed at the tail ends of the mechanical arms. In the two-wheel-foot state, the ends of the leg driving wheels on the two mechanical legs are supported on the ground; in the four-wheel-foot form, the circumferential faces of the leg driving wheels on the two mechanical legs are supported on the ground, the two mechanical arms are provided with the hand driving wheels through the quick-change connectors, and the wheel-foot type robot bends to enable the circumferential faces of the hand driving wheels at the tail ends of the mechanical arms to be also supported on the ground. According to the wheel-foot type humanoid robot, the moving and operating capabilities of the humanoid robot are enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-footed humanoid robot. Background Art

[0002] Wheeled robots are a more traditional mobile robot configuration, with simple dynamic characteristics, high stability, and high energy efficiency, and are widely used in today's society. Compared with bipedal robots, wheeled robots have mature technology, high reliability, and low energy consumption. They have the characteristics of high-speed passage and low energy consumption in structured terrain.

[0003] A wheel-legged robot is a robot that combines the characteristics of a wheeled robot and a legged robot. It uses a combination of wheels and leg structures, and uses a wheel driven by a hub motor to replace the foot of a traditional legged robot. Wheel-legged robots can not only achieve the rapid movement and smooth driving of wheeled robots, but also overcome the limitations of legged robots in complex terrains. Combining the characteristics of wheeled and legged robots, they can show a variety of functions and performances in different environments and tasks. There are many configurations of existing wheel-legged robots. Among them, serial robots have strong movement flexibility and small leg structure, but have high requirements for joint motors and poor load capacity; parallel robots have high control accuracy and better load performance, but the leg structure occupies a large area and has a small workspace. Due to its complex structure and the fact that its load capacity is difficult to compare with that of wheeled robots at the same cost, there is still a lot of room for development and utilization of the flexibility and interaction potential of wheel-legged robots.

[0004] One of the original intentions of designing humanoid robots is to be able to replace human work in various environments and tasks, especially in dangerous, dirty or heavy work. Their morphology and movements are similar to those of humans, which makes it easier for them to adapt to and operate tools and equipment used by humans, and will profoundly change the way humans work and live. The bipedal walking control of existing humanoid robots is still not mature enough, and most of them can only achieve stable walking on flat terrain. The ability to walk stably on complex terrain and the ability to walk with high energy efficiency still need to be improved. Based on the current status of bipedal walking control technology for humanoid robots, existing technical solutions use other methods as a supplement to the walking mode. For example, Honda of Japan proposed a humanoid rescue robot that can perform quadrupedal crawling movements, which greatly enhances the ability to move smoothly in complex environments. KAIST, the Korea Advanced Institute of Science and Technology, proposed a wheel-footed humanoid robot with active wheels installed on the knee joints, which won the 2015 DARPA Robot Challenge for disaster rescue scenarios. It takes into account both efficient movement on flat ground and foot-style walking capabilities on complex roads.

[0005] However, the current humanoid bipedal robots can walk stably on flat ground, but their walking energy efficiency is low, that is, they need to consume a lot of energy to walk a distance, and their stability in walking on complex terrain is also insufficient. The humanoid quadrupedal walking mode is highly stable, but the walking speed is slow. Summary of the invention

[0006] In view of this, the present invention provides a wheel-legged humanoid robot, which takes into account the humanoid robot's passability in complex terrain and high-efficiency movement in relatively flat terrain. When a large range of movement is required, the end effector can be replaced with a driving wheel through the quick-change interface at the end of the arm, thereby switching to a four-wheeled form and improving movement efficiency; when it is necessary to carry out work, the driving wheel on the hand is put back into the tool library, switched to a two-wheeled form, and replaced with other end effectors in the tool library, thereby enhancing the movement and operation capabilities of the humanoid robot.

[0007] The present invention is achieved through the following technical solutions:

[0008] A wheel-legged humanoid robot, comprising a robot body, a robot head, two mechanical arms, two mechanical legs and a tool library;

[0009] The robot head is arranged on the robot body and can be used for visual perception;

[0010] The tool library is set on the robot body and is used to store working tools and hand driving wheels with hub motors;

[0011] Two mechanical legs are arranged on the robot body, and the foot ends of the mechanical legs are provided with leg driving wheels with hub motors;

[0012] Two mechanical arms are arranged on the robot body, and quick-change interfaces are installed at the ends of the mechanical arms;

[0013] In the two-wheeled foot form, the ends of the leg driving wheels on the two mechanical legs are supported on the ground;

[0014] In the four-wheeled form, the circumferential surfaces of the leg driving wheels on the two mechanical legs are supported on the ground, the two mechanical arms are installed with hand driving wheels through quick-change interfaces, and the wheeled-legged robot leans over so that the circumferential surfaces of the hand driving wheels at the ends of the mechanical arms are also supported on the ground.

[0015] Further, the quick-change interface includes a robot end component and a tool end component;

[0016] The end of the working tool and the end of the hand driving wheel are both provided with a tool end assembly;

[0017] The mechanical arm end assembly is fixed to the end of the mechanical arm,

[0018] The mechanical arm end assembly and the tool end assembly have quick release and locking functions.

[0019] Furthermore, the mechanical arm end assembly includes a servo motor, a lead screw, a nut, a mechanical arm end cam, a steel ball, and a steel ball retainer;

[0020] The output shaft of the servo motor is fixedly connected to the screw rod; the nut is threadedly connected to the screw rod; the cam at the end of the mechanical arm is coaxially fixedly connected to the screw rod nut; the steel ball retainer is coaxially arranged below the cam at the end of the mechanical arm;

[0021] The tool end assembly comprises a polygonal shell made of magnetic material, and a tool end cam, a spring spring pin, and a toothed matching ring arranged on the polygonal shell; the inner wall of the tool end cam is provided with an annular flange with an inclined surface; the toothed matching ring and the spring spring pin are both arranged on the end surface of the polygonal shell;

[0022] When the mechanical arm end assembly and the tool end assembly are locked, the mechanical arm end assembly is inserted into the tool end assembly under the drive of the mechanical arm, and the servo motor drives the lead screw to rotate, and drives the mechanical arm end cam to move downward through the nut, so that the steel ball is driven by the mechanical arm end cam to move outward to press the annular flange of the tool end cam, and then drives the tool end cam to move upward, so that the tool end assembly approaches the mechanical arm end assembly axially, and the mechanical end assembly and the tool end assembly are locked; after the locking is completed, the spring pin is connected to the contact point of the corresponding part in the mechanical arm end assembly, so as to realize the electrical connection between the mechanical arm end assembly and the tool end assembly, provide power and communication for the tool end assembly, and the tooth mating ring forms a profile connection with the corresponding structure in the mechanical arm end assembly to improve the locking strength.

[0023] Furthermore, the hand driving wheel also includes a hub and a fixed shaft;

[0024] The wheel hub motor is coaxially arranged in the wheel hub;

[0025] The fixed shaft is coaxially arranged in the wheel hub, and the tool end assembly is arranged at one end of the fixed shaft, and a polygonal bracket with a retaining edge is arranged at the other end of the fixed shaft for placing the hand driving wheel in the tool library;

[0026] The polygonal bracket is made of magnetic material.

[0027] Furthermore, a plurality of quick-change tool holders are provided on the tool library;

[0028] The quick-change tool bracket is used to fix the working tool and the hand driving wheel.

[0029] Furthermore, each of the quick-change tool brackets comprises a bracket body and an electromagnet;

[0030] The electromagnet is arranged on the bracket body, and is used to fix the polygonal shell in the tool end assembly and the polygonal bracket in the hand driving wheel through the effect of magnetic attraction.

[0031] Furthermore, the tool library is provided with a cavity;

[0032] The working tool is accommodated in the cavity, and the tool end assembly on the working tool is fixed to the electromagnet on the quick-change tool bracket;

[0033] When the hand driving wheel is fixed to the quick-change tool bracket, the hand driving wheel is located outside the cavity.

[0034] Further, each robotic arm has seven rotational degrees of freedom;

[0035] Each robotic leg has six rotational degrees of freedom;

[0036] The robot head has three rotational degrees of freedom.

[0037] Furthermore, the robotic arm and the robotic leg are controlled by an impedance control principle.

[0038] Beneficial effects:

[0039] (1) A wheel-legged humanoid robot comprises a robot body, a robot head, two mechanical arms, two mechanical legs and a tool library; the robot head is arranged on the robot body and can be used for visual perception; the tool library is arranged on the robot body and is used to store hand driving wheels with hub motors and working tools; two mechanical legs are arranged on the robot body, and the foot ends of the mechanical legs are provided with leg driving wheels with hub motors; two mechanical arms are arranged on the robot body, and the ends of the mechanical arms are installed with quick-change interfaces; in the two-wheeled foot form, the ends of the leg driving wheels on the two mechanical legs are supported on the ground; in the four-wheeled foot form, the circumferential surfaces of the driving wheels on the two mechanical legs are supported on the ground, the two mechanical arms are installed with hand driving wheels through quick-change interfaces, and the wheel-legged robot bends over so that the circumferential surfaces of the hand driving wheels at the ends of the mechanical arms are also supported on the ground.

[0040] In this way, the tool library is set on the robot body, which can store the hand driving wheel and working tools. Through the quick-change interface, the components installed at the end of the robotic arm can flexibly choose between the working tools and the hand driving wheel, thereby enabling the humanoid robot to switch between two-wheeled feet and four-wheeled feet.

[0041] Moreover, when in the two-wheeled foot form, the leg driving wheels can be laid flat so that the ends of the leg driving wheels touch the ground, acting as large-area soles of the feet, thereby improving the support capacity of the robot and being suitable for robot operations that require stable support. When in the four-wheeled foot form, the leg driving wheels and the circumferential surfaces of the hand driving wheels at the end of the robotic arm touch the ground at the same time, which can be suitable for robot walking conditions. Therefore, the four-wheeled form of the robot takes into account both the passability in complex terrain and the high-efficiency movement in relatively flat terrain. When a large range of movement is required, the movement efficiency is improved, and when operations need to be carried out, the two-wheeled foot form is used to enhance the movement and operation capabilities of the humanoid robot.

[0042] (2) The quick-change interface includes an arm end assembly and a tool end assembly; the end of the working tool and the end of the hand driving wheel are both provided with a tool end assembly, and the arm end assembly is fixed to the end of the arm; the arm end assembly and the tool end assembly have quick release and locking functions. In this way, the end of the arm can be equipped with different working tools according to different working requirements.

[0043] (3) The structure of the robot arm end assembly and the tool end assembly is compact, and different working tools and hand driving wheels can be installed at the end of the robot arm quickly and reliably.

[0044] (4) The hand driving wheel also includes a wheel hub and a fixed shaft; the wheel hub motor is coaxially arranged in the wheel hub; the fixed shaft is coaxially passed through the wheel hub, and a tool end assembly is arranged at one end of the fixed shaft, and a polygonal bracket with a retaining edge is arranged at the other end of the fixed shaft for placing the hand driving wheel in the tool library; the polygonal bracket is made of magnetic material.

[0045] In this way, when it is in the two-wheeled form, the hand driving wheel can be placed on the tool library, and when it is in the four-wheeled form, the hand driving wheel can be installed at the end of the robotic arm.

[0046] (5) The tool magazine is provided with a plurality of quick-change tool brackets, which are used to fix the working tools and the hand driving wheel. In this way, the hand driving wheel and the working tools are placed in the form of quick-change tool brackets, and the structure is simple.

[0047] (6) Each quick-change tool bracket includes a bracket body and an electromagnet; the electromagnet is arranged on the bracket body and is used to fix the polygonal shell in the tool end assembly and the polygonal bracket in the hand driving wheel through magnetic attraction.

[0048] In this way, when the robot arm places the hand driving wheel or the working tool on the tool library, the hand driving wheel and the working tool can be fixed by the magnetization of the electromagnet. When the robot arm wants to replace the working tool or the hand driving wheel, the quick-change tool bracket can be quickly released from the hand driving wheel or the working tool by demagnetization of the electromagnet.

[0049] (7) The tool magazine is provided with a cavity; the working tool is accommodated in the cavity, and the tool end assembly on the working tool is fixed to the electromagnet on the quick-change tool bracket; in this way, the volume of the robot is reduced and the structure of the robot is made more compact. When the hand driving wheel is fixed to the quick-change tool bracket, the hand driving wheel is located outside the cavity, so that the hand driving wheel can be quickly taken in and put out.

[0050] (8) Each robotic arm has seven rotational degrees of freedom; each robotic leg has six rotational degrees of freedom; and the robot head has three rotational degrees of freedom. In this way, the flexible adjustment capability of the end postures of the robotic arms and legs enables the active wheels of the legs and hands to flexibly turn. Therefore, the four-wheeled form can not only adapt to flat terrain, but also to general rugged roads, and the movement energy efficiency is high, making the robot's movement more flexible and able to meet more diverse working environments.

[0051] (9) The robotic arms and legs are controlled by the impedance control principle. In this way, the flexibility of the robotic arms and legs can be achieved, providing the robot with active suspension function under high-speed movement and reducing vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic structural diagram of a wheel-legged humanoid robot provided by the present invention;

[0053] Figure 2 for Figure 1 Schematic diagram of the distribution of rotational degrees of freedom of a mid-wheeled humanoid robot;

[0054] Figure 3 for Figure 1 A schematic diagram of a state where a driving wheel is installed on a mechanical arm of a mid-wheeled humanoid robot;

[0055] Figure 4 for Figure 1 Schematic diagram of the four-wheeled form of a mid-wheeled humanoid robot;

[0056] Figure 5 for Figure 1 Schematic diagram of the quick-change interface of the mid-wheeled legged humanoid robot, the active wheel of the hand, and the assembly principle of different working tools;

[0057] Figure 6 for Figure 5 Schematic diagram of the structure of the quick-change interface;

[0058] Figure 7 for Figure 5 A schematic diagram of the structure of the robot arm end assembly with a medium quick-change interface;

[0059] Figure 8 A schematic diagram of the structure of the hand driving wheel provided by the present invention;

[0060] Fig. 9 for Figure 1 The schematic diagram of the principle of the tool library in the middle accommodating the hand driving wheel and various working tools;

[0061] Among them, 1-robot head, 2-mechanical arm, 3-mechanical leg, 4-leg driving wheel, 5-tool library, 5-1-tool library body, 5-2-quick-change tool bracket, 5-2-1-bracket body, 5-2-2-electromagnet, 5-3-operating tool, 6-quick-change interface, 6-1-mechanical arm end assembly, 6-1-1-servo motor, 6-1-2-screw rod, 6-1-3-nut, 6-1-4-mechanical arm end cam, 6-1-5-steel ball, 6-1-6-steel ball retainer, 6-2-tool end assembly, 6-2-1-tool end cam, 6-2-2-polygonal shell, 6-2-3-spring pin, 6-2-4-tooth mating ring, 7-hand driving wheel, 7-1 wheel hub, 7-2 fixed shaft, 7-3-polygonal bracket, 7-4-rib, 8-robot body. DETAILED DESCRIPTION

[0062] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0063] Reference Figures 1 to 9 This embodiment provides a wheeled humanoid robot, comprising a robot body 8, a robot head 1, two mechanical arms 2, two mechanical legs 3 and a tool library 5, wherein:

[0064] The robot head 1 is arranged on the top of the robot body 8 and can be used for visual perception; the tool library 5 is arranged on the back of the robot body 8, and is used to store working tools 5-3 (such as welding guns, electric-driven anti-personnel dexterous hands), and hand driving wheels 7 with hub motors; two mechanical legs 3 are arranged on the left and right sides of the lower end of the robot body 8, and the foot ends of the mechanical legs 3 are provided with leg driving wheels 4 with hub motors; two mechanical arms 2 are arranged on the left and right sides of the upper end of the robot body 8, and the ends of the mechanical arms 2 are installed with quick-change interfaces 6; when in the two-wheel foot form, refer to Figure 1 to Figure 3 The two mechanical legs 3 rotate through the joints on the mechanical legs 3 so that the ends of the leg driving wheels 4 on the mechanical legs 3 are supported on the ground. The ends of the two mechanical arms 2 are installed with working tools 5-3 through the quick-change interface 6, and the ends of the mechanical arms 2 are far away from the ground. The two-wheel foot form is used for robot working conditions; when the four-wheel foot form is used, refer to Figure 4 The two mechanical legs 3 are rotated through the joints on the mechanical legs 3 so that the leg driving wheels 4 on the mechanical legs 3 are adjusted to be supported on the ground on a circular surface. The two mechanical arms 2 are installed with hand driving wheels 7 through quick-change interfaces 6, and the wheel-footed robot leans over so that the circumferential surface of the hand driving wheels 7 at the end of the mechanical arms 2 is also supported on the ground. The four-wheeled foot form is used for the robot walking condition.

[0065] In this way, the tool library 5 is set on the robot body 8, which can store the hand driving wheel 7 and the working tool 5-3. Through the quick-change interface 6, the components installed at the end of the robot arm 2 can flexibly choose between the working tool 5-3 and the hand driving wheel 7, so that the humanoid robot has the ability to switch between the two-wheel foot and the four-wheel foot. Moreover, when in the two-wheel foot form, the leg driving wheel 4 is laid flat, so that the end of the leg driving wheel 4 touches the ground, acting as a large area of ​​the sole, improving the support capacity of the robot, and is suitable for the robot to need stable support when working. In the four-wheel foot form, the leg driving wheel 4 and the circumferential surface of the hand driving wheel 7 at the end of the robot arm 2 touch the ground at the same time, which can be suitable for the working condition of the robot walking. Therefore, the four-wheel wheel form of the robot takes into account the passability in complex terrain and the high-efficiency movement in relatively flat terrain. When a large range of movement is required, the movement efficiency is improved, and when it is necessary to carry out work, the movement and operation capabilities of the humanoid robot are enhanced through the two-wheel foot form.

[0066] It should be noted that those skilled in the art are familiar with the fact that there are mature products in the field of industrial robots for quick-change interfaces 6, which can be selected according to mechanical loads and electrical requirements. Figure 5 The quick-change interface 6 includes a robot arm end assembly 6-1 and a tool end assembly 6-2. The robot arm end assembly 6-1 is fixed to the end of the robot arm 2. Each working tool 5-3 and the hand driving wheel 7 are connected with the tool end assembly 6-2. The robot arm end assembly 6-1 and the tool end assembly 6-2 have quick release and locking functions.

[0067] Reference Figure 6 , Figure 7 The robot arm end assembly 6-1 includes a servo motor 6-1-1, a lead screw 6-1-2, a nut 6-1-3, a robot arm end cam 6-1-4, a steel ball 6-1-5, and a steel ball holder 6-1-6, wherein the output shaft of the servo motor 6-1-1 is fixedly connected to the lead screw 6-1-2; the nut 6-1-3 is threadedly connected to the lead screw 6-1-2; the robot arm end cam 6-1-4 is coaxially fixedly connected to the nut 6-1-3; the steel ball holder 6-1-6 is coaxially arranged on the robot arm end cam 6-1-4 At the bottom, the steel ball 6-1-5 is mounted on the steel ball holder 6-1-6; the tool end assembly 6-2 includes a polygonal shell 6-2-2 made of magnetic material and a tool end cam 6-2-1, a spring pin 6-2-3, and a tooth matching ring 6-2-4 arranged on the multi-edge shell 6-2-2; the inner wall of the tool end cam 6-2-1 is provided with an annular flange with an inclined surface; the tooth matching ring 6-2-4 and the spring pin 6-2-3 are both arranged on the end surface of the polygonal shell 6-2-2. The mechanical arm end assembly 6-1 and the tool end assembly 6-2 are compact in structure and can quickly and reliably realize the installation of different working tools 5-3 and the hand driving wheel 7 at the end of the mechanical arm 2.

[0068] When the robot arm end assembly 6-1 and the tool end assembly 6-2 are locked, the robot arm end assembly 6-1 is inserted into the tool end assembly 6-2 under the drive of the robot arm 2, and the servo motor 6-1-1 drives the lead screw 6-1-2 to rotate, and drives the robot arm end cam 6-1-4 to move downward through the nut 6-1-3, so that the steel ball 6-1-5 is squeezed by the inclined surface of the outer wall of the robot arm end cam 6-1-4, so that the steel ball 6-1-5 moves outward and upward (equivalent to moving obliquely upward). In this process, the steel ball 6-1-5 pushes the annular flange of the tool end cam 6-2-1 upward, thereby driving the tool end cam 6-2-1 to move upward, so that the tool end assembly 6-2 approaches the robot end assembly 6-1 axially. After the tool end assembly 6-2 moves into position, the servo motor 6-1-1 stops rotating, and the steel ball 6-1-5 presses the annular flange of the tool end cam 6-2-1 to achieve locking of the robot end assembly 6-1 and the tool end assembly 6-2. After the locking is completed, the spring pin 6-2-3 is connected with the contact point at the corresponding position in the robot end assembly 6-1 to achieve electrical connection between the robot end assembly 6-1 and the tool end assembly 6-2, providing power and communication for the tool end assembly 6-2, and the tooth mating ring 6-2-4 forms a profile connection with the corresponding structure in the robot end assembly 6-1 to improve the locking strength. When the robot end assembly 6-1 and the tool end assembly 6-2 are released, the servo motor 6-1-1 reverses, so that the robot end cam 6-1-4 moves away from the steel ball 6-1-5, and the steel ball 6-1-5 falls back, so that the steel ball 6-1-5 no longer squeezes the tool end cam 6-2-1. At this time, the robot end assembly 6-1 can be pulled out from the tool end assembly 6-2 under the drive of the robot arm 2.

[0069] Reference Figure 8 The hand driving wheel 7 also includes a wheel hub 7-1 and a fixed shaft 7-2, wherein the wheel hub motor is coaxially arranged in the wheel hub 7-1, a fixed shaft 7-2 is arranged in the middle of the wheel hub 7-1, and a tool end assembly 6-2 is arranged at one end of the fixed shaft 7-2, and a polygonal bracket 7-3 with a retaining edge 7-4 is arranged at the other end of the fixed shaft 7-2, and the polygonal bracket 7-3 is used to place the hand driving wheel 7 in the tool library 5; the polygonal bracket 7-3 is made of magnetic material. In this way, when the hand driving wheel 7 is in the two-wheel foot form, the hand driving wheel 7 can be placed on the tool library 5, and when the hand driving wheel 7 is in the four-wheel foot form, the hand driving wheel 7 can be installed at the end of the robot arm 2.

[0070] In this embodiment, a plurality of quick-change tool holders 5-2 are provided on the tool magazine 5, and the quick-change tool holders 5-2 are used to fix the working tool 5-3 and the hand driving wheel 7. In this way, the hand driving wheel 7 and the working tool 5-3 are placed in the form of the quick-change tool holders 5-2, and the structure is simple. Fig. 9Each quick-change tool bracket 5-2 includes a bracket body 5-2-1 and an electromagnet 5-2-2. The electromagnet 5-2-2 is arranged on the bracket body 5-2-1 and is used to fix the polygonal housing 6-2-2 in the tool end assembly 6-2 and the polygonal bracket 7-3 in the hand driving wheel 7 by magnetic attraction. In this way, when the robot arm 2 places the hand driving wheel 7 or the working tool 5-3 on the tool library 5, the hand driving wheel 7 and the working tool 5-3 can be fixed by magnetizing the electromagnet 5-2-2. When the robot arm 2 wants to replace the working tool 5-3 or the hand driving wheel 7, the quick-change tool bracket 5-2 can be quickly released from fixing the hand driving wheel 7 or the working tool 5-3 by demagnetizing the electromagnet 5-2-2.

[0071] Reference Fig. 9 A cavity is provided on the tool storage body 5-1 of the tool storage 5; the working tool 5-3 is accommodated in the cavity, and the tool end assembly 6-2 on the working tool 5-3 is fixed to the electromagnet 5-2-2 on the quick-change tool bracket 5-2; in this way, the volume of the robot is reduced and the structure of the robot is made more compact. When the hand driving wheel 7 is fixed to the quick-change tool bracket 5-2, the hand driving wheel 7 is located outside the cavity, so that the hand driving wheel 7 can be quickly taken in and out.

[0072] The process of taking and placing the working tool 5-3 or the hand driving wheel 7 at the end of the robot arm 2 is similar. Taking the installation of the working tool 5-3 as an example, the robot arm 2 moves to guide the robot arm end component 6-1 to the vicinity of the working tool 5-3 in the tool library 5, and aligns the tool end component 6-2 on the selected working tool 5-3, and then the robot arm 2 moves further to insert and lock the robot arm end component 6-1 and the tool end component 6-2. After locking, the electromagnet 5-2-2 is actively demagnetized, and then driven by the robot arm 2, it is pulled a distance in the direction of the notch of the quick-change tool bracket 5-2, and then the working tool 5-3 is pulled out, that is, the working tool 5-3 is removed from the tool library 5. Placing the working tool 5-3 in the tool library 5 is a completely opposite process.

[0073] In particular, in this embodiment, referring to Figure 2 , Figure 2 Each position of the two-way black arrow in the figure represents a rotational degree of freedom. It can be seen that each robot arm 2 has seven rotational degrees of freedom; each robot leg 3 has six rotational degrees of freedom; and the robot head 1 has three rotational degrees of freedom. In this way, the flexible adjustment capability of the end postures of the robot arms 2 and the robot legs 3 can enable the leg driving wheels 4 and the hand driving wheels 7 to flexibly turn. Therefore, the four-wheeled foot form can not only adapt to flat terrain, but also to general rugged roads, and the moving energy efficiency is high, making the robot's movement more flexible and able to meet more diverse working environments.

[0074] In addition, in this embodiment, the robot head 1 includes a first connecting rod, a second connecting rod and a camera. One end of the first connecting rod is hinged to the robot body 8, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the camera. In the two-wheel foot form, the first connecting rod is attached to the robot body 8, and the second connecting rod is perpendicular to the first connecting rod; in the four-wheel foot form, the first connecting rod and the second connecting rod are colinear and perpendicular to the robot body 8. At this time, the camera can be effectively lifted to expand the robot's field of view.

[0075] In addition, in this embodiment, the robot arm 2 and the robot leg 3 can be controlled by the impedance control principle, thereby providing the robot with an active suspension function under high-speed movement to reduce vibration.

[0076] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheeled humanoid robot, characterized in that: It includes a robot body, a robot head, two robotic arms, two robotic legs and a tool library; The robot head is arranged on the robot body and can be used for visual perception; The tool library is set on the robot body and is used to store working tools and hand driving wheels with hub motors; Two mechanical legs are arranged on the robot body, and the foot ends of the mechanical legs are provided with leg driving wheels with hub motors; Two mechanical arms are arranged on the robot body, and quick-change interfaces are installed at the ends of the mechanical arms; In the two-wheeled foot form, the ends of the leg driving wheels on the two mechanical legs are supported on the ground; In the four-wheeled form, the circumferential surfaces of the leg driving wheels on the two mechanical legs are supported on the ground, the two mechanical arms are installed with hand driving wheels through quick-change interfaces, and the wheeled-legged robot leans over so that the circumferential surfaces of the hand driving wheels at the ends of the mechanical arms are also supported on the ground.

2. A wheeled humanoid robot according to claim 1, characterized in that: The quick-change interface includes a robot end component and a tool end component; The end of the working tool and the end of the hand driving wheel are both provided with a tool end assembly; The mechanical arm end assembly is fixed to the end of the mechanical arm, The mechanical arm end assembly and the tool end assembly have quick release and locking functions.

3. A wheeled-legged humanoid robot according to claim 2, characterized in that: The mechanical arm end assembly includes a servo motor, a lead screw, a nut, a mechanical arm end cam, a steel ball, and a steel ball retainer; The output shaft of the servo motor is fixedly connected to the screw rod; the nut is threadedly connected to the screw rod; the cam at the end of the mechanical arm is coaxially fixedly connected to the screw rod nut; the steel ball retainer is coaxially arranged below the cam at the end of the mechanical arm; The tool end assembly comprises a polygonal shell made of magnetic material, and a tool end cam, a spring spring pin, and a toothed matching ring arranged on the polygonal shell; the inner wall of the tool end cam is provided with an annular flange with an inclined surface; the toothed matching ring and the spring spring pin are both arranged on the end surface of the polygonal shell; When the mechanical arm end assembly and the tool end assembly are locked, the mechanical arm end assembly is inserted into the tool end assembly under the drive of the mechanical arm, and the servo motor drives the lead screw to rotate, and drives the mechanical arm end cam to move downward through the nut, so that the steel ball is driven by the mechanical arm end cam to move outward to press the annular flange of the tool end cam, and then drives the tool end cam to move upward, so that the tool end assembly approaches the mechanical arm end assembly axially, and the mechanical end assembly and the tool end assembly are locked; after the locking is completed, the spring pin is connected to the contact point of the corresponding part in the mechanical arm end assembly, so as to realize the electrical connection between the mechanical arm end assembly and the tool end assembly, provide power and communication for the tool end assembly, and the tooth mating ring forms a profile connection with the corresponding structure in the mechanical arm end assembly to improve the locking strength.

4. A wheeled-legged humanoid robot according to claim 3, characterized in that: The hand driving wheel also includes a hub and a fixed shaft; The wheel hub motor is coaxially arranged in the wheel hub; The fixed shaft is coaxially arranged in the wheel hub, and the tool end assembly is arranged at one end of the fixed shaft, and a polygonal bracket with a retaining edge is arranged at the other end of the fixed shaft for placing the hand driving wheel in the tool library; The polygonal bracket is made of magnetic material.

5. A wheeled-legged humanoid robot according to claim 4, characterized in that: The tool library is provided with a plurality of quick-change tool brackets; The quick-change tool bracket is used to fix the working tool and the hand driving wheel.

6. A wheeled-legged humanoid robot according to claim 5, characterized in that: Each of the quick-change tool brackets includes a bracket body and an electromagnet; The electromagnet is arranged on the bracket body, and is used to fix the polygonal shell in the tool end assembly and the polygonal bracket in the hand driving wheel through the effect of magnetic attraction.

7. A wheeled-legged humanoid robot according to claim 6, characterized in that: The tool library is provided with a cavity; The working tool is accommodated in the cavity, and the tool end assembly on the working tool is fixed to the electromagnet on the quick-change tool bracket; When the hand driving wheel is fixed to the quick-change tool bracket, the hand driving wheel is located outside the cavity.

8. A wheel-legged humanoid robot according to any one of claims 1 to 7, characterized in that: Each robot arm has seven rotational degrees of freedom; Each robotic leg has six rotational degrees of freedom; The robot head has three rotational degrees of freedom.

9. A wheel-legged humanoid robot according to any one of claims 1 to 7, characterized in that: The robotic arm and the robotic leg are controlled by an impedance control principle.

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