Wheel-foot robot

Abstract

The invention discloses a wheel-foot robot, and relates to the technical field of robots, the wheel-foot robot comprises a head and neck assembly, a trunk assembly, two groups of upper limb assemblies, two groups of lower limb assemblies and two groups of wheel-foot moving bases, the wheel-foot robot is provided with stereoscopic vision, can sense the environment and recognize human beings, and two hands cooperatively execute operation tasks; precise torque sensors in the arm joints facilitate safe and sensitive interaction when physically cooperating with humans. The trunk is telescopic, and the working height can be increased. The whole robot has more than twenty degrees of freedom, has the movement functions of fast movement, agile obstacle avoidance, steady uphill and downhill, impact interference resistance and the like, is an ideal carrier for general artificial intelligence, and when the robot works in place, the jacking mechanism at the bottom of the wheel foot base can support the robot body, so that the robot can bear high-load or high-dynamic operation. The robot can be switched among a plurality of modes which are not limited to standing, squatting, moving and the like, and is suitable for a plurality of application scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wheeled robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement of the human body, and can perform various tasks in industrial environments autonomously or in collaboration with humans, and have broad development prospects. However, their structure is complex, costly, and slow, so a highly integrated mechatronic torso-shaped robot with a highly humanoid appearance has been developed. It has comprehensive perception capabilities, autonomous operation, and the ability to move and deploy quickly, switch between different modes, and flexibly adapt to various application scenarios. Summary of the invention

[0003] The present invention provides a wheel-legged robot, which solves the above-mentioned technical problems.

[0004] In order to solve the above technical problems, the present invention provides a wheeled foot robot, comprising a head and neck assembly, a trunk assembly, two groups of upper limb assemblies, two groups of lower limb assemblies and two groups of wheeled foot mobile bases, wherein the head and neck assembly is transmission-mounted on the upper part of the trunk assembly, the two groups of upper limb assemblies are transmission-connected to the two side ends of the trunk assembly, and the connection positions of the two groups of upper limb assemblies and the trunk assembly are both installed with shoulder shields for protection, the bottom of the trunk assembly is transmission-connected to a hip mechanism, the bottom of the hip mechanism is transmission-connected to the two groups of lower limb assemblies respectively, and the bottoms of the two groups of lower limb assemblies are transmission-connected to the two groups of wheeled foot mobile bases respectively;

[0005] The head and neck assembly comprises a head shell, a head frame is fixed inside the head shell, a head assembly is installed inside the head frame, hearing modules are installed on both sides of the head shell and are electrically connected to the head assembly, a neck pitch joint actuator is installed at the bottom of the head assembly and is fixedly connected to the head frame, and the bottom of the neck pitch joint actuator is transmission-connected to a neck base and is transmission-connected to the torso assembly;

[0006] The torso component includes a chest shell, a waist mechanism and a waist protective cover to form external protection. Two groups of electric linear push rods are arranged on both sides of the chest shell and the waist mechanism for transmission connection. The lifting ends and driving ends of the two groups of electric linear push rods are respectively fixedly connected to the chest shell and the waist mechanism. A cooling system is fixedly installed inside the chest shell. A battery, a human-machine interface and a robot control drive system are installed on the back of the cooling system. A chest structure is installed on the top of the cooling system. A neck yaw joint is fixed on the top of the chest structure to perform transmission connection with the neck base. Two shoulder actuators are installed on both sides of the cooling system and are respectively connected to the two groups of upper limb components for transmission connection. A laser radar is installed on the front middle part of the chest shell, and a rear-view camera 1 is installed on the upper rear part of the chest shell. The laser radar and the rear-view camera 1 are electrically connected to the human-machine interface and the robot control drive system. A rotary actuator integrating a servo motor and a reducer is installed inside the waist mechanism for transmission connection with the hip mechanism.

[0007] The upper limb assembly includes a shoulder base, a shoulder structure, a big arm structure, an elbow swivel joint actuator and a wrist swivel joint actuator. A shoulder pitch joint actuator is installed on the side end of the shoulder base, and the shoulder pitch joint actuator is transmission-connected with the shoulder actuator. A shoulder roll joint actuator is installed on the shoulder structure and is transmission-connected with the shoulder base. A shoulder structure is rotatably installed between the arm swivel joint actuators. An arm swivel joint actuator is drive-installed on one end of the big arm structure and is transmission-connected with the shoulder structure. An elbow swivel joint actuator is transmission-connected between the forearm structure and the other end of the big arm structure, and a wrist swivel joint actuator is transmission-connected between the forearm structure and the hand actuator.

[0008] The hip mechanism includes a hip structure, and a waist protection cover in the middle of the hip structure is equipped with surround-view cameras on the front, back, left and right sides, which are electrically connected to the human-machine interaction interface and the robot control drive system. A waist yaw joint actuator is fixed on the top of the hip structure and is transmission-connected with the rotary actuator, and hand actuator temporary storage racks are installed on both sides of the top of the hip structure. Two thigh pitch joint actuators are symmetrically installed inside the two sides of the hip structure, and the two thigh pitch joint actuators are respectively transmission-connected with two groups of lower limb components;

[0009] The lower limb assembly includes a thigh structure and a protective cover and a calf structure and a protective cover. The thigh structure and the protective cover are connected to the thigh structure and the protective cover through a thigh pitch joint rotation, and are respectively connected to one of the thigh pitch joint actuators in a transmission manner. The lower part of the thigh structure and the protective cover is connected to the calf structure and the protective cover calf rotation joint through a knee joint. The bottom of the calf structure and the protective cover is provided with an ankle structure that is connected to the wheel-foot moving base in a transmission manner. The thigh pitch joint of the thigh structure and the protective cover is driven and installed with a knee pitch joint actuator on the outer side. The thigh structure and the protective cover are provided with a planar linkage mechanism inside the thigh structure and the protective cover and the calf structure and the protective cover that is connected to the knee pitch joint actuator in a transmission manner.

[0010] The wheel-foot mobile base includes a mobile seat shell, a crash strip is fixed to the lower outer part of the mobile seat shell, and a blind spot camera and a laser sensor combination are installed at the front and rear of the mobile seat shell, a frame is fixed inside the mobile seat shell, a joint mounting flange is fixedly installed on the frame and is transmission-connected to the ankle structure, two sets of wheel drive modules are symmetrically driven and installed inside the frame, a synchronous lifting mechanism is installed on the frame at the positions of the two sets of wheel drive modules, a control module and a power supply module are respectively installed on the other side of the frame and are electrically connected, and a power battery is installed on the top of the frame and is electrically connected to the power supply module, the control module is electrically connected to the two sets of blind spot cameras and the laser sensor, a charging device is installed on the side end of the mobile seat shell and is electrically connected to the power battery, a code scanning device is installed in the middle of the top of the frame and is electrically connected to the control module, and a code scanning opening is opened at the position of the head and neck component downward.

[0011] Furthermore, the head components include but are not limited to a visual module, an olfactory module, an infrared sensor module and an audio module.

[0012] Furthermore, the human-machine interaction interface and the robot control drive system include a human-machine interaction interface and a robot control drive system. The robot control drive system is located inside the chest shell and includes a robot control computer, a visual application computer, a motion planning computer, a natural language processing computer, a battery management system, a battery pack, each joint driver, an Ethernet switch, a bus communication switch, a router and a cooling control system. The human-machine interaction interface is mounted on the back shell of the chest shell and is electrically connected to the robot control drive system, including a display screen, switches, buttons and indicator lights to realize information exchange and control between humans and robots, including monitoring, control, data input and output and fault diagnosis functions.

[0013] Furthermore, the shoulder pitch joint actuator, shoulder roll joint actuator, arm swivel joint actuator, elbow swivel joint actuator and wrist swivel joint actuator all integrate servo motors, reducers, brakes, encoders, drivers and sensors, and the sensors include but are not limited to force sensors, torque sensors, displacement sensors, acceleration sensors and temperature sensors.

[0014] Furthermore, the planar connecting rod mechanism includes a calf connecting rod neck and a thigh connecting rod neck, the output shaft of the knee pitch joint actuator passes through the inner hole of the thigh structural component and the protective cover and is coaxially connected to the main shaft neck of the thigh connecting rod neck, the inner hole of the connecting rod neck at the other end of the thigh connecting rod neck is coaxially installed with the calf connecting rod neck, and the inner hole at the other end of the calf connecting rod neck is connected to the connecting rod neck on the calf structural component and the protective cover.

[0015] Furthermore, the central axis of the thigh connecting rod neck is parallel to the central axis of rotation of the hip mechanism, and the axis of the calf connecting rod neck is parallel to the axis of the knee joint. The thigh structural component and protective cover, the thigh connecting rod neck, the calf connecting rod neck and the part from the knee joint axis to the calf connecting rod neck form a planar four-bar structure, which drives the calf structural component and the protective cover to rotate through the knee pitch joint actuator.

[0016] Furthermore, the ankle structure includes an ankle pitch joint actuator fixed to the calf structure and the lower part of the protective cover, an ankle joint shell is fixed to the bottom of the ankle pitch joint actuator, the ankle joint shell joint mounting flange is rotatably connected to the shaft, the connecting shaft passes through the interior of the ankle joint shell and is fixed with a transmission bevel gear, the output shaft of the ankle pitch joint actuator passes through the mounting seat and is fixed with an active bevel gear, which is meshed with the transmission bevel gear at a vertical angle of ninety degrees.

[0017] Furthermore, the wheel drive module includes a drive module body fixed in the frame, a motor reducer assembly is fixed to the side end of the drive module body, the output shaft of the motor reducer assembly passes through the drive module body and is transmission-connected to the omnidirectional wheel, a moving seat shell is located at the omnidirectional wheel position and has a through opening, the bottom of the omnidirectional wheel extends out of the moving seat shell and contacts the ground, a spring suspension is fixed to the side of the drive module body, and the spring suspension is suspended and connected to the top of the frame.

[0018] Furthermore, the synchronous lifting mechanism includes a driving motor fixed on the top of the frame, the output shaft of the driving motor is transmission-connected to a dual-output shaft reducer, the two output shafts of the dual-output shaft reducer are respectively transmission-connected to two transmission shafts, the two transmission shafts are transmission-connected to two sets of lifts, and the moving seat shell is located at the lower part of the two sets of lifts and is provided with a telescopic slot.

[0019] Furthermore, the lift includes a lifting seat fixedly connected to the frame, a lifting structure is installed in the lifting seat, the lifting structure is a ball screw or a bevel gear screw or a worm gear or a gear rack transmission structure, and is transmission-connected to a support top rod for lifting.

[0020] Compared with the related art, the wheeled robot provided by the present invention has the following beneficial effects:

[0021] The present invention provides a wheeled robot equipped with stereoscopic vision, which can perceive the environment and recognize humans. The two hands collaborate to perform operational tasks, and the precise torque sensors in the arm joints help to achieve safe and sensitive interaction when physically collaborating with humans. The trunk is retractable and the working height can be increased. The whole body has more than twenty degrees of freedom, and has movement functions such as fast movement, agile obstacle avoidance, stable uphill and downhill, and resistance to impact interference. It is an ideal carrier of general artificial intelligence. When the robot is in place, the jacking mechanism at the bottom of the wheeled base can support the robot body, so it can bear high loads or high dynamic operations. The robot can switch between multiple modes such as not limited to standing, squatting and moving, and adapt to a variety of application scenarios.

[0022] In summary, a humanoid robot structure is provided with extremely high degrees of freedom, which can realize humanoid movements of each joint and can replace manual labor to complete various tasks. The embodied intelligence and comprehensive detection and perception functions improve human-machine collaboration and autonomous intelligence. The wheel-foot structure realizes navigation and movement functions similar to those of automatic mobile robots, and can move faster than walking robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of a wheeled-legged robot in a standing working mode according to the present invention;

[0024] Figure 2 This is a schematic diagram of the interior of the head and neck assembly of the present invention;

[0025] Figure 3 It is a front schematic diagram of the interior of the trunk assembly of the present invention;

[0026] Figure 4 It is a schematic diagram of the interior of the trunk assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the upper limb assembly of the present invention;

[0028] Figure 6 It is a schematic diagram of the hip mechanism and lower limb components of the present invention;

[0029] Figure 7 It is a schematic diagram of the rear part of the hip mechanism and lower limb assembly of the present invention;

[0030] Figure 8 This is a schematic diagram of the right side of the interior of the wheel-foot mobile base of the present invention;

[0031] Fig. 9 This is a schematic diagram of the left side of the interior of the wheel-foot mobile base of the present invention;

[0032] Fig.10 It is a schematic diagram of the wheel drive module and the synchronous lifting mechanism of the present invention;

[0033] Fig.11 This is a schematic diagram of a wheeled-legged robot in a squatting operation mode according to the present invention;

[0034] Fig.12 The figure is a schematic diagram of a moving mode (charging mode) of a wheeled-legged robot according to the present invention.

[0035] Numbers in the figure: 1. Head and neck assembly; 11. Auditory module; 12. Head assembly; 13. Neck pitch joint actuator; 14. Neck base; 2. Torso assembly; 21. Chest shell; 22. Neck yaw joint actuator; 23. Chest structure; 24. Shoulder actuator; 25. LiDAR; 26. Cooling system; 27. Battery; 28. Human-machine interface and robot control drive system; 29. ​​Electric linear actuator; 210. Rear view camera 1; 3. Upper limb assembly; 31. Shoulder base; 32. Shoulder pitch joint actuator; 33. Shoulder roll joint actuator; 34. Shoulder structure; 35. Arm swivel joint actuator; 36. Upper arm structure; 37. Elbow swivel joint actuator; 38. Lower arm structure; 39. Wrist swivel joint actuator; 310. Hand actuator; 4. Waist mechanism; 5. Hip mechanism; 51. Hip structure; 52. Hand actuator Temporary storage rack; 53, waist yaw joint actuator; 54, surround view camera; 55, thigh pitch joint actuator; 6, lower limb assembly; 61, thigh structure and protective cover; 62, calf structure and protective cover; 63, ankle structure; 64, knee pitch joint actuator; 65, calf connecting rod neck; 66, thigh connecting rod neck; 7, wheel foot mobile base; 71, mobile seat shell; 72, blind spot camera; 73, laser sensor; 74, frame; 75 , charging device; 76, wheel drive module; 761, motor reducer assembly; 762, spring suspension; 763, drive module body; 764, omnidirectional wheel; 77, joint mounting flange; 78, power battery; 781, power module; 79, synchronous lifting mechanism; 791, drive motor; 792, dual output shaft reducer; 793, transmission shaft; 794, lift; 710, control module; 711, anti-collision strip; 8, shoulder guard. DETAILED DESCRIPTION

[0036] Example, by Figure 1A wheeled-legged robot is provided, comprising a head and neck assembly 1, a trunk assembly 2, two groups of upper limb assemblies 3, two groups of lower limb assemblies 6 and two groups of wheeled-legged movable bases 7, wherein the head and neck assembly 1 is transmission-mounted on the upper part of the trunk assembly 2, the two groups of upper limb assemblies 3 are transmission-connected to both side ends of the trunk assembly 2, and the connection positions of the two groups of upper limb assemblies 3 and the trunk assembly 2 are both protected by shoulder shields 8, the bottom of the trunk assembly 2 is transmission-connected to a hip mechanism 5, the bottom of the hip mechanism 5 is transmission-connected to the two groups of lower limb assemblies 6 respectively, and the bottom of the two groups of lower limb assemblies 6 is transmission-connected to the two groups of wheeled-legged movable bases 7 respectively.

[0037] Specifically, the wheeled robot can imitate the appearance and movement posture of a person to achieve more natural and flexible human-computer interaction and autonomous operation. The mobile base improves the flexibility of the robot's movement, and can switch between multiple working modes such as movement and operation, and is widely applicable to various application scenarios. It includes a head and neck component 1, a trunk component 2, an upper limb component 3, a lower limb component 6, and a wheeled base 7. The part where the trunk component 2 is connected to the head component 1 is the neck mechanism, the part where the upper limb component 3 is connected to the trunk component 2 is the shoulder joint, the part where the upper limb component 3 is connected to the hand actuator is the wrist joint, the part where the trunk component 2 is connected to the lower limb component 6 is the waist mechanism 4, and the part where the lower limb component 6 is connected to the wheeled base 7 is the ankle joint. These components work together to enable the robot to perform complex tasks, such as moving, grasping, identifying, operating tools and equipment, etc. This application does not provide detailed descriptions of this.

[0038] When the robot is in place, the synchronous lifting mechanism 79 at the bottom of the wheel-foot base 7 can support the robot body, so that it can bear high loads or high dynamic operations. The robot can switch between multiple modes including but not limited to standing, squatting and moving, such as Figure 1 , Fig.11 and Fig.12 , adapt to a variety of application scenarios:

[0039] Standing working mode: The robot's lower limbs stand upright with the legs, which has the maximum working height and range;

[0040] Squatting working mode: The robot's lower limb components have their thighs upright and their calves flat, which is suitable for working at a lower working height;

[0041] In mobile mode, the robot's lower limb assembly is completely lowered to lower the center of gravity, and its arms are folded to reduce the collision volume, allowing it to move quickly or dock with a charging station for charging.

[0042] In this embodiment, Figure 2As shown, the head and neck assembly 1 includes a head shell, a head frame is fixed inside the head shell, a head assembly 12 is installed in the head frame, hearing modules 11 are installed on both sides of the head shell and are electrically connected to the head assembly 12, a neck pitch joint actuator 13 is installed at the bottom of the head assembly 12 and is fixedly connected to the head frame, and the bottom of the neck pitch joint actuator 13 is transmission-connected to a neck base 14 which is transmission-connected to the torso assembly 2.

[0043] Specifically, the head and neck assembly 2 is the main perception and interaction system of the robot, including the head shell, the head assembly 12 and the neck assembly. The head is highly integrated with a multimodal perception and interaction module. With the neck pitch joint actuator 13 and the neck yaw joint actuator 22 of the neck mechanism, the robot can accurately perceive the scene, locate the target, identify the object, and perform human-machine-environment integration interaction;

[0044] The head shell enhances the beauty and anthropomorphism of the robot, accommodates and protects the head structure frame and all perception interaction modules, and allows visible light or infrared light to penetrate into the internal visual and infrared sensors; the head assembly 12 integrates all other perception modules such as audio, speaker, olfactory and hearing; the visual module binocular camera and infrared sensor are installed on the head frame, in front of the robot's face.

[0045] The head component 12 includes but is not limited to a visual module, an olfactory module, an infrared sensor module and an audio module.

[0046] The visual module mainly includes high-resolution binocular / multi-eye depth cameras, which form the robot's eyes. It can capture the length, width and height of real-world objects, collect the three-dimensional coordinates of spatial points in the field of view through depth sensors, and obtain three-dimensional stereo imaging after restoration through algorithms. It can identify three-dimensional information such as spatial morphology, geometric dimensions, and position and posture of the physical world, and provide the robot with stereo images, depth maps and point clouds, so as to accurately identify and track work locations, operated objects or collaborative objects.

[0047] The auditory module, audio module and speaker receive, process and emit sounds respectively, helping the robot to recognize voice commands, environmental noise and other sound information, and respond to sound events in the environment, and jointly realize human-computer interaction functions such as voice wake-up, speech recognition, semantic understanding and content question and answer.

[0048] The head assembly 12 may be integrated with an infrared sensor to detect infrared radiation, enabling the robot to perform extended tasks such as night vision, temperature measurement, and object detection.

[0049] The head component 12 can integrate a gas sensor as an olfactory module to detect gas molecules in the environment and identify objects by smell, so that the robot can perform extended tasks such as air quality detection, abnormal gas alarm, and food safety detection.

[0050] The neck assembly includes a neck base 14, a neck yaw joint actuator 22 and a neck joint actuator 13, which connect the head structural frame and the head and neck assembly 2 of the robot. The yaw joint actuator 13 servo drives the head assembly 1 to yaw left and right; the pitch joint actuator 22 servo drives the head assembly 1 to pitch up and down, and the horizontal rotation axis of the neck pitch joint actuator 13 forms a neck pitch rotation joint. The head structural frame is fixedly installed on the upper side of the actuator housing, and the actuator output shaft is laterally rotated to connect the neck joint bracket; the left and right neck joint brackets are fixedly installed on the upper side of the neck base 14; the head housing is fixedly connected to the neck base 14 to accommodate and protect the head assembly.

[0051] According to the needs of the operation, the robot controls the pitch and yaw of the neck joint and aligns the head vision and sensor systems to the corresponding positions. At the same time, the head and neck movements are more humanized and can simulate movements such as shaking the head, nodding, raising the head and lowering the head, which enhances the robot's anthropomorphic effect.

[0052] In this embodiment, Figure 3-4 As shown, the torso assembly 2 includes a chest shell 21, a waist mechanism 4 and a waist protective cover to form an external protection. Two sets of electric linear push rods 29 are arranged on both sides of the chest shell 21 and the waist mechanism 4 for transmission connection. The lifting ends and driving ends of the two sets of electric linear push rods 29 are respectively fixedly connected to the chest shell 21 and the waist mechanism 4. A cooling system 26 is fixedly installed inside the chest shell 21. A battery 27 and a human-machine interaction interface and a robot control drive system 28 are installed on the back of the cooling system 26. A chest structure 23 is installed on the top of the cooling system 26. A neck yaw joint execution 22 is fixed on the top of the cavity structure 23 and is transmission-connected to the neck base 14. Two shoulder actuators 24 are installed on both sides of the cooling system 26 and are transmission-connected to the two groups of upper limb components 3 respectively. A laser radar 25 is installed on the front middle part of the chest shell 21, and a rear-view camera 210 is installed on the rear upper part of the chest shell 21. The laser radar 25 and the rear-view camera 210 are electrically connected to the human-computer interaction interface and the robot control drive system 28. A rotary actuator integrating a servo motor and a reducer is installed inside the waist mechanism 4 and is transmission-connected to the hip mechanism 5.

[0053] Specifically, the left and right shoulder actuators are fixed 24 on the chest structure, and the horizontal output shaft is connected to the upper limb assembly 2 to drive the left and right mechanical arms to pitch and rotate.

[0054] A pair of torso columns can be set on both sides of the chest shell 21 and the waist mechanism 4 to connect the chest and waist components to support the upper body structure of the robot. The torso component 2 can add a linear translation joint, and the torso column is replaced by a pair of electric linear push rods that can telescope in the vertical direction. The distance between the chest and waist mechanisms can be flexibly adjusted, and the working height of the robot can be increased by lifting the upper body. The drive motor of the push rod drives the screw nut after gear reduction, converting the rotational motion into linear motion, and the reciprocating motion of the push rod is completed by using the forward and reverse rotation of the motor. It has good self-locking performance and does not require an air source or oil circuit.

[0055] The cooling system is fixedly installed on the chest structure and uses forced convection to increase the heat dissipation rate, transferring heat from the electronic components of the torso assembly to the chest shell and outside the robot body, ensuring the reliability and optimal performance of the robot's electronic equipment.

[0056] The chest shell 32 and the waist mechanism 4 are provided with a waist shell and a waist protective cover to form a torso shell, which protects the internal components of the robot torso from the influence of the external environment, avoids dust, moisture, foreign objects and accidental contact with personnel, etc., and protects the robot torso while making the robot more humanized and beautiful.

[0057] Among them, the chest shell 32 protects the trunk chest cavity body and all control and drive components; the waist shell is fixedly connected to the waist mechanism 4 to accommodate and protect the waist actuator; the waist protective cover is fixedly connected to the chest shell to provide higher-intensity additional protection for the waist actuator to cope with external abnormal influences such as accidental collisions and foreign body impacts. When the torso translation joint is selected and extended, as the distance between the chest and waist components is opened, the waist rotary actuator is exposed from the waist shell. At this time, the waist protective cover fixed on the chest shell can continue to provide protection. The waist rotary actuator is a set of rotary actuators integrating a servo motor and a reducer. It is installed on the upper side of the hip structure with the rotation axis vertically. The output side of the reducer is fixedly connected to the top surface of the hip structure 5. The flange on the input side of the reducer supports the fixed torso column, and drives the upper body of the robot to swing left and right relative to the lower limb component when rotation is required.

[0058] The laser radar 25 is installed on the front of the chest shell 21 to perform incremental map construction on the front of the body to provide data support for long-term and reliable autonomous navigation. The laser radar 25 is installed horizontally with the detection sphere facing the front of the robot. The 360° detection angle covers most of the front and foot areas of the robot. When the humanoid robot stands up, the laser radar 25 on the chest can only detect obstacles within a certain angle area in front, which will cause the robot to be unable to perceive obstacle information from the rear. Therefore, a depth camera 210 is added to the back of the robot to visually identify and detect the environment behind the robot.

[0059] Among them, the human-machine interaction interface and the robot control drive system 28 include a human-machine interaction interface and a robot control drive system. The robot control drive system is located inside the chest shell 21 and includes a robot control computer, a visual application computer, a motion planning computer, a natural language processing computer, a battery management system, a battery pack, each joint driver, an Ethernet switch, a bus communication switch, a router and a cooling control system. The human-machine interaction interface is mounted on the back shell of the chest shell 21 and is electrically connected to the robot control drive system, including a display screen, switches, buttons and indicator lights to realize information exchange and control between humans and robots, including monitoring, control, data input and output and fault diagnosis functions.

[0060] Specifically, the human-machine interaction interface is mounted on the back shell, including input and output devices such as display screens, switches, buttons and indicator lights, to realize information exchange and control between humans and robots, including monitoring, control, data input and output, and fault diagnosis. The operator inputs control instructions, sets parameters and controls the operation of the robot from the interactive interface, and the display screen presents the robot's operating status, data and error information.

[0061] In this embodiment, Figure 5 As shown, the upper limb assembly 3 includes a shoulder base 31, a shoulder structure 34, a boom structure 36, an elbow swivel joint actuator 37 and a wrist swivel joint actuator 39. A shoulder pitch joint actuator 32 is installed on the side end of the shoulder base 31, and the shoulder pitch joint actuator 32 is transmission-connected to the shoulder actuator 24. A shoulder roll joint actuator 33 is installed on the shoulder structure 34 and is transmission-connected to the shoulder base 31. The shoulder structure 34 is rotatably installed between the arm swivel joint actuators 35. The arm swivel joint actuator 35 is drive-installed on one end of the boom structure 36 and is transmission-connected to the shoulder structure 34. An elbow swivel joint actuator 37 is transmission-connected between the forearm structure 38 and the other end of the boom structure 36. A wrist swivel joint actuator 39 is transmission-connected between the forearm structure 38 and the hand actuator 310.

[0062] Specifically, the limb assembly is a set of multi-joint mechanical arms on the left and right, similar to the structure of human arms, with multiple rotational joints and degrees of freedom, which can flexibly move in three-dimensional space and perform complex tasks; the kinematic configuration of the dual-arm system is similar to the structure of the human body, which significantly expands the workspace, and can achieve high-precision hand-to-hand collaborative operation by precisely controlling the joint angles. The high degree of freedom of the humanoid dual-arm structure is suitable for work at any trajectory or angle, and the high accessibility enables the hands to enter closed spaces for operation.

[0063] The upper arm, lower arm and multiple actuators of the hand are connected together through rotating joints to form a robotic arm, and various movements can be achieved by controlling the rotation angle and speed of each joint.

[0064] Shoulder base 31: The front flange end is coaxially connected to the motor output shaft of the torso assembly shoulder pitch actuator 24 to form a shoulder pitch swivel joint. The front and rear shoulder protective covers 8 are assembled and fixed on the shoulder base 31; Shoulder roll joint actuator 33: The input side is coaxially fixedly connected to the rear flange end of the shoulder base 31, and the output side is fixedly connected to the front flange end of the shoulder structure 34, together forming a shoulder roll joint; Arm swivel joint actuator 35: The input side is coaxially fixedly connected to the rear flange end of the shoulder structure 34, and the output side is coaxially fixedly connected to the front flange end of the arm structure 36 End, together forming the arm rotation joint; elbow rotation joint actuator 37: the input side is coaxially fixedly connected to the rear flange end of the upper arm structure 36, and the output side is coaxially fixedly connected to the front flange end of the lower arm structure 38, together forming the elbow rotation joint; wrist rotation joint actuator 39: the input side is coaxially fixedly connected to the rear flange end of the lower arm structure 38, and the output side is coaxially fixedly connected to the wrist flange, together forming the wrist rotation joint, the wrist flange can be adapted to install various hand actuators 10 such as grippers, tools, and dexterous hands, and flexibly meet a variety of application scenarios and task requirements.

[0065] Among them, the left and right sets of mechanical arms with the same structure of upper limb components 3 are symmetrically installed on the left and right shoulder actuators 24, and are rotationally connected to the output shaft of the shoulder actuator 24 through the front flange end of the shoulder base 31.

[0066] Among them, the shoulder pitch joint actuator 32, the shoulder roll joint actuator 33, the arm swivel joint actuator 35, the elbow swivel joint actuator 37 and the wrist swivel joint actuator 39 all integrate servo motors, reducers, brakes, encoders, drivers and sensors, and the sensors include but are not limited to force sensors, torque sensors, displacement sensors, acceleration sensors and temperature sensors. The robotic arm is equipped with sensors and safety systems. When accidental contact is detected, it automatically slows down or stops working to ensure safe operation.

[0067] The end hand actuator 310 of the robotic arm can be adapted to install various hand actuators such as grippers, tools, and dexterous hands, and flexibly meet various application scenarios and task requirements.

[0068] In this embodiment, Figure 6-7 As shown, the hip mechanism 5 includes a hip structural member 51, and surround-view cameras 54 are installed on the front, back, left and right sides of the waist protection cover in the middle of the hip structural member 51, which are electrically connected to the human-machine interaction interface and the robot control drive system 28; a waist yaw joint actuator 53 is fixed on the top of the hip structural member 51 and is transmission-connected to the rotary actuator, and hand actuator temporary storage racks 52 are installed on both sides of the top of the hip structural member 51, and two thigh pitch joint actuators 55 are symmetrically installed inside the two sides of the hip structural member 51, and the two thigh pitch joint actuators 55 are transmission-connected to the two groups of lower limb components 6 respectively.

[0069] Specifically, the hip structure 51 is the core component connecting the upper body and lower limbs of the robot. A waist yaw joint actuator 53 is installed on the top, and the two thigh joints at the bottom are respectively installed with the legs of the left and right lower limb assemblies 6 with the same and symmetrical structures. An integrated servo motor and a reducer are respectively installed on both sides of the thigh structure 61 of each lower limb assembly 6 to drive the hip joint and knee joint to pitch and rotate.

[0070] The hand actuator temporary storage rack 52 can be installed on the left and right sides of the top surface of the hip structure 51, and the hand actuator 310 can be stored when the robot temporarily needs to unload or replace the hand actuator 310;

[0071] The left and right sides and the front and rear protective covers of the waist are respectively embedded with panoramic wide-angle surround view cameras 54, with the lenses facing the front, back, left and right directions of the robot. The panoramic surround view system is based on an embedded high-performance multimedia processor, and decodes and displays a bird's-eye view through a display terminal, so that the operator can intuitively see the robot's position and its surrounding environment, targets, obstacles, etc. Two wide-angle cameras can also be configured on the front and rear protective covers of the robot's hip joint structure as needed, for direct output or splicing output of the environment situation of the robot's body in the front and rear directions.

[0072] In this embodiment, Figure 6-7 As shown, the lower limb assembly 6 includes a thigh structure and protective cover 61 and a calf structure and protective cover 62. The thigh structure and protective cover 61 is rotatably connected to the thigh structure and protective cover 61 through a thigh pitch joint, and is respectively transmission-connected to one of the thigh pitch joint actuators 55. The lower part of the thigh structure and protective cover 61 is rotationally connected to the calf rotation joint of the calf structure and protective cover 62 through a knee joint. The bottom of the calf structure and protective cover 62 is provided with an ankle structure 63 which is transmission-connected to the wheel-foot moving base 7. The outer side of the thigh pitch joint of the thigh structure and protective cover 61 is driven and installed with a knee pitch joint actuator 64. A planar linkage mechanism is arranged inside the thigh structure and protective cover 61 and the calf structure and protective cover 62 and is transmission-connected to the knee pitch joint actuator 64.

[0073] Among them, the planar connecting rod mechanism includes a calf connecting rod neck 65 and a thigh connecting rod neck 66. The output shaft of the knee pitch joint actuator 64 passes through the inner hole of the thigh structural component and the protective cover 61 and is coaxially connected to the main shaft neck of the thigh connecting rod neck 66. The inner hole of the connecting rod neck at the other end of the thigh connecting rod neck 66 is coaxially installed with the calf connecting rod neck 65. The inner hole at the other end of the calf connecting rod neck 65 is connected to the connecting rod neck on the calf structural component and the protective cover 62.

[0074] Among them, the central axis of the thigh connecting neck 66 is parallel to the rotation center axis of the hip mechanism 5, the axis of the calf connecting neck 65 is parallel to the knee joint axis, the thigh structural parts and protective cover 61, the thigh connecting neck 66, the calf connecting neck 65 and the part from the knee joint axis to the calf connecting neck 65 form a planar four-bar structure, and the calf structural parts and protective cover 62 are driven to rotate through the knee pitch joint actuator 64. The planar four-bar structure forms a closed motion chain, which increases the stiffness of the lower limb assembly to maintain positioning accuracy and movement stability.

[0075] Among them, the ankle structure 63 includes an ankle pitch joint actuator fixed to the lower part of the calf structure and the protective cover 62, an ankle joint shell is fixed at the bottom of the ankle pitch joint actuator, the ankle joint shell joint mounting flange 77 is rotatably connected, the connecting shaft passes through the inside of the ankle joint shell and is fixed with a transmission bevel gear, the output shaft of the ankle pitch joint actuator passes through the mounting seat and is fixed with an active bevel gear and a transmission bevel gear that meshes vertically at ninety degrees.

[0076] Specifically, the lower limb assembly 6 imitates the structure of human legs and is the actuator for the robot's support positioning and lifting and fixing actions. It includes a hip structure 51, left and right leg structures, a protective cover and accessories. The characteristic of the lower limb structure design of the robot of this patent is that it cooperates with the wheel-foot base 7 with different actions to flexibly adjust the height of the robot and switch between different working modes.

[0077] The left and right sides of the upper end of the thigh structure and protective cover 61 are both hollow flange cavities, and two sets of motor reducer integrated actuators, namely the thigh pitch joint actuator 55 and the knee pitch joint actuator 64, are coaxially installed; the input side flange of the thigh pitch joint actuator 55 is fixedly installed on the vertical mounting surface on the inner side of the hip structure 51, and the output side flange is coaxially connected to the hollow flange cavity on one side of the upper end of the thigh structure and protective cover 61; the knee pitch joint actuator 64: the input side flange is coaxially fixedly connected to the hollow flange cavity on the other side of the thigh structure and protective cover 61, and the output side is coaxially connected to one end of the thigh connecting rod neck 66, and the other end of the thigh connecting rod neck 66 is coaxially connected to the inner hole of one end of the calf connecting rod neck 65, and the inner hole of the other end of the calf connecting rod neck 65 is coaxially connected to the connecting rod neck on the calf structure and protective cover 62; the surface of the thigh structure and protective cover 61 is riveted to cover the thigh protective cover, and the shaft heads facing outward on the left and right sides of the lower end are coaxially connected. The shaft cooperates with the two left and right inner holes at the upper end of the calf structure and protective cover 62 to form an unpowered knee swivel joint; the surface of the calf structure and protective cover 62 is riveted to cover the calf protective cover, and the ankle pitch joint actuator is installed internally at the lower end, and the end face of the hollow sleeve at the bottom of the lower end is fixedly connected to the ankle joint housing; the output shaft of the ankle pitch joint actuator passes through the hollow sleeve structure at the lower end of the calf structure and protective cover 62, and is coaxially connected to the ankle joint active bevel gear in the ankle joint housing, and forms an ankle joint transmission pair with the transmission bevel gear; the rotation axis of the transmission bevel gear is orthogonal to the rotation axis of the active bevel gear in the horizontal direction, and the end face of the bevel gear passes through the inner hole of the side wall of the ankle joint transmission housing and is fixedly connected to the ankle joint mounting flange 77 on the wheel foot base 7, and the output shaft rotates to drive the ankle joint active bevel gear to drive the transmission bevel gear, and drive the calf to rotate around the ankle joint axis, thereby cooperating with the hip joint and knee joint to perform various movements such as standing, squatting and leaning forward.

[0078] Among them, the lower limb protective cover includes front and rear protective covers of the waist, thigh structural parts and protective cover 61, and calf structural parts and protective cover 62, which provide protection for the structure and driving components, making the robot more beautiful and durable. The front and rear protective covers of the waist protect the knee pitch joint actuator 64 from the front and rear directions, the thigh protective cover protects the thigh structural parts, and the calf protective cover protects the calf structural parts and the ankle pitch joint actuator installed inside.

[0079] In this embodiment, Figure 8-10As shown, the wheel-foot mobile base 7 includes a mobile base shell 71, an anti-collision strip 711 is fixed to the lower part of the outer portion of the mobile base shell 71, and a combination of a blind spot camera 72 and a laser sensor 73 is installed at the front and rear of the mobile base shell 71, a frame 74 is fixed inside the mobile base shell 71, a joint mounting flange 77 is fixedly installed on the frame 74 and is transmission-connected to the ankle structure 63, two sets of wheel drive modules 76 are symmetrically driven and installed inside the frame 74, a synchronous lifting mechanism 79 is installed at the position of the two sets of wheel drive modules 76 on the frame 74, and a control module 710 and a power module 710 are installed on the other side of the frame 74. The frame 74 is electrically connected to the power module 781, and the control module 710 includes various control electrical components such as a controller, a computer, network communication, battery management, and safety protection required for the movement of the wheel-foot base. A power battery 78 is installed on the top of the frame 74 and is electrically connected to the power module 781. The control module 710 is electrically connected to two sets of blind spot cameras 72 and a laser sensor 73. A charging device 75 is installed on the side end of the mobile seat shell 71 and is electrically connected to the power battery 78. A code scanning device is installed in the middle of the top of the frame 74 and is electrically connected to the control module 710. The code scanning device is provided with a code scanning opening at the position of the head and neck component 1 facing downward.

[0080] Among them, the wheel drive module 76 includes a drive module body 763 fixed in the frame 74, a motor reducer assembly 761 is fixed to the side end of the drive module body 763, the output shaft of the motor reducer assembly 761 passes through the drive module body 763 and is transmission-connected to the omnidirectional wheel 764, the moving seat shell 71 is located at the position of the omnidirectional wheel 764 and has a through opening, the bottom of the omnidirectional wheel 764 extends out of the moving seat shell 71 and contacts the ground, a spring suspension 762 is fixed to the side of the drive module body 763, the spring suspension 762 is suspended and connected to the top of the frame 74, one end of the drive module body 763 is fixedly supported on the frame 4, and the other end is hung on the frame 4 through the spring suspension 762 to avoid vibration during movement and prevent road bumps from damaging the robot body, body and electronic control system.

[0081] The synchronous lifting mechanism 79 includes a driving motor 791 fixed on the top of the frame 74, the output shaft of the driving motor 791 is connected to a dual-output shaft reducer 792, the two output shafts of the dual-output shaft reducer 792 are respectively connected to two transmission shafts 793, the two transmission shafts 793 are connected to two sets of lifters 794, and the moving seat shell 71 is provided with a telescopic slot at the lower part of the two sets of lifters 794, the lifter 794 includes a lifting seat fixedly connected to the frame 74, and a lifting structure is installed in the lifting seat, the lifting structure is a ball screw or a bevel gear screw or a worm gear or a gear rack transmission structure, has self-locking and overload protection, and is connected to the support top rod for lifting;

[0082] When the robot arrives at the work site and is in place, the drive motor 791 of the synchronous lifting mechanism 79 drives the front and rear two elevators 794 through the dual-output shaft reducer 792 and the transmission shaft, and the support top rod extends downward to support the ground, firmly supporting the robot body during the operation; after the operation is completed, the motor drives the two elevators to lift the support top rod off the ground, and the robot can start to move

[0083] Specifically, the wheel-foot mobile base 7 navigates and moves, replacing the movement mode of walking with two legs. Therefore, the robot can move quickly and flexibly, which is very suitable for industrial manufacturing environments with flat ground. It can quickly reach or change working positions, reduce non-working time, and improve work efficiency. The left and right sets of wheel-foot mobile bases 7 are symmetrical in structure. The top ankle joint flange 77 is respectively hinged to the ankle structure 63 of the left and right legs, and is connected to the robot body through the lower limb assembly 6. The wheel drive module 76 at the bottom contacts the ground to provide support and movement. The vehicle body is composed of a frame 74 and corresponding mechanical devices, and other assembly parts are installed. It is the basic part of the wheel-foot mobile base 7. Each wheel-foot mobile base 7 is equipped with a pair of wheel drive modules 76 to provide drive and steering for the wheel-foot base and the robot. The left and right wheel feet are combined to achieve a movement mode similar to that of an automatic guided vehicle (AGV), helping the robot to move, locate, avoid obstacles and navigate.

[0084] The omnidirectional wheel generally adopts a Mecanum wheel, and freely rotating drum-shaped rollers are evenly distributed on the circumference of the wheel body, and the axes of the two are usually 45°. The outer contour of the roller coincides with the theoretical circumference of the wheel to ensure the continuity of the wheel's contact with the ground. Each omnidirectional wheel has three degrees of freedom of movement: the first degree of freedom is that the wheel is driven by the axle driven by the motor reducer assembly 761 to rotate around its own axis, and the second degree of freedom is that the roller rotates around its own axis driven by friction; the third degree of freedom is that the wheel rotates around the ground contact point; when the motor reducer assembly 761 drives the wheel to rotate, the wheel moves forward in a normal rotation manner in a direction perpendicular to the drive shaft, and at the same time, the rollers on the periphery of the wheel rotate freely along their respective axes. The combination of the four omnidirectional wheels of the left and right wheel-foot mobile base 7 can synthesize a torque in any direction through the coordination of the rotation speed and steering between each wheel, thereby driving the robot to move in any direction, realizing the omnidirectional movement of the robot on the ground. The omnidirectional wheel does not require an auxiliary steering structure, is more compact, has a strong load-bearing capacity, and is flexible in movement, which is suitable for the wheel-foot structure drive wheel of this robot.

[0085] Since the laser sensor 25 on the chest of the humanoid robot can only detect obstacles within a certain angle area in front when it stands, this will cause the robot to be unable to accurately perceive the obstacle information under its feet. A blind spot camera 72 can be added in front and behind the wheel base of the robot to identify obstacles on the path during forward, backward or turning movement.

[0086] The power battery 78 and the charging device 75 provide power for the wheel-foot base. The robot automatically navigates to the external charging station when idle according to the working status and the remaining power. The charging device docks with the charging station for charging. After being fully charged, the robot automatically returns to the work station and works uninterruptedly.

[0087] The mobile seat housing 71 includes a protective cover, surrounding bumpers and a laser sensor 73 to ensure the safety of the robot's movement, and the front and rear safety radars ensure collision-free navigation in its environment.

Claims

1. A wheeled robot, comprising a head and neck assembly (1), a trunk assembly (2), two sets of upper limb assemblies (3), two sets of lower limb assemblies (6) and two sets of wheeled mobile bases (7), characterized in that: The head and neck assembly (1) is transmission-mounted on the upper part of the trunk assembly (2), the two groups of upper limb assemblies (3) are transmission-connected to the two side ends of the trunk assembly (2), and the connection positions of the two groups of upper limb assemblies (3) and the trunk assembly (2) are both installed with shoulder shields (8) for protection, the bottom of the trunk assembly (2) is transmission-connected to the hip mechanism (5), the bottom of the hip mechanism (5) is transmission-connected to the two groups of lower limb assemblies (6), and the bottom of the two groups of lower limb assemblies (6) is transmission-connected to the two groups of wheeled and footed movable bases (7) respectively; The head and neck assembly (1) comprises a head shell, a head frame is fixed inside the head shell, a head assembly (12) is installed inside the head frame, hearing modules (11) are installed on both sides of the head shell and are electrically connected to the head assembly (12), a neck pitch joint actuator (13) is installed at the bottom of the head assembly (12) and is fixedly connected to the head frame, and the bottom of the neck pitch joint actuator (13) is transmission-connected to a neck base (14) and is transmission-connected to the trunk assembly (2); The torso component (2) comprises a chest shell (21), a waist mechanism (4) and a waist protective cover to form an external protection. Two groups of electric linear push rods (29) are arranged on both sides of the chest shell (21) and the waist mechanism (4) for transmission connection. The lifting ends and driving ends of the two groups of electric linear push rods (29) are respectively fixedly connected to the chest shell (21) and the waist mechanism (4). A cooling system (26) is fixedly installed inside the chest shell (21). A battery (27) and a human-machine interaction interface and a robot control drive system (28) are installed on the back of the cooling system (26). A chest structure (23) is installed on the top of the cooling system (26). A neck swing joint actuator (22) is fixed on the top of the component (23) and is in transmission connection with the neck base (14); two shoulder actuators (24) are installed on both sides of the cooling system (26) and are respectively in transmission connection with the two groups of upper limb components (3); a laser radar (25) is installed on the front middle part of the chest shell (21); a rear view camera (210) is installed on the rear upper part of the chest shell (21); the laser radar (25) and the rear view camera (210) are electrically connected to the human-machine interaction interface and the robot control drive system (28); a rotary actuator integrating a servo motor and a reducer is installed inside the waist mechanism (4) and is in transmission connection with the hip mechanism (5); The upper limb assembly (3) comprises a shoulder base (31), a shoulder structure (34), a large arm structure (36), an elbow swivel joint actuator (37) and a wrist swivel joint actuator (39); a shoulder pitch joint actuator (32) is installed at the side end of the shoulder base (31); the shoulder pitch joint actuator (32) is transmission-connected to the shoulder actuator (24); a shoulder roll joint actuator (33) is installed on the shoulder structure (34) and is transmission-connected to the shoulder base (31); A shoulder structure (34) is rotatably mounted between the arm swivel joint actuator (35); one end of the upper arm structure (36) is driven to be mounted with the arm swivel joint actuator (35) and is transmission-connected to the shoulder structure (34); an elbow swivel joint actuator (37) is transmission-connected between the lower arm structure (38) and the other end of the upper arm structure (36); and a wrist swivel joint actuator (39) is transmission-connected between the lower arm structure (38) and the hand actuator (310); The hip mechanism (5) comprises a hip structure (51), and a waist protection cover in the middle of the hip structure (51) is equipped with surround-view cameras (54) on the front, back, left and right sides, which are electrically connected to the human-machine interaction interface and the robot control drive system (28); a waist yaw joint actuator (53) is fixed on the top of the hip structure (51) and is transmission-connected to the rotary actuator, and hand actuator temporary storage racks (52) are installed on both sides of the top of the hip structure (51); two thigh pitch joint actuators (55) are symmetrically installed inside the two sides of the hip structure (51), and the two thigh pitch joint actuators (55) are transmission-connected to the two groups of lower limb components (6) respectively; The lower limb assembly (6) comprises a thigh structure and protective cover (61) and a shank structure and protective cover (62); the thigh structure and protective cover (61) is connected to the thigh structure and protective cover (61) through a thigh pitch joint rotation, and is respectively connected to one of the thigh pitch joint actuators (55) in a transmission manner; the lower part of the thigh structure and protective cover (61) is connected to the shank rotation joint of the shank structure and protective cover (62) through a knee joint; the bottom of the shank structure and protective cover (62) is provided with an ankle structure (63) in a transmission manner connected to the wheel-foot mobile base (7); the thigh pitch joint of the thigh structure and protective cover (61) is driven and installed with a knee pitch joint actuator (64); a planar linkage mechanism is provided inside the thigh structure and protective cover (61) and the shank structure and protective cover (62) and is connected to the knee pitch joint actuator (64); The wheel-foot mobile base (7) comprises a mobile base shell (71), an anti-collision strip (711) is fixed to the lower part of the outer portion of the mobile base shell (71), and a blind spot camera (72) and a laser sensor (73) combination are installed at the front and rear of the mobile base shell (71), a vehicle frame (74) is fixed inside the mobile base shell (71), a joint mounting flange (77) is fixedly installed on the vehicle frame (74) and is transmission-connected to the ankle structure (63), two groups of wheel drive modules (76) are symmetrically driven and installed inside the vehicle frame (74), and a synchronous lifting mechanism (76) is installed on the vehicle frame (74) at the position of the two groups of wheel drive modules (76). 9), a control module (710) and a power module (781) are respectively installed on the other side of the frame (74) and are electrically connected, and a power battery (78) is installed on the top of the frame (74) and is electrically connected to the power module (781), the control module (710) is electrically connected to two groups of blind spot cameras (72) and a laser sensor (73), a charging device (75) is installed on the side end of the mobile seat shell (71) and is electrically connected to the power battery (78), a code scanning device is installed in the middle of the top of the frame (74) and is electrically connected to the control module (710), and a code scanning opening is opened on the position of the head and neck component (1) downward.

2. A wheeled robot according to claim 1, characterized in that: The head component (12) includes but is not limited to a visual module, an olfactory module, an infrared sensor module and an audio module.

3. A wheeled robot according to claim 1, characterized in that: The human-machine interaction interface and the robot control drive system (28) include a human-machine interaction interface and a robot control drive system. The robot control drive system is located inside the chest shell (21) and includes a robot control computer, a visual application computer, a motion planning computer, a natural language processing computer, a battery management system, a battery pack, joint drivers, an Ethernet switch, a bus communication switch, a router and a cooling control system. The human-machine interaction interface is mounted on the back shell of the chest shell (21) and is electrically connected to the robot control drive system. It includes a display screen, a switch, a button and an indicator light to realize information exchange and control between humans and robots, including monitoring, control, data input and output and fault diagnosis functions.

4. A wheeled robot according to claim 1, characterized in that: The shoulder pitch joint actuator (32), the shoulder roll joint actuator (33), the arm swivel joint actuator (35), the elbow swivel joint actuator (37) and the wrist swivel joint actuator (39) all integrate a servo motor, a reducer, a brake, an encoder, a driver and a sensor, and the sensor includes but is not limited to a force sensor, a torque sensor, a displacement sensor, an acceleration sensor and a temperature sensor.

5. The wheeled robot according to claim 1, characterized in that: The planar connecting rod mechanism comprises a calf connecting rod neck (65) and a thigh connecting rod neck (66); the output shaft of the knee pitch joint actuator (64) passes through the inner hole of the thigh structural component and the protective cover (61) and is coaxially connected to the main shaft neck of the thigh connecting rod neck (66); the inner hole of the connecting rod neck at the other end of the thigh connecting rod neck (66) is coaxially installed with the calf connecting rod neck (65); the inner hole at the other end of the calf connecting rod neck (65) is connected to the connecting rod neck on the calf structural component and the protective cover (62).

6. A wheeled robot according to claim 5, characterized in that: The center axis of the thigh connecting rod neck (66) is parallel to the rotation center axis of the hip mechanism (5), and the axis of the calf connecting rod neck (65) is parallel to the axis of the knee joint. The thigh structural component and protective cover (61), the thigh connecting rod neck (66), the calf connecting rod neck (65) and the part from the knee joint axis to the calf connecting rod neck (65) form a planar four-bar structure, and the calf structural component and the protective cover (62) are driven to rotate through the knee pitch joint actuator (64).

7. The wheeled robot according to claim 1, characterized in that: The ankle structure (63) includes an ankle pitch joint actuator fixed to the lower inner part of the calf structure and the protective cover (62), an ankle joint housing is fixed to the bottom of the ankle pitch joint actuator, the ankle joint housing joint mounting flange (77) is rotatably connected to the rotating shaft, the connecting rotating shaft passes through the interior of the ankle joint housing and is fixed with a transmission bevel gear, the output shaft of the ankle pitch joint actuator passes through the mounting seat and is fixed with an active bevel gear and is meshed with the transmission bevel gear at a right angle of 90 degrees.

8. The wheeled robot according to claim 1, characterized in that: The wheel drive module (76) comprises a drive module body (763) fixed in the vehicle frame (74); a motor reducer assembly (761) is fixed to the side end of the drive module body (763); an output shaft of the motor reducer assembly (761) passes through the drive module body (763) and is transmission-connected to an omnidirectional wheel (764); a through opening is opened in the movable seat shell (71) at the position of the omnidirectional wheel (764); the bottom of the omnidirectional wheel (764) extends out of the movable seat shell (71) and contacts the ground; a spring suspension (762) is fixed to the side of the drive module body (763); and the spring suspension (762) is suspension-connected to the top of the vehicle frame (74).

9. The wheeled robot according to claim 1, characterized in that: The synchronous lifting mechanism (79) comprises a driving motor (791) fixed on the top of the frame (74); the output shaft of the driving motor (791) is drivingly connected to a double-output shaft reducer (792); the two output shafts of the double-output shaft reducer (792) are respectively drivingly connected to two transmission shafts (793); the two transmission shafts (793) are drivingly connected to two groups of lifts (794); and the movable seat shell (71) is provided with a telescopic slot at the lower part of the two groups of lifts (794).

10. The wheeled robot according to claim 1, characterized in that: The lift (794) comprises a lifting seat fixedly connected to the frame (74), wherein a lifting structure is installed in the lifting seat, the lifting structure is a ball screw, a bevel gear screw, a worm gear, or a gear rack transmission structure, and is connected in transmission to a support top rod for lifting.

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