Wheeled humanoid robot

Abstract

The invention provides a wheeled humanoid robot. The wheeled humanoid robot comprises a head assembly, an upper body assembly, leg assemblies, arm assemblies and a movable chassis assembly. The head assembly can rotate in the vertical direction and / or the horizontal direction relative to the upper body assembly; the upper body assembly is movably connected with the leg assembly, so that the upper body assembly is switched between a bent state and a straightened state relative to the leg assembly and / or the upper body assembly ascends and descends relative to the leg assembly; the leg component can be switched between a bent state and a straightened state; the arm assembly can rotate and / or swing relative to the upper body assembly; and all or part of the components can realize multi-angle rotation and / or multi-angle swing. Through an efficient and precise movable connection mechanism, the head assembly, the upper body assembly, the leg assemblies, the arm assemblies and the chassis assembly can achieve multi-degree-of-freedom and multi-angle movement, the operation flexibility of the robot is greatly improved, and the operation range of the robot is greatly widened; and the robot can execute diversified tasks in a complex and changeable environment.

Description

Technical Field

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

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work.

[0003] Existing robots are large in size, low in flexibility and provide poor user experience. Summary of the invention

[0004] In view of this, the present invention proposes a wheeled humanoid robot, and the specific scheme is as follows:

[0005] A wheeled humanoid robot comprises a head assembly, an upper body assembly, a leg assembly, an arm assembly and a movable chassis assembly;

[0006] The head component is movably connected to the upper body component to enable the head component to rotate vertically and / or horizontally relative to the upper body component;

[0007] The upper body component is movably connected to the leg component to enable the upper body component to switch between a bent state and an extended state relative to the leg component and / or the upper body component to be lifted or lowered relative to the leg component;

[0008] The leg assembly is movably connected to the upper body assembly, and the leg assembly can be switched between a bent state and an extended state;

[0009] The arm assembly is movably connected to the upper body assembly to achieve rotation and / or swing of the arm assembly relative to the upper body assembly; and all or part of the arm assembly can achieve multi-angle rotation and / or multi-angle swing.

[0010] In a specific embodiment, the upper body component includes a back component and a waist component; one side of the waist component is movably connected to the back component, and the other side is movably connected to the leg component;

[0011] The back component includes a lifting drive mechanism, which is used to drive the back component to rise and fall relative to the waist component; the waist component includes a bending drive mechanism, which is used to drive the back component to switch between a bent state and an extended state relative to the leg component.

[0012] In a specific embodiment, the lifting drive mechanism includes a mounting seat, a lifting drive unit, a transmission unit, a lifting seat, and a first self-locking screw; the lifting drive unit, the first screw, and the transmission unit are all arranged on the mounting seat; the lifting drive unit is drivingly connected to the first screw, and the first screw is drivingly connected to the transmission unit; the transmission unit is drivingly connected to the lifting seat, so as to drive the lifting seat to rise and fall under the drive of the lifting drive unit, thereby driving the lifting mechanism to rise and fall relative to the bending mechanism;

[0013] The lumbar component also includes a first fixed plate, a second fixed plate, a lumbar bearing, a bearing pressure plate and a bearing baffle plate; one side of the bending drive mechanism is connected to the first fixed plate; the side of the bending drive mechanism away from the first fixed plate is sequentially provided with the bearing baffle plate, the lumbar bearing, the bearing pressure plate and the second fixed plate, and the bearing baffle plate and the bearing pressure plate are used to limit the lumbar bearing.

[0014] In a specific embodiment, the leg assembly includes a leg housing, a leg driving mechanism, a connecting rod assembly and a second self-locking screw; the leg driving mechanism, the connecting rod assembly and the second screw are all located in the leg housing;

[0015] The connecting rod assembly is movably connected to the upper body assembly; the leg driving mechanism drives the second lead screw, and drives the connecting rod assembly through the second lead screw to achieve switching of the leg assembly between a bent state and an extended state.

[0016] In a specific embodiment, the arm assembly includes at least one functional module and an arm driving mechanism, and the arm driving mechanism drives the functional module to realize multi-angle rotation and / or multi-angle swing of all or part of the functional modules in the arm assembly.

[0017] In a specific embodiment, the functional module includes at least one of a wrist functional module, a forearm functional module, an elbow functional module, an upper arm functional module and a shoulder functional module;

[0018] The arm driving mechanism of at least one of the functional modules includes a rotating module, a swinging module and a synchronous belt;

[0019] One end of the synchronous belt is transmission connected to the rotating module, and the other end is transmission connected to the swinging module, so that when one of the rotating module and the swinging module is driven, the other of the rotating module and the swinging module is driven, thereby driving all or part of the functional modules in the arm assembly to achieve multi-angle rotation and multi-angle swing.

[0020] In a specific embodiment, the chassis assembly includes at least one driving wheel and a navigation module, and the driving wheel is electrically connected to the navigation module to drive the robot to move under the guidance of the navigation module;

[0021] The navigation module includes a front navigation radar and a rear navigation radar, and the front navigation radar is electrically connected to the rear navigation radar;

[0022] The driving wheels include an active driving wheel and a driven driving wheel, the active driving wheel is drivingly connected to the driven driving wheel, and the active driving wheel and the driven driving wheel are electrically connected to the front navigation radar and the rear navigation radar respectively.

[0023] In a specific embodiment, the chassis assembly also includes a chassis frame, a button module and a charging module, the driving wheel is movably connected to the chassis frame, and the navigation module, the button module and the charging module are all arranged on the chassis frame and exposed relative to the chassis frame.

[0024] In a specific embodiment, the head assembly includes an upper head rotation drive mechanism for driving the head assembly to rotate in a vertical direction and a lower head rotation drive mechanism for driving the head assembly to rotate in a horizontal direction; the upper head rotation drive mechanism is electrically connected to the lower head rotation drive mechanism.

[0025] In a specific embodiment, the head assembly further includes a shell, a camera module, a voice module, a speaker and a display module; the camera module, the voice module, the speaker module and the display module are all arranged on the shell and exposed relative to the shell;

[0026] The upper head rotation drive mechanism and the lower head rotation drive mechanism are both located in the shell, and the shooting module, the voice module, the speaker module and the display module are respectively electrically connected to the upper head rotation drive mechanism and the lower head rotation drive mechanism.

[0027] Beneficial effects:

[0028] The present invention provides a wheeled humanoid robot, which, through an efficient and precise movable connection mechanism, enables the head component, upper body component, leg component, arm component and chassis component to achieve multiple degrees of freedom and multi-angle activities, greatly enhancing the robot's operational flexibility and operating range, enabling the robot to perform diverse tasks in complex and changeable environments, and providing users with a safer and more efficient robot usage experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1is a schematic diagram of the three-dimensional structure of a wheeled humanoid robot according to an embodiment of the present invention;

[0030] Figure 2 is a schematic structural diagram of a lifting drive mechanism according to an embodiment of the present invention;

[0031] Figure 3 is a schematic structural diagram of a waist component according to an embodiment of the present invention;

[0032] Figure 4 is a schematic structural diagram of a leg assembly according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of the structure of an arm component according to an embodiment of the present invention;

[0034] Figure 6 is a schematic structural diagram of an arm driving mechanism according to an embodiment of the present invention;

[0035] Figure 7 is a schematic structural diagram of a chassis assembly according to an embodiment of the present invention;

[0036] Figure 8 is a schematic diagram of the structure of a head assembly according to an embodiment of the present invention;

[0037] Fig. 9 is a schematic diagram of a wheeled humanoid robot in a bent state according to an embodiment of the present invention;

[0038] Fig.10 Schematic diagram of a wheeled humanoid robot in a squatting state according to an embodiment of the present invention.

[0039] Figure numerals: 1-head assembly; 11-upper rotation drive mechanism of the head; 12-lower rotation drive mechanism of the head; 13-housing; 14-shooting module; 15-voice module; 16-speaker module; 17-display module; 2-upper body assembly; 21-back assembly; 211-lifting drive mechanism; 2111-mounting seat; 2112-lifting drive unit; 2113-transmission unit; 2114-lifting seat; 2115-first lead screw; 22-waist assembly; 221-bending drive mechanism; 222-first fixing plate; 223-second fixing plate; 224-waist bearing; 225-bearing pressure plate; 226-bearing baffle; 3-leg assembly; 31-leg shell; 32-leg drive mechanism; 33-connecting rod assembly; 34-second lead screw; 4-arm assembly; 41-functional module; 411-wrist functional module; 412-forearm functional module; 413-elbow functional module; 414-upper arm functional module; 415-shoulder functional module; 42-arm drive mechanism; 421-rotation module; 422-swing module; 423-synchronous belt; 5-chassis assembly; 51-driving wheel; 511-active driving wheel; 512-driven driving wheel; 52-navigation module; 521-front navigation radar; 522-rear navigation radar; 53-chassis frame; 54-button module; 55-charging module. DETAILED DESCRIPTION

[0040] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0041] The terms used in the various embodiments disclosed in the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments disclosed in the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments disclosed in the present invention. The terms (such as the terms defined in the generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present invention.

[0042] Example 1

[0043] This embodiment provides a wheeled humanoid robot. Through an efficient and precise movable connection mechanism, the head component, upper body component, leg component, arm component and chassis component can all achieve multiple degrees of freedom and multi-angle activities, greatly enhancing the robot's operational flexibility and operating range, enabling the robot to perform a variety of tasks in a complex and changing environment, providing users with a safer and more efficient robot experience. The specific structure is shown in the attached manual. Figure 1-4 The specific plan is as follows:

[0044] A wheeled humanoid robot comprises a head component 1, an upper body component 2, a leg component 3, an arm component 4 and a movable chassis component 5;

[0045] The head component 1 is movably connected to the upper body component 2 to enable the head component 1 to rotate relative to the upper body component 2 in the vertical direction and / or horizontal direction;

[0046] The upper body component 2 is movably connected to the leg component 3, so that the upper body component 2 can be switched between a bent state and an extended state relative to the leg component 3 and / or the upper body component 2 can be lifted or lowered relative to the leg component 3;

[0047] The leg assembly 3 is movably connected to the upper body assembly 2, and the leg assembly 3 can be switched between a bent state and an extended state;

[0048] The arm assembly 4 is movably connected to the upper body assembly 2 to enable the arm assembly 4 to rotate and / or swing relative to the upper body assembly 2; and all or part of the arm assembly 4 can achieve multi-angle rotation and / or multi-angle swing.

[0049] As attached Figure 1 As shown, this embodiment provides a highly flexible robot device. Specifically, the head component 1 is movably connected to the upper body component 2, so that the head component 1 can not only flexibly rotate in the vertical direction to observe the environment at different heights, but also freely rotate in the horizontal direction, thereby achieving 360-degree monitoring and perception of the surroundings without blind spots.

[0050] The upper body component 2 is movably connected to the leg component 3, so that the upper body component 2 can smoothly switch between a bent state and an extended state relative to the leg component 3, simulating the posture of a human bending or standing. Fig. 9 As shown, it is a schematic diagram of the robot in the present embodiment in a bent state; at the same time, the upper body component 2 can also be raised and lowered relative to the leg component 3, further broadening the robot's operating range.

[0051] The leg assembly 3 is also movably connected to the upper body assembly 2, ensuring that the legs can switch between a bent state and an extended state when needed to support the robot's walking, running or jumping movements, as shown in the attached Fig.10As shown, this is a schematic diagram of the robot in a squatting state in this embodiment, which greatly improves the flexibility of the robot, allowing the robot to cross obstacles or move stably on different terrains.

[0052] The arm assembly 4 is a key component of the robot to perform specific tasks. It is movably connected to the upper body assembly 2, so that the arm assembly 4 can be widely rotated and swung relative to the upper body assembly 2 to meet various grasping, operation or interaction requirements. Moreover, each joint in the arm assembly 4 has the ability to realize multi-angle rotation and multi-angle swing, which greatly enhances the operation accuracy and flexibility of the robot. Figure 5 As shown, the arm assembly 4 of the robot in this embodiment includes a wrist function module 411, a forearm function module 412, an elbow function module 413, an upper arm function module 414 and a shoulder function module 415, and can realize wrist rotation, wrist swing, forearm rotation, elbow rotation, upper arm rotation, shoulder rotation, and shoulder swing, a total of seven degrees of freedom, which greatly improves the flexibility and accessibility of the robot arm.

[0053] At the same time, the chassis assembly 5 of the robot in this embodiment is provided with driving wheels, so that the chassis assembly 5 can drive the robot to move as a whole, and has high flexibility.

[0054] In a specific embodiment, the upper body component 2 includes a back component 21 and a waist component 22; one side of the waist component 22 is movably connected to the back component 21, and the other side is movably connected to the leg component 3;

[0055] The back component 21 includes a lifting drive mechanism 211, which is used to drive the back component 21 to rise and fall relative to the waist component 22; the waist component 22 includes a bending drive mechanism 221, which is used to drive the back component 21 to switch between a bent state and an extended state relative to the leg component 3.

[0056] In this embodiment, in order to further improve the flexibility and functionality of the robot, the upper body component 2 is subdivided into a back component 21 and a waist component 22. The waist component 22 plays a key role in connecting the upper and lower parts, with one side movably connected to the back component 21 and the other side movably connected to the leg component 3.

[0057] Furthermore, a lifting drive mechanism 211 is integrated inside the back component 21, and the lifting drive mechanism 211 can drive the back component 21 to perform vertical lifting movement relative to the waist component 22. Through the precise control of the lifting drive mechanism 211, the robot can adjust the height of its upper body to adapt to different working requirements or terrain conditions while maintaining the balance and stability of the body.

[0058] The waist component 22 has a built-in bending drive mechanism 221, which can drive the back component 21 (together with the head component 1 thereon and the possibly attached arm component 4) to smoothly switch between a bent state and an extended state relative to the leg component 3, allowing the robot to simulate natural movements such as bending and standing up, so that it can flexibly shuttle in various complex environments and perform various precision operations, greatly enhancing the robot's movement flexibility and operating range.

[0059] In a specific embodiment, as shown in the attached Figure 2 As shown, the lifting drive mechanism 211 includes a mounting seat 2111, a lifting drive unit 2112, a transmission unit 2113, a lifting seat 2114 and a first self-locking screw 2115; the lifting drive unit 2112, the first screw 2115 and the transmission unit 2113 are all arranged on the mounting seat 2111; the lifting drive unit 2112, as the power source of the entire lifting mechanism, drives and connects the first screw 2115, ensuring efficient power transmission; the first screw 2115 is transmission-connected to the transmission unit 2113; the transmission unit 2113 is transmission-connected to the lifting seat 2114, so as to drive the lifting seat 2114 to rise and fall under the drive of the lifting drive unit 2112, thereby driving the lifting mechanism to rise and fall relative to the bending mechanism, greatly enhancing the adaptability and functionality of the robot;

[0060] As attached Figure 3 As shown, the waist component 22 also includes a first fixing plate 222, a second fixing plate 223, a waist bearing 224, a bearing pressure plate 225 and a bearing baffle 226; one side of the bending drive mechanism 221 is connected to the first fixing plate 222; the side of the bending drive mechanism 221 away from the first fixing plate 222 is provided with a bearing baffle 226, a waist bearing 224, a bearing pressure plate 225 and a second fixing plate 223 in sequence, and the bearing baffle 226 and the bearing pressure plate 225 are used to limit the waist bearing 224. The bearing baffle 226, the waist bearing 224, the bearing pressure plate 225 and the second fixing plate 223 work together, not only providing the necessary support for the waist bearing 224, but also ensuring the stability and durability of the waist component 22 during bending and straightening through the effective limiting of the bearing baffle 226 and the bearing pressure plate 225, so that the waist component 22 can maintain a high degree of flexibility and precision while bearing complex stresses, thereby further improving the overall performance of the robot.

[0061] In a specific embodiment, as shown in the attached Figure 4 As shown, the leg assembly 3 includes a leg housing 3113, a leg driving mechanism 32, a connecting rod assembly 33 and a second self-locking screw 34; the leg driving mechanism 32, the connecting rod assembly 33 and the second screw 34 are all located in the leg housing 3113;

[0062] In practical applications, the second lead screw 34 of this embodiment is preferably a trapezoidal lead screw, which, with its unique trapezoidal thread design, not only provides excellent high thrust performance, but also has excellent self-locking characteristics. This characteristic enables the leg assembly 3 to quickly achieve self-locking of the structure when the trapezoidal lead screw is used for transmission, even if the whole machine suddenly encounters unexpected situations such as power failure, effectively preventing accidental movement caused by loss of power, thereby greatly improving the safety and stability of the overall structure.

[0063] In addition, the large torque characteristics of the lead screw enable it to significantly reduce the torque requirements of the motor module in heavy-load applications by virtue of its strong torque bearing capacity. This means that smaller and lighter motors can be selected while maintaining the same transmission efficiency, thereby effectively reducing the weight of the entire machine and reducing production costs, while also providing more flexibility and possibilities for the design and manufacture of robots.

[0064] The connecting rod assembly 33 is movably connected to the upper body assembly 2; the leg driving mechanism 32 drives the second lead screw 34, and drives the connecting rod assembly 33 through the second lead screw 34 to realize the switching of the leg assembly 3 between the bent state and the straight state, thereby enhancing the movement flexibility of the robot and ensuring its stability and operating efficiency in complex environments.

[0065] In a specific embodiment, the arm assembly 4 includes at least one functional module 41 and an arm driving mechanism 42, and the arm driving mechanism 42 drives the functional module 41 to realize multi-angle rotation and / or multi-angle swing of all or part of the functional modules 41 in the arm assembly 4. As the execution unit of the arm assembly 4, the functional module 41 can be customized according to actual needs, including but not limited to multiple functions such as grasping, carrying, and operating tools, thereby giving the arm assembly 4 a wide range of applicability.

[0066] The arm driving mechanism 42 serves as the power source of the entire arm assembly 4. It can provide sufficient power support for the functional module 41, and can drive the functional module 41 to achieve multi-angle rotation and / or multi-angle swing, so that the arm assembly 4 can simulate the complex movements of the human arm, including rotation, swinging, stretching and other postures, greatly enhancing the operational flexibility and operating range of the robot.

[0067] In a specific embodiment, as shown in the attached Figure 5As shown, the functional module 41 includes at least one of a wrist functional module 411, a forearm functional module 412, an elbow functional module 413, an upper arm functional module 414 and a shoulder functional module 415; in actual applications, the arm assembly 4 of the robot in this embodiment includes a wrist functional module 411, a forearm functional module 412, an elbow functional module 413, an upper arm functional module 414 and a shoulder functional module 415, and can realize wrist rotation, wrist swing, forearm rotation, elbow rotation, upper arm rotation, shoulder rotation, and shoulder swing, a total of seven degrees of freedom, which greatly improves the flexibility and accessibility of the robot arm.

[0068] The arm driving mechanism 42 of at least one of the functional modules 41 includes a rotating module 421, a swinging module 422 and a synchronous belt 423;

[0069] One end of the synchronous belt 423 is transmission connected to the rotating module 421, and the other end is transmission connected to the swinging module 422, so that when one of the rotating module 421 and the swinging module 422 is driven, it drives the other of the rotating module 421 and the swinging module 422 to drive, thereby driving all or part of the functional modules 41 in the arm assembly 4 to achieve multi-angle rotation and multi-angle swing.

[0070] As attached Figure 6 As shown, the wrist function module 411 of this embodiment is composed of a swing module 422, a rotation module 421 and a synchronous belt 423; the rotation angle of the rotation module 421 can reach plus or minus 360 degrees, which gives the wrist function module 411 a large end posture adjustment range, so that the arm assembly 4 can be more flexibly and accurately positioned and operated when performing tasks. The swing module 422 drives the rotation module 421 to swing through the precise transmission of the synchronous belt 423, which not only ensures high precision, but also effectively reduces the overall volume of the arm assembly 4, making the entire arm assembly 4 more compact and efficient. At the same time, the swing angle of the swing module 422 exceeds 320 degrees, which further enhances the flexibility and adaptability of the robot arm.

[0071] In a specific embodiment, the chassis assembly 5 serves as the mobile base of the robot, ensuring efficient movement and accurate positioning of the robot in various complex environments. Figure 7 As shown, the chassis assembly 5 includes at least one driving wheel 51 and a navigation module 52, and the driving wheel 51 is electrically connected to the navigation module 52 to drive the robot to move under the guidance of the navigation module 52;

[0072] The navigation module 52 includes a front navigation radar 521 and a rear navigation radar 522, which together constitute the robot's omnidirectional perception system. The front navigation radar 521 is mainly responsible for obstacle detection and path planning in the front, while the rear navigation radar 522 is responsible for environmental monitoring and obstacle avoidance in the rear. The two are electrically connected to achieve real-time information sharing and collaborative processing, providing the robot with accurate navigation and obstacle avoidance capabilities, and realizing autonomous movement and accurate positioning of the robot in complex environments.

[0073] The driving wheel 51 includes an active driving wheel 511 and a driven driving wheel 512. The active driving wheel 511 drives and connects to the driven driving wheel 512, which not only improves the movement speed of the robot, but also ensures its stability and flexibility during movement. The active driving wheel 511 and the driven driving wheel 512 are electrically connected to the front navigation radar 521 and the rear navigation radar 522, respectively, to achieve real-time interaction between navigation information and the driving system, ensuring that the robot can move accurately and efficiently under the guidance of the navigation module 52.

[0074] In a specific embodiment, the chassis assembly 5 further includes a chassis frame 53, a button module 54 and a charging module 55, the driving wheel 51 is movably connected to the chassis frame 53, the navigation module 52, the button module 54 and the charging module 55 are all arranged on the chassis frame 53 and exposed relative to the chassis frame 53;

[0075] In actual application, the button module 54 of this embodiment includes a switch button and an emergency stop switch. The switch button is responsible for starting and shutting down the robot, while the emergency stop switch serves as a safety guarantee in an emergency. Once the robot encounters an abnormal situation or needs to stop working immediately, the user only needs to press the emergency stop switch, and the robot will immediately stop all actions to ensure the safety of personnel and equipment; the charging module 55 includes an automatic charging port and a manual charging port to meet the charging needs in different scenarios. The automatic charging port realizes unattended charging of the robot by docking with the automatic charging device, greatly improving the efficiency and convenience of charging. The manual charging port provides users with more flexible charging options. Whether in a scenario without automatic charging equipment or when emergency power replenishment is needed, users can charge the robot through the manual charging port.

[0076] In a specific embodiment, as shown in the attached Figure 8 As shown, the head assembly 1 includes an upper head rotation driving mechanism 11 for driving the head assembly 1 to rotate in the vertical direction and a lower head rotation driving mechanism 12 for driving the head assembly 1 to rotate in the horizontal direction; the upper head rotation driving mechanism 11 is electrically connected to the lower head rotation driving mechanism 12.

[0077] The upper rotation drive mechanism 11 of the head ensures that the head assembly 1 can achieve smooth and stable rotation in the vertical direction, so as to capture target information at different heights and broaden the robot's visual range. The lower rotation drive mechanism 12 of the head ensures that the head assembly 1 can achieve 360-degree full rotation in the horizontal direction, improving the robot's environmental perception ability, and also enabling the robot to flexibly adjust the viewing angle when interacting with the user, thereby enhancing the comfort and naturalness of the interaction.

[0078] In a specific embodiment, as shown in the attached Figure 8 As shown, the head assembly 1 further includes a shell 13, a camera module 14, a voice module 15, a speaker and a display module 17; the camera module 14, the voice module 15, the speaker module 16 and the display module 17 are all arranged on the shell 13 and exposed relative to the shell 13;

[0079] The upper head rotation drive mechanism 11 and the lower head rotation drive mechanism 12 are both located in the shell 13, and the shooting module 14, the voice module 15, the speaker module 16 and the display module 17 are respectively electrically connected to the upper head rotation drive mechanism 11 and the lower head rotation drive mechanism 12.

[0080] In practical applications, the shooting module 14 of this embodiment is preferably a camera, which is designed with high precision and high sensitivity, and can ensure that clear and accurate image information can be captured under various lighting conditions, providing support for the robot's visual perception and decision-making; the voice module 15 is preferably a microphone, which realizes the voice interaction between the robot and the user. It adopts advanced voice recognition technology and natural language processing technology, can accurately recognize the user's voice command, and respond in natural and fluent language; the speaker module 16 is responsible for transmitting the robot's voice information to the user, and realizes clear sound output. Its design focuses on sound quality and volume, which can ensure that the user can clearly hear the robot's voice information under various environmental noises; the display module 17 is responsible for displaying the robot's status information, operation prompts and user interface, etc., providing users with intuitive visual feedback, and its design is high-definition and high-brightness, which can ensure that the user can clearly see the display content under various lighting conditions.

[0081] The present invention provides a wheeled humanoid robot, which, through an efficient and precise movable connection mechanism, enables the head component, upper body component, leg component, arm component and chassis component to achieve multiple degrees of freedom and multi-angle activities, greatly enhancing the robot's operational flexibility and operating range, enabling the robot to perform diverse tasks in complex and changeable environments, and providing users with a safer and more efficient robot usage experience.

[0082] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present invention. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be changed accordingly and located in one or more devices different from the present implementation scenario.

Claims

1. A wheeled humanoid robot, characterized in that: Includes head assembly, upper body assembly, leg assembly, arm assembly and movable chassis assembly; The head component is movably connected to the upper body component to enable the head component to rotate vertically and / or horizontally relative to the upper body component; The upper body component is movably connected to the leg component to enable the upper body component to switch between a bent state and an extended state relative to the leg component and / or the upper body component to be lifted or lowered relative to the leg component; The leg assembly is movably connected to the upper body assembly, and the leg assembly can be switched between a bent state and an extended state; The arm assembly is movably connected to the upper body assembly to achieve rotation and / or swing of the arm assembly relative to the upper body assembly; and all or part of the arm assembly can achieve multi-angle rotation and / or multi-angle swing.

2. The wheeled humanoid robot according to claim 1, characterized in that: The upper body component includes a back component and a waist component; one side of the waist component is movably connected to the back component, and the other side is movably connected to the leg component; The back component includes a lifting drive mechanism, which is used to drive the back component to rise and fall relative to the waist component; the waist component includes a bending drive mechanism, which is used to drive the back component to switch between a bent state and an extended state relative to the leg component.

3. The wheeled humanoid robot according to claim 2, characterized in that: The lifting drive mechanism comprises a mounting seat, a lifting drive unit, a transmission unit, a lifting seat and a first self-locking screw; the lifting drive unit, the first screw and the transmission unit are all arranged on the mounting seat; the lifting drive unit is drivingly connected to the first screw, and the first screw is drivingly connected to the transmission unit; the transmission unit is drivingly connected to the lifting seat, so as to drive the lifting seat to rise and fall under the drive of the lifting drive unit, thereby driving the lifting mechanism to rise and fall relative to the bending mechanism; The lumbar component also includes a first fixed plate, a second fixed plate, a lumbar bearing, a bearing pressure plate and a bearing baffle plate; one side of the bending drive mechanism is connected to the first fixed plate; the side of the bending drive mechanism away from the first fixed plate is sequentially provided with the bearing baffle plate, the lumbar bearing, the bearing pressure plate and the second fixed plate, and the bearing baffle plate and the bearing pressure plate are used to limit the lumbar bearing.

4. The wheeled humanoid robot according to claim 1, characterized in that: The leg assembly includes a leg housing, a leg driving mechanism, a connecting rod assembly and a second self-locking screw; the leg driving mechanism, the connecting rod assembly and the second screw are all located in the leg housing; The connecting rod assembly is movably connected to the upper body assembly; the leg driving mechanism drives the second lead screw, and drives the connecting rod assembly through the second lead screw to achieve switching of the leg assembly between a bent state and an extended state.

5. The wheeled humanoid robot according to claim 1, characterized in that: The arm assembly includes at least one functional module and an arm driving mechanism, and the arm driving mechanism drives the functional module to realize multi-angle rotation and / or multi-angle swing of all or part of the functional modules in the arm assembly.

6. The wheeled humanoid robot according to claim 5, characterized in that: The functional module includes at least one of a wrist functional module, a forearm functional module, an elbow functional module, an upper arm functional module and a shoulder functional module; The arm driving mechanism of at least one of the functional modules includes a rotating module, a swinging module and a synchronous belt; One end of the synchronous belt is transmission connected to the rotating module, and the other end is transmission connected to the swinging module, so that when one of the rotating module and the swinging module is driven, the other of the rotating module and the swinging module is driven, thereby driving all or part of the functional modules in the arm assembly to achieve multi-angle rotation and multi-angle swing.

7. The wheeled humanoid robot according to claim 1, characterized in that: The chassis assembly includes at least one driving wheel and a navigation module, wherein the driving wheel is electrically connected to the navigation module to drive the wheeled humanoid robot to move under the guidance of the navigation module; The navigation module includes a front navigation radar and a rear navigation radar, and the front navigation radar is electrically connected to the rear navigation radar; The driving wheels include an active driving wheel and a driven driving wheel, the active driving wheel is drivingly connected to the driven driving wheel, and the active driving wheel and the driven driving wheel are electrically connected to the front navigation radar and the rear navigation radar respectively.

8. The wheeled humanoid robot according to claim 1, characterized in that: The chassis assembly also includes a chassis frame, a button module and a charging module. The driving wheel is movably connected to the chassis frame. The navigation module, the button module and the charging module are all arranged on the chassis frame and exposed relative to the chassis frame.

9. The wheeled humanoid robot according to claim 1, characterized in that: The head assembly includes an upper head rotation driving mechanism for driving the head assembly to realize rotation in a vertical direction and a lower head rotation driving mechanism for driving the head assembly to realize rotation in a horizontal direction; The upper head rotation driving mechanism is electrically connected to the lower head rotation driving mechanism.

10. The wheeled humanoid robot according to claim 9, characterized in that: The head assembly further includes a shell, a camera module, a voice module, a speaker and a display module; the camera module, the voice module, the speaker module and the display module are all arranged on the shell and exposed relative to the shell; The upper head rotation drive mechanism and the lower head rotation drive mechanism are both located in the shell, and the shooting module, the voice module, the speaker module and the display module are respectively electrically connected to the upper head rotation drive mechanism and the lower head rotation drive mechanism.

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