Wheel type transfer robot

Abstract

The invention discloses a wheeled transfer robot. The wheeled transfer robot comprises a chassis assembly; the inflexion knee joint assembly is movably arranged on the chassis assembly; the head recognition assembly is rotationally arranged above the knee joint inflection assembly; the two arm assemblies are movably arranged on the two opposite sides of the inflexion knee joint assembly respectively; the chassis assembly comprises a chassis main body; the four steering wheel mechanisms are symmetrically arranged at four corners of the chassis main body in a penetrating manner; the battery mechanism is fixedly arranged at the middle rear position of the chassis main body; the navigation radar mechanism is arranged above the chassis main body; the knee joint inflection assembly comprises a fixing base, a first telescopic arm mechanism, a joint driving motor, a second telescopic arm mechanism and an elastic supporting mechanism. Through cooperation of the chassis assembly with the high integration degree and the inflexion knee joint assembly with the multiple movable joints, the problems that an existing wheel type transfer robot chassis is insufficient in stability and small in operation range are effectively solved.

Description

Technical Field

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

[0002] In the prior art, the chassis of a wheeled humanoid handling robot generally adopts a steering wheel mechanism for movement and steering operations. The steering wheel mechanism includes a rotating motor mechanism assembly and a traveling motor assembly. The existing rotating motor mechanism assembly and the traveling motor assembly are generally arranged separately for the motor, the reducer, the driver, and the encoder. Therefore, the structure of the steering wheel mechanism is relatively complex and occupies a large space of the chassis. In the limited chassis space, the support span of the chassis is generally small. Due to the small remaining space of the chassis, most wheeled humanoid robots often place the power unit in the chest cavity of the upper body, which causes the center of gravity of the wheeled handling robot to be too high. In addition, the support span range of the wheel system itself is small, resulting in severe shaking of the chassis during the process of grabbing objects, poor stability, and affecting the work efficiency and accuracy of the body. The existing wheeled humanoid robots have few degrees of freedom in lifting and lowering, and most of them have only one vertical feeding mechanism, which makes the robot inflexible in movement and has a small operating range. At the same time, the torque provided by the robot's joint module is small, and the weight of the objects that can be carried is often very light. Therefore, a wheeled handling robot is provided to solve the above problems. Summary of the invention

[0003] One of the purposes of the present invention is to provide a wheeled transport robot so as to solve the problems of insufficient chassis stability and small operating range of the existing wheeled transport robots.

[0004] The wheeled transport robot of the present invention can be realized by the following technical solutions: A wheeled transport robot of the present invention comprises a chassis component; a reverse knee flexion joint component, which is movably arranged on the chassis component; a head recognition component, which is rotatably arranged above the reverse knee flexion joint component; and two arm components, which are movably arranged on opposite sides of the reverse knee flexion joint component. The chassis assembly includes a chassis body, four steering wheel mechanisms, a battery mechanism and a navigation radar mechanism; the chassis body is a hollow square cavity, and the reverse knee flexion joint assembly is fixedly arranged on the chassis body; the four steering wheel mechanisms are respectively and symmetrically arranged on the four corners of the chassis body; the battery mechanism is fixedly arranged at the rear position in the middle of the chassis body; the navigation radar mechanism is arranged above the chassis body; Among them, the reverse knee flexion joint assembly includes a fixed seat, which is fixedly arranged on the chassis body; a first telescopic arm mechanism rotatably arranged on the fixed seat; a joint drive motor arranged on one end of the first telescopic arm mechanism away from the fixed seat; a second telescopic arm mechanism transmission-arranged on the joint drive motor; an elastic support mechanism with one end fixedly arranged on the first telescopic arm mechanism, and the other end movably arranged on the joint drive motor and connected to the second telescopic arm mechanism; when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

[0005] In one embodiment, the chassis assembly further includes a plurality of obstacle avoidance cameras, a plurality of bottom obstacle avoidance radars and a charging port; the plurality of obstacle avoidance cameras are respectively arranged through the side walls of the chassis body; the plurality of bottom obstacle avoidance radars are respectively fixedly arranged at the bottom of the chassis body; the charging port is fixedly arranged through the side walls of the chassis body.

[0006] In one embodiment, the steering wheel mechanism includes a fixed plate, which is fixedly arranged in the chassis body; a rotating motor assembly fixedly penetrating the fixed plate; a connecting frame movably arranged under the fixed plate and transmission-connected to the rotating motor assembly; and a driving wheel assembly rotatably arranged on the connecting frame.

[0007] In one embodiment, the rotating motor assembly includes a motor mechanism; a conical pinion fixedly arranged on the rotating shaft of the motor mechanism; a connecting cavity with one end laterally fixedly arranged on the side of the motor mechanism, which is an L-shaped hollow cavity, and the connecting cavity wraps the conical pinion inside; a transmission mechanism vertically arranged in the connecting cavity and respectively connected to the conical pinion and the driving wheel assembly.

[0008] In one embodiment, the motor mechanism includes a motor housing; a first stator assembly fixedly disposed in the motor housing; a first rotor assembly rotatably disposed in the motor housing and rotatably passing through the first stator assembly; a rotating shaft drivingly connected to the first rotor assembly and passing through the motor housing, the bevel pinion gear fixedly disposed on the rotating shaft and drivingly meshingly connected to the transmission mechanism; a first driver fixedly disposed in the motor housing and electrically connected to the first rotor assembly; and a first encoder disposed on the rotating shaft and electrically connected to the first driver.

[0009] In one embodiment, the driving wheel assembly includes a fixed shaft, both ends of which are respectively fixedly arranged on the connecting frame; a wheel body rotatably penetrating the fixed shaft; a second stator assembly fixedly arranged on the fixed shaft and arranged in the wheel body; a second rotor assembly fixedly arranged in the wheel body and movably arranged on the second stator assembly; a second driver fixedly arranged in the wheel body and electrically connected to the second rotor assembly; and a second encoder fixedly arranged on the second rotor assembly and electrically connected to the second driver.

[0010] In one embodiment, the reverse knee flexion joint assembly also includes a rotating support mechanism, which is rotatably arranged on the second telescopic arm mechanism; the rotating support mechanism includes a third telescopic arm body, which is transmission-connected to the second drive motor; a first rotating motor fixedly arranged on the third telescopic arm body; and a support frame movably arranged above the third telescopic arm body and transmission-connected to the first rotating motor.

[0011] In one embodiment, the elastic support mechanism includes a support plate, which is fixed on the first telescopic arm mechanism; a connecting piece movably arranged on the joint drive motor and connected to the second telescopic arm mechanism; and at least one gas spring whose two ends are respectively connected to the support plate and the connecting piece. When the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the gas spring is in a compressed state to provide supporting force to the second telescopic arm mechanism.

[0012] In one embodiment, the head recognition component includes a second rotating motor, which is vertically fixed on the anti-knee joint component; a first recognition mechanism that is movably arranged above the anti-knee joint component and is transmission-connected to the second rotating motor, and the second rotating motor drives the first recognition mechanism to perform a lateral angle rotation operation; a third rotating motor that is laterally fixed on the first recognition mechanism; and a second recognition mechanism that is movably arranged above the first recognition mechanism and is transmission-connected to the third rotating motor, and the third rotating motor drives the second recognition mechanism to perform a longitudinal angle rotation operation.

[0013] In one embodiment, the arm assembly includes a first rotating arm mechanism, which is movably arranged on the reverse knee flexion joint assembly; a second rotating arm mechanism and a third rotating arm mechanism movably connected to the first rotating arm mechanism in sequence; a clamping arm mechanism movably connected to the third rotating arm mechanism; and a third recognition camera fixedly arranged on the clamping arm mechanism, which can perform recognition operations on items to be transported.

[0014] Compared with the prior art, the wheeled transport robot of the present invention has the following beneficial effects: A wheeled transport robot of the present invention adopts a steering wheel mechanism with a high degree of integration, thereby reducing the space occupied by the steering wheel mechanism on the chassis body, making it easier to fix the battery mechanism in the middle and rear position of the chassis body, so that the center of gravity of the robot body is close to the overall center during the forward tilting movement, thereby improving the anti-overturning ability; at the same time, four steering wheel mechanisms are symmetrically arranged on the four corners of the chassis body, so that the wheel system span is maximized, greatly improving the stability performance of the chassis body in all directions, and effectively solving the problem of insufficient chassis stability of the existing wheeled humanoid robot; and then through the cooperation of the navigation radar mechanism, the obstacle avoidance camera and the bottom obstacle avoidance radar, the obstacle avoidance navigation operation of the chassis assembly is effectively realized; When the wheeled handling robot of the present invention performs an anti-knee flexion operation, the gas spring is in a compressed state to provide a supporting force to the second telescopic arm mechanism, thereby greatly reducing the output torque of the joint drive motor to support the second telescopic arm mechanism, effectively solving the problem that the knee joint motor of the existing humanoid handling robot requires a large redundant power; the first drive motor, the joint drive motor, and the second drive motor are used to drive the first telescopic arm body, the second telescopic arm body, and the third telescopic arm body to perform an angle adjustment operation, and the rotating motor drives the support frame to perform a rotating operation, thereby realizing multi-joint and multi-dimensional movement, and improving the flexibility of the humanoid robot to a certain extent; A wheeled transport robot of the present invention maximizes the field of view of the transport robot through two recognition mechanisms in a head recognition component; and simultaneously combines recognition cameras on two arm components to greatly enhance the recognition accuracy of objects to be transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a structural schematic diagram of a wheeled transport robot of the present invention, comprising a chassis component, a reverse knee flexion joint component, a head recognition component and a first arm component; Figure 2 yes Figure 1 A schematic diagram of the structure of the chassis assembly shown; Figure 3 yes Figure 1 An exploded structural diagram of the chassis assembly shown, including the chassis body and the steering wheel mechanism; Figure 4 yes Figure 3 A schematic diagram of the structure of the chassis body shown; Figure 5 yes Figure 3 The structural schematic diagram of the steering wheel mechanism shown includes a rotating motor assembly and a driving wheel assembly; Figure 6 yes Figure 5 An exploded structural schematic diagram of the rotating electric machine assembly shown, including a motor mechanism; Figure 7 yes Figure 6 An exploded structural diagram of the motor mechanism shown; Figure 8 yes Figure 5 A schematic cross-sectional structure diagram of the driving wheel assembly shown; Fig. 9 yes Figure 1 The schematic diagram of the structure of the reverse flexion knee joint assembly shown; Fig.10 yes Fig. 9 An exploded structural diagram of the reverse flexion knee joint assembly shown, including a rotation support mechanism; Fig.11 yes Fig.10 An exploded structural diagram of the rotating support mechanism shown; Fig.12 yes Figure 1 A schematic diagram of the structure of the head recognition component shown; Fig.13 yes Figure 1 A schematic structural diagram of the first arm assembly is shown.

[0017] In the figure, the following are marked: 10, chassis assembly; 11, chassis body; 111, mounting cavity; 112, accommodating cavity; 113, mounting plate; 114, first through hole; 12, steering wheel mechanism; 121, fixing plate; 122, rotating motor assembly; 1221, motor mechanism; 12211, motor housing; 12212, first stator assembly; 12213, first rotor assembly; 12214, rotating shaft; 12215, first driver; 12216, first encoder; 1222, conical pinion; 1223, connecting cavity; 1224, transmission mechanism; 123, connecting frame; 124, driving wheel assembly; 1241, fixed shaft; 1242, wheel body; 1243, second stator assembly; 1244, second rotor assembly; 1245, second driver; 1246, second encoder; 13, battery mechanism; 14, navigation radar mechanism; 141, 3D radar; 142, obstacle avoidance radar; 15, obstacle avoidance camera; 16, bottom obstacle avoidance radar; 17, charging interface; 20, reverse knee flexion joint assembly; 21, fixed seat; 211, fixed hole; 212, second through hole; 22, first telescopic arm mechanism; 221, first drive motor; 222, first telescopic arm body; 23, joint drive motor; 24, second telescopic arm mechanism; 241, second telescopic arm body; 242, second drive motor; 25, rotation support mechanism; 251 , the third telescopic arm body; 252, the first rotating motor; 253, the support frame; 2531, the hollow cavity; 2532, the connecting plate; 26, the elastic supporting mechanism; 261, the supporting plate; 262, the connecting piece; 2621, the annular groove; 263, the gas spring; 30, the head recognition component; 31, the second rotating motor; 32, the first recognition mechanism; 321, the first transmission seat; 322, the first recognition camera; 33, the third rotating motor; 34, the second recognition mechanism; 341, the second transmission seat; 342, the second recognition camera; 40, the first arm component; 41, the first rotating arm mechanism; 42, the second rotating arm mechanism; 43, the third rotating arm mechanism; 44, the clamping arm mechanism; 45, the third recognition camera; 50, the second arm component. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1 As shown, a wheeled transport robot of the present invention mainly includes a chassis assembly 10, a reverse knee flexion joint assembly 20, a head recognition assembly 30, a first arm assembly 40 and a second arm assembly 50; the chassis assembly 10 is a walking and steering body; the reverse knee flexion joint assembly 20 is movably arranged on the chassis assembly 10, and it can perform lifting and rotating operations; the head recognition assembly 30 is rotatably arranged above the reverse knee flexion joint assembly 20, and it performs identification and scanning operations on the objects to be transported; the first arm assembly 40 and the second arm assembly 50 are respectively movably arranged on the opposite sides of the reverse knee flexion joint assembly 20, and the two cooperate to perform clamping and transport operations on the objects to be transported. In this embodiment, a wheeled transport robot of the present invention further includes a control component (not shown), which is fixedly disposed on the chassis component 10 or the reverse knee flexion joint component 20, and is electrically connected to the chassis component 10, the reverse knee flexion joint component 20, the head recognition component 30, the first arm component 40, and the second arm component 50, respectively. The control technologies adopted by the control robot are all existing technologies, so the specific control process and the adopted model will not be described in detail herein, as long as it meets the requirements of this application.

[0021] See also Figure 1-Figure 3As shown, in this embodiment, the chassis assembly 10 includes a chassis body 11, four steering wheel mechanisms 12, a battery mechanism 13, a navigation radar mechanism 14, a plurality of obstacle avoidance cameras 15, a plurality of bottom obstacle avoidance radars 16 and a charging port 17; the chassis body 11 is a hollow square cavity, and the lower end of the anti-flexion knee joint assembly 20 is fixedly arranged on the chassis body 11; the four steering wheel mechanisms 12 are respectively symmetrically arranged on the four corners of the chassis body 11, and the movement and steering operation of the chassis assembly 10 are realized through the cooperation of the four steering wheel mechanisms, and at the same time, the wheel system span is maximized, which greatly improves the stability performance of the chassis body 11 in all directions; the battery mechanism 13 is fixedly arranged at the middle and rear position of the chassis body 11, so that The center of gravity of the robot body 20 is close to the overall center during the forward movement, which improves the anti-overturning ability; the navigation radar mechanism 14 is arranged above the chassis body 11, which performs navigation operations on the chassis assembly 10; multiple obstacle avoidance cameras 15 are respectively arranged on the side walls of the chassis body 11, and the multiple obstacle avoidance cameras 15 cooperate with each other to perform real-time monitoring and obstacle avoidance operations around the chassis body 11; multiple bottom obstacle avoidance radars 16 are respectively fixedly arranged at the bottom of the chassis body 11, and the multiple bottom obstacle avoidance radars 16 cooperate with each other to perform real-time monitoring and obstacle avoidance operations on the bottom of the chassis body 11; the charging interface 17 is fixedly arranged on the side walls of the chassis body 11, and the battery mechanism 13 is charged through the charging interface 17. In this embodiment, four obstacle avoidance cameras 15 are respectively arranged on the four side walls of the chassis body 11; four bottom obstacle avoidance radars 16 are respectively fixedly arranged at the bottom of the chassis body 11; in other embodiments, the number of obstacle avoidance cameras 15 and bottom obstacle avoidance radars 16 can be two, three, five or other plurality, and the number is set according to actual needs.

[0022] See also Figure 3 and Figure 4 As shown, specifically, installation cavities 111 are respectively provided on the four corners of the chassis body 11, and the four steering wheel mechanisms 12 are fixedly provided on the chassis body 11 through the corresponding installation cavities 111; an accommodating cavity 112 is provided at the middle rear position of the chassis body 11, and the battery mechanism 13 is fixedly provided in the accommodating cavity 112, thereby increasing the weight of the chassis body 11 and enhancing its stability performance; a mounting plate 113 is provided at the middle position of the chassis body 11, and the lower end of the reverse flexion knee joint assembly 20 is fixedly provided on the mounting plate 113; first through holes 114 are respectively provided on the four side walls of the chassis body 11, and the four obstacle avoidance cameras 15 penetrate the chassis body 11 through the corresponding first through holes 114 respectively.

[0023] See also Figure 3 and Figure 5As shown, in this embodiment, the steering wheel mechanism 12 includes a fixed plate 121, a rotating motor assembly 122, a connecting frame 123 and a driving wheel assembly 124; the fixed plate 121 is fixedly arranged on the installation cavity 111; the rotating motor assembly 122 is fixedly arranged through the fixed plate 121; the connecting frame 123 is movably arranged below the fixed plate 121 and is transmission-connected with the rotating motor assembly 122, and the rotating motor assembly 122 drives the connecting frame 123 to perform steering operations; the driving wheel assembly 124 is rotatably arranged on the connecting frame 123, and the chassis assembly 10 is driven to move forward or backward through the driving wheel assembly 124.

[0024] See also Figure 5-Figure 7 As shown, in this embodiment, the rotating motor assembly 122 includes a motor mechanism 1221, a conical pinion 1222, a connecting cavity 1223 and a transmission mechanism 1224; the motor mechanism 1221 is the driving power body; the conical pinion 1222 is fixedly arranged on the rotating shaft of the motor mechanism 1221, and the motor mechanism 1221 drives the conical pinion 1222 to rotate; the connecting cavity 1223 is a hollow cavity, and its shape is L-shaped, and one lateral end of the connecting cavity 1223 is fixedly arranged on the side of the motor mechanism 1221 and wraps the conical pinion 1222 inside; the transmission mechanism 1224 is vertically arranged in the connecting cavity 1223 and is respectively connected to the conical pinion 1222 and the driving wheel assembly 124, and the conical pinion 1222 drives the transmission mechanism 1224 to drive the driving wheel assembly 124 to perform steering operations.

[0025] See also Figure 6 and Figure 7As shown, in this embodiment, the motor mechanism 1221 includes a motor housing 12211, a first stator assembly 12212, a first rotor assembly 12213, a rotating shaft 12214, a first driver 12215 and a first encoder 12216; the motor housing 12211 is a hollow cavity; the first stator assembly 12212 is fixedly arranged in the motor housing 12211; the first rotor assembly 12213 is rotatably arranged in the motor housing 12211 and rotatably penetrates the first stator assembly 12212; the rotating shaft 12214 and the first rotor assembly 122 13 is transmission connected and passes through the motor housing 12211, the conical pinion 1222 is fixedly arranged on the rotating shaft 12214 and is transmission meshingly connected with the transmission mechanism 1224; the first driver 12215 is fixedly arranged in the motor housing 12211 and is electrically connected to the first rotor assembly 12213, which drives the first rotor assembly 12213 to rotate relative to the first stator assembly 12212; the first encoder 12216 is arranged on the rotating shaft 12214 and is electrically connected to the first driver 12215, and it rotates following the rotation of the rotating shaft 12214. Specifically, the first stator assembly 12212 and the first rotor assembly 12213 both adopt the existing technology, so their specific structures and working processes are not described here, as long as they meet the requirements of this application; the transmission mechanism 1224 includes a transmission bevel gear and a transmission shaft; the transmission bevel gear is vertically arranged in the connecting cavity 1223 and is meshed and connected with the bevel pinion 1222, the bevel pinion 1222 and the transmission bevel gear form a deceleration steering structure, through which the output torque of the motor mechanism 1221 is increased, and the lateral transmission force of the motor mechanism 1221 is converted into a longitudinal transmission force; one end of the transmission shaft is transmission-connected to the transmission bevel gear, and the other end is transmission-connected to the driving wheel assembly 124.

[0026] See also Figure 5 and Figure 8As shown, the driving wheel assembly 124 includes a fixed shaft 1241, a wheel body 1242, a second stator assembly 1243, a second rotor assembly 1244, a second driver 1245 and a second encoder 1246; both ends of the fixed shaft 1241 are respectively fixedly arranged on the connecting frame 123; the wheel body 1242 is rotatably arranged on the fixed shaft 1241, and it can rotate relative to the fixed shaft 1241; the second stator assembly 1243 is fixedly arranged on the fixed shaft 1241 and arranged in the wheel body 1242; the second rotor assembly 1244 is fixedly arranged in the wheel body 1242 and movably arranged on the second stator assembly 1243; the second driver 1245 is fixedly arranged in the wheel body 1242 and is electrically connected to the second rotor assembly 1244; the second encoder 1246 is fixedly arranged on the second rotor assembly 1244 and is electrically connected to the second driver 1245, and it rotates with the rotation of the second rotor assembly 1244. Specifically, the second stator assembly 1243 and the second rotor assembly 1244 both adopt the existing technology, so their specific structures and working processes are not described here in detail, as long as they meet the requirements of this application.

[0027] See also Figure 2 and Figure 3 As shown, in this embodiment, the navigation radar mechanism 14 includes a 3D radar 141 and two obstacle avoidance radars 142; the 3D radar 141 is fixedly arranged in the middle position of the front end of the chassis body 11; the two obstacle avoidance radars 142 are diagonally fixedly arranged on the two corners of the chassis body 11, and through the cooperation of the 3D radar 141 and the two obstacle avoidance radars 142, a 360° field of view coverage is achieved.

[0028] See also Figure 1 , Fig. 9 and Fig.10As shown, in this embodiment, the reverse knee flexion joint assembly 20 mainly includes a fixed seat 21, a first telescopic arm mechanism 22, a joint drive motor 23, a second telescopic arm mechanism 24, a rotation support mechanism 25 and an elastic support mechanism 26; the fixed seat 21 is fixedly arranged on the mounting plate 113; the first telescopic arm mechanism 22 is rotatably arranged on the fixed seat 21, and can adjust the angle relative to the fixed seat 21; the joint drive motor 23 is arranged on the end of the first telescopic arm mechanism 22 away from the fixed seat 21; the second telescopic arm mechanism 24 is transmission-arranged on the joint drive motor 23, and the joint drive motor 23 drives the second telescopic arm mechanism 24 to adjust the angle Operation: The rotating support mechanism 25 is rotatably set on the second telescopic arm mechanism 24, and the second telescopic arm mechanism 24 drives the rotating support mechanism 25 to perform angle adjustment operation; one end of the elastic support mechanism 26 is fixedly set on the first telescopic arm mechanism 22, and the other end thereof is movably set on the joint drive motor 23 and connected to the second telescopic arm mechanism 24. When the first telescopic arm mechanism 22 and the second telescopic arm mechanism 24 form an acute angle, that is, the reverse knee flexion joint assembly 20 performs a reverse knee flexion operation, the elastic support mechanism 26 provides supporting force to the second telescopic arm mechanism 24, thereby greatly reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24.

[0029] See also Fig. 9 and Fig.10 As shown, specifically, a plurality of fixing holes 211 are provided through the fixing seat 21, and the fixing seat 21 is fixedly mounted on the chassis assembly of the humanoid robot through the plurality of fixing holes 211; a second through hole 212 is also provided through the fixing seat 21, and one end of the first telescopic arm mechanism 22 is arranged in the second through hole 212.

[0030] See also Fig. 9 and Fig.10 As shown, in this embodiment, the first telescopic arm mechanism 22 includes a first drive motor 221 and a first telescopic arm body 222; the first drive motor 221 is fixedly arranged in the second through hole 212; the first telescopic arm body 222 is transmission-connected with the first drive motor 221, and the first drive motor 221 drives the first telescopic arm body 222 to adjust the angle; the joint drive motor 23 is arranged on the other end of the first telescopic arm body 222 relative to the first drive motor 221. The second telescopic arm mechanism 24 includes a second telescopic arm body 241 and a second drive motor 242; the second telescopic arm body 241 is transmission-connected with the joint drive motor 23, and the joint drive motor 23 drives the second telescopic arm body 241 to adjust the angle; the second drive motor 242 is arranged on the other end of the second telescopic arm body 241 relative to the joint drive motor 23, and is transmission-connected with the rotating support mechanism 25, and the second drive motor 242 drives the rotating support mechanism 25 to adjust the angle.

[0031] See also Figure 9-11As shown, in this embodiment, the rotating support mechanism 25 includes a third telescopic arm body 251, a first rotating motor 252 and a support frame 253; the third telescopic arm body 251 is connected to the second drive motor 242 in a transmission manner, and the second drive motor 242 drives the third telescopic arm body 251 to adjust the angle; the first rotating motor 252 is fixedly arranged on the third telescopic arm body 251, and moves with the movement of the third telescopic arm body 251; the support frame 253 is movably arranged above the third telescopic arm body 251 and is connected to the first rotating motor 252 in a transmission manner, and the first rotating motor 252 drives the support frame 253 to rotate. Specifically, a hollow cavity 2531 is arranged on the support frame 253, in which a control component of a humanoid robot (not shown) can be installed; connecting plates 2532 are respectively arranged on opposite sides of the support frame 253, and the first arm component 40 and the second arm component 50 are respectively arranged on the corresponding connecting plates 2532.

[0032] See also Fig. 9 and Fig.10 As shown, the elastic support mechanism 26 includes a support plate 261, a connecting piece 262 and at least one gas spring 263; the support plate 261 is fixedly arranged on the first telescopic arm body 222; the connecting piece 262 is movably arranged on the joint drive motor 23 and connected to the second telescopic arm body 241; one end of at least one gas spring 263 is fixedly arranged on the support plate 261, and the other end thereof is connected to the connecting piece 262. When the first telescopic arm mechanism 22 and the second telescopic arm mechanism 24 form an acute angle, that is, the reverse knee flexion joint assembly 20 performs a knee flexion operation, the gas spring 263 is in a compressed state to provide support force to the second telescopic arm mechanism 24, thereby reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24. In this embodiment, two gas springs 263 are arranged in parallel between the support plate 261 and the connecting piece 262; in other embodiments, the number of gas springs 263 can be one, three, four or other plurality, and the number can be set according to actual conditions. Specifically, at least one annular groove 1621 is provided on the connecting member 262 , and one end of the gas spring 263 is movably disposed on the annular groove 1621 .

[0033] See also Figure 1 and Fig.12As shown, in the present embodiment, the head recognition component 230 includes a second rotary motor 31, a first recognition mechanism 32, a third rotary motor 33 and a second recognition mechanism 34; the second rotary motor 31 is vertically fixedly arranged on the anti-flexion knee joint component 20, and it moves following the movement of the anti-flexion knee joint component 20; the first recognition mechanism 32 is movably arranged above the anti-flexion knee joint component 20 and is transmission-connected to the second rotary motor 31, and the second rotary motor 31 drives the first recognition mechanism 32 to perform a lateral angle rotation operation; the third rotary motor 33 is transversely fixedly arranged on the first recognition mechanism 32; the second recognition mechanism 34 is movably arranged above the first recognition mechanism 32 and is transmission-connected to the third rotary motor 33, and the third rotary motor 33 drives the second recognition mechanism 34 to perform a longitudinal angle rotation operation.

[0034] See also Fig.12 As shown, specifically, the first recognition mechanism 32 includes a first transmission seat 321 and a first recognition camera 322. The first transmission seat 321 is connected to the second rotating motor 31, and the second rotating motor 31 drives the first transmission seat 321 to perform a horizontal angle rotation operation; the first recognition camera 322 is fixedly arranged on the first transmission seat 321, and rotates following the rotation of the first transmission seat 321. The second recognition mechanism 34 includes a second transmission seat 341 and a second recognition camera 342. The second transmission seat 341 is connected to the third rotating motor 33, and the third rotating motor 33 drives the second transmission seat 341 to perform a longitudinal angle rotation operation; the second recognition camera 342 is fixedly arranged on the second transmission seat 341, and rotates following the rotation of the second transmission seat 341.

[0035] See also Figure 1 and Fig.13As shown, in this embodiment, the first arm assembly 40 includes a first rotating arm mechanism 41, a second rotating arm mechanism 42, a third rotating arm mechanism 43, a clamping arm mechanism 44 and a third identification camera 45; the first rotating arm mechanism 41 is movably arranged on the anti-flexion knee joint assembly 20; the second rotating arm mechanism 42 and the third rotating arm mechanism 43 are movably connected with the first rotating arm mechanism 41 in sequence, so as to realize the multi-joint movement of the first arm assembly 40; the clamping arm mechanism 44 is movably connected with the third rotating arm mechanism 43, and the operation of the object to be transported is performed through the clamping arm mechanism 44; the third identification camera 45 is fixedly arranged on the clamping arm mechanism 44, which can identify the object to be transported. Specifically, the first rotating arm mechanism 41 includes an arm joint motor and a rotating arm body, the arm joint motor is arranged on the anti-flexion knee joint assembly 20, the rotating arm body is connected to the arm joint motor in a transmission manner, and the arm joint motor drives the rotating arm body to move; the second rotating arm mechanism 42 and the third rotating arm mechanism 43 are similar in structure to the first rotating arm mechanism 41, so the specific structures of the two are not repeated here. The clamping arm mechanism 44 also adopts the prior art, so its specific structure and working process are not described here, as long as it meets the present application. In this embodiment, the second arm assembly 50 is the same as the first arm assembly 40, so the specific structure of the second arm assembly 50 is not described here.

[0036] It should be noted that the specific working process of the wheeled transport robot of the present invention is as follows: the steering wheel mechanism 12 adopts a rotating motor mechanism 122 and a driving wheel mechanism 124 with a high degree of integration, so that the steering wheel mechanism 12 occupies a smaller space of the chassis body 11, and it is convenient to fix the battery mechanism 13 in the middle and rear position of the chassis body 11, so that the center of gravity of the robot body 20 is close to the overall center during the forward movement, thereby improving the anti-overturning ability; four steering wheel mechanisms 12 are symmetrically arranged on the four corners of the chassis body 11, so that the wheel system span is maximized, and the stability performance of the chassis body 11 in all directions is greatly improved; and then the navigation radar mechanism 14, the obstacle avoidance camera 15 and the bottom obstacle avoidance radar 16 cooperate to realize the obstacle avoidance navigation operation of the chassis assembly 10; The first telescopic arm body 222, the second telescopic arm body 242 and the third telescopic arm body 251 are driven by the first drive motor 221, the joint drive motor 23 and the second drive motor 242 to perform angle adjustment operations, thereby realizing multi-joint movement; when the first telescopic arm body 222 and the second telescopic arm body 242 are at an acute angle, that is, the reverse knee flexion joint assembly 20 performs a reverse knee flexion operation, the gas spring 263 is in a compressed state to provide support force to the second telescopic arm mechanism 24, thereby greatly reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24; at the same time, the head recognition assembly 30 can be driven to perform a large-angle rotation operation through the rotating support mechanism 25, and then the first recognition mechanism 32, the second recognition mechanism 34 in the head recognition assembly 30 and the third recognition camera 45 respectively arranged on the first arm assembly 40 and the second arm assembly 50 cooperate to facilitate the recognition operation of the items to be transported.

[0037] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A wheeled transport robot, characterized in that: include: Chassis components; A reverse knee flexion joint assembly, which is movably arranged on the chassis assembly; A head recognition component is rotatably arranged above the reverse knee flexion joint component; Two arm assemblies, which are movably arranged on opposite sides of the reverse flexion knee joint assembly; The chassis assembly includes a chassis body, four steering wheel mechanisms, a battery mechanism and a navigation radar mechanism; the chassis body is a hollow square cavity, and the reverse knee flexion joint assembly is fixedly arranged on the chassis body; the four steering wheel mechanisms are respectively and symmetrically arranged on the four corners of the chassis body; the battery mechanism is fixedly arranged at the rear position in the middle of the chassis body; the navigation radar mechanism is arranged above the chassis body; Among them, the reverse knee flexion joint assembly includes a fixed seat, which is fixedly arranged on the chassis body; a first telescopic arm mechanism rotatably arranged on the fixed seat; a joint drive motor arranged on one end of the first telescopic arm mechanism away from the fixed seat; a second telescopic arm mechanism transmission-arranged on the joint drive motor; an elastic support mechanism with one end fixedly arranged on the first telescopic arm mechanism, and the other end movably arranged on the joint drive motor and connected to the second telescopic arm mechanism; when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

2. A wheeled transport robot according to claim 1, characterized in that: The chassis assembly also includes multiple obstacle avoidance cameras, multiple bottom obstacle avoidance radars and a charging interface; the multiple obstacle avoidance cameras are respectively arranged on the side walls of the chassis body; the multiple bottom obstacle avoidance radars are respectively fixedly arranged on the bottom of the chassis body; the charging interface is fixedly arranged on the side walls of the chassis body.

3. A wheeled transport robot according to claim 1, characterized in that: The steering wheel mechanism comprises a fixing plate, which is fixedly arranged in the chassis body; a rotating motor assembly fixedly penetrating the fixing plate; and a connecting frame movably arranged under the fixing plate and drivingly connected to the rotating motor assembly. The driving wheel assembly disposed on the connecting frame is rotated.

4. A wheeled transport robot according to claim 3, characterized in that: The rotating motor assembly includes a motor mechanism; a conical pinion fixedly arranged on the rotating shaft of the motor mechanism; a connecting cavity with one end laterally fixedly arranged on the side of the motor mechanism, which is an L-shaped hollow cavity, and the connecting cavity wraps the conical pinion inside; a transmission mechanism vertically arranged in the connecting cavity and respectively connected to the conical pinion and the driving wheel assembly.

5. A wheeled transport robot according to claim 4, characterized in that: The motor mechanism includes a motor housing; a first stator assembly fixedly disposed in the motor housing; a first rotor assembly rotatably disposed in the motor housing and rotatably penetrating the first stator assembly; a rotating shaft transmission-connected to the first rotor assembly and penetrating the motor housing, the conical pinion gear fixedly disposed on the rotating shaft and transmission-engaged with the transmission mechanism; a first driver fixedly disposed in the motor housing and electrically connected to the first rotor assembly; and a first encoder disposed on the rotating shaft and electrically connected to the first driver.

6. A wheeled transport robot according to claim 5, characterized in that: The driving wheel assembly includes a fixed shaft, both ends of which are respectively fixedly arranged on the connecting frame; a wheel body that rotatably passes through the fixed shaft; a second stator assembly that is fixedly arranged on the fixed shaft and is arranged in the wheel body; a second rotor assembly that is fixedly arranged in the wheel body and movably passes through the second stator assembly; a second driver that is fixedly arranged in the wheel body and electrically connected to the second rotor assembly; and a second encoder that is fixedly arranged on the second rotor assembly and electrically connected to the second driver.

7. The wheeled transport robot according to claim 1, characterized in that: The reverse knee flexion joint assembly also includes a rotating support mechanism, which is rotatably arranged on the second telescopic arm mechanism; the rotating support mechanism includes a third telescopic arm body, which is transmission-connected to the second drive motor; a first rotating motor fixedly arranged on the third telescopic arm body; and a support frame movably arranged above the third telescopic arm body and transmission-connected to the first rotating motor.

8. The wheeled transport robot according to claim 1, characterized in that: The elastic support mechanism includes a support plate, which is fixedly arranged on the first telescopic arm mechanism; a connecting member movably arranged on the joint drive motor and connected to the second telescopic arm mechanism; At least one gas spring is connected to the support plate and the connecting member at both ends. When the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the gas spring is in a compressed state to provide supporting force to the second telescopic arm mechanism.

9. A wheeled transport robot according to any one of claims 1 to 8, characterized in that: The head recognition component includes a second rotating motor, which is vertically fixed on the anti-knee flexion joint component; a first recognition mechanism that is movably arranged above the anti-knee flexion joint component and is transmission-connected to the second rotating motor, and the second rotating motor drives the first recognition mechanism to perform a lateral angle rotation operation; a third rotating motor that is laterally fixed on the first recognition mechanism; and a second recognition mechanism that is movably arranged above the first recognition mechanism and is transmission-connected to the third rotating motor, and the third rotating motor drives the second recognition mechanism to perform a longitudinal angle rotation operation.

10. A wheeled transport robot according to any one of claims 1 to 8, characterized in that: The arm assembly includes a first rotating arm mechanism, which is movably arranged on the reverse knee flexion joint assembly; a second rotating arm mechanism and a third rotating arm mechanism movably connected to the first rotating arm mechanism in sequence; a clamping arm mechanism movably connected to the third rotating arm mechanism; and a third recognition camera fixedly arranged on the clamping arm mechanism, which can perform recognition operations on items to be transported.

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