Double-arm wheel type linear lifting universal intelligent robot

Abstract

The invention discloses a double-arm wheel type linear lifting universal intelligent robot, which relates to the technical field of intelligent robots and comprises a movable chassis, a robot body and a multi-stage spiral lifting mechanism, the connecting piece spiral lifting mechanism comprises a fixed shell, a rotating power source and a multi-stage transmission assembly, and the connecting piece multi-stage transmission assembly is in transmission connection with the connecting piece rotating power source; the connecting piece multi-stage transmission assembly at least comprises a first-stage transmission assembly and a second-stage transmission assembly; the first-stage transmission assembly and the second-stage transmission assembly each comprise a lead screw, a nut, an inner telescopic shell and an outer telescopic shell so that multi-stage nested linkage can be achieved. The multi-stage spiral lifting mechanism is adopted for connecting the movable chassis and the robot body, synchronous stretching and retracting of the telescopic shell of the two-stage or even multi-stage transmission assembly are achieved through linkage among the lead screw, the nut, the telescopic inner shell and the telescopic outer shell, the enough extending distance can be achieved during stretching, the minimum value can be achieved as small as possible during retracting, and the service life of the robot is prolonged. And therefore, the robot body has a wider operation space.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and particularly to a two-armed wheeled linear lifting general intelligent robot. Background Art

[0002] Robots are an interdisciplinary subject developed in recent years. They are an important symbol to measure the level of modern science and technology and high-end manufacturing, and are also the pearl at the top of the manufacturing crown. As a disruptive technology leading the future of the world, robots are creating new industries and new business forms, promoting the transformation of production and consumption towards intelligence, and thus profoundly affecting human production and life.

[0003] Robots usually set up a lifting mechanism to meet the needs of different height application scenarios. However, the lifting range of the existing lifting mechanism is limited, and it cannot provide a wider operating space for the robot, which greatly limits the function of the robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a two-armed wheeled linear lifting general intelligent robot to solve the problems existing in the above-mentioned prior art, so that the robot has a sufficiently wide operating space.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] A two-armed wheeled linear lifting general intelligent robot, comprising a mobile chassis, a robot body and a multi-stage screw lifting mechanism. The fixed end of the multi-stage screw lifting mechanism is arranged on the top of the mobile chassis, and the robot body is arranged at the movable end of the multi-stage screw lifting mechanism;

[0007] The screw lifting mechanism includes a fixed housing, a rotary power source and a multi-stage transmission component. The rotary power source is arranged inside the fixed housing, and the multi-stage transmission component is in transmission connection with the rotary power source;

[0008] The multi-stage transmission component at least includes a first-stage transmission component and a second-stage transmission component;

[0009] The first-stage transmission component includes a first-stage lead screw, a first-stage nut, a first-stage telescopic inner shell and a first-stage telescopic outer shell. The first-stage lead screw is in transmission connection with the output end of the rotary power source. The first-stage nut is threadedly connected with the first-stage lead screw. One end of the first-stage telescopic inner shell is fixedly connected with the first-stage nut, and the other end is fixedly connected with the first-stage telescopic outer shell. The first-stage telescopic outer shell is movably sleeved outside the fixed housing;

[0010] The secondary transmission assembly includes a secondary lead screw, a secondary nut, a secondary inner telescopic housing disposed inside the primary inner telescopic housing, and a secondary outer telescopic housing movably sleeved outside the primary outer telescopic housing. One end of the secondary lead screw is rotatably connected to the primary nut. The secondary nut is threadedly connected to the secondary lead screw. One end of the secondary inner telescopic housing is fixedly connected to the secondary nut, and the other end is fixedly connected to the secondary outer telescopic housing;

[0011] The fixed housing, the primary outer telescopic housing, and the secondary outer telescopic housing are corresponding polygonal structures;

[0012] The secondary lead screw is a hollow structure, and one end of the primary lead screw away from the rotary power source is sleeved inside the secondary lead screw; a groove is axially formed along the outer periphery of the primary lead screw, and a protrusion adapted to the groove is axially provided on the inner wall of the secondary lead screw.

[0013] In an exemplary embodiment, the multi-stage screw lifting mechanism further includes a lifting bottom plate and a lifting top plate. The lifting bottom plate is fixedly disposed on the top of the mobile chassis. The rotary power source is fixedly disposed on the lifting bottom plate. The primary lead screw is rotatably disposed on the lifting bottom plate. One end of the secondary inner telescopic housing away from the secondary nut is fixedly connected to the lifting top plate, and the lifting top plate is fixedly connected to the robot body.

[0014] In an exemplary embodiment, a linear encoder is further included. The sensor of the linear encoder is fixedly disposed on the lifting top plate. The primary lead screw is a hollow structure, and the encoder wire of the linear encoder passes through the secondary lead screw and the primary lead screw and is fixedly connected to the lifting bottom plate.

[0015] In an exemplary embodiment, the mobile chassis is provided with one or more of an ultrasonic sensor, a lidar, and an infrared sensor.

[0016] In an exemplary embodiment, the mobile chassis includes a housing. The housing is provided with a through hole for the multi-stage screw lifting mechanism to pass through. A magnetic adsorption portion for adsorbing the housing is disposed at the bottom of the robot body.

[0017] In an exemplary embodiment, the robot body includes a head, a torso, and robotic arms. The head is disposed on the top of the torso, and the robotic arms are disposed on both sides of the upper part of the torso.

[0018] In an exemplary embodiment, depth cameras are disposed on the head, the ends of the robotic arms, the front of the torso, and the front of the mobile chassis.

[0019] In an exemplary embodiment, a connector for connecting an operating end is disposed at the end of the robotic arm.

[0020] In an exemplary embodiment, a first angle adjustment mechanism for installing a depth camera is further provided on the connecting member. The first angle adjustment mechanism includes an adjustment fixing member and an adjustment rotating member. The adjustment fixing member is fixedly connected to the connecting member, and the depth camera is fixedly connected to the adjustment rotating member. A first positioning hole and a first adjustment hole are formed in the adjustment fixing member, and a second positioning hole and a second adjustment hole are provided on the adjustment rotating member. The first positioning hole and the second positioning hole are connected by a fastener, and the first adjustment hole and the second adjustment hole are connected by a fastener.

[0021] In an exemplary embodiment, the head is provided at the top of the torso through a second angle adjustment mechanism. The second angle adjustment mechanism includes a rotating base and a rotating cylinder member. The rotating base is fixedly connected to the torso, and the head is rotatably connected to the rotating cylinder member through a rotation driving mechanism. A third positioning hole and a third adjustment hole are formed in the rotating base, and a fourth positioning hole and a fourth adjustment hole are provided on the rotating cylinder member. The third positioning hole and the fourth positioning hole are connected by a fastener, and the third adjustment hole and the fourth adjustment hole are connected by a fastener.

[0022] The present invention has achieved the following technical effects compared with the prior art:

[0023] 1. By adopting a multi-stage screw lifting mechanism to connect the mobile chassis and the robot body, the multi-stage transmission system in the multi-stage screw lift adopts a screw drive mode of multi-stage screw nuts. Through the linkage between the screw, nut, telescopic inner shell and telescopic outer shell, the synchronous telescoping of the telescopic shells of two-stage or even multi-stage transmission components is realized. It can have a sufficient extension distance when extended, that is, have a maximum value as large as possible, and because of the nested arrangement of the telescopic shells, it is sufficient to ensure that it has a minimum value as small as possible when contracted. Furthermore, through the maximum value as large as possible and the minimum value as small as possible, the robot body has a wider operating space.

[0024] The other technical solutions disclosed by the present invention also have the following technical advantages:

[0025] 2. By arranging depth cameras at the head of the robot body, the end of the robotic arm, the front of the torso, and the front of the mobile chassis, the combination of depth cameras at different heights and different front and rear orientations, on the one hand, maximally eliminates the visual blind spots of the robot, improves the safety index and working efficiency of the robot operation, and on the other hand, can accurately identify the orientation of the operation target, enabling the robot to have a more flexible and accurate working ability.

[0026] 3. By setting the first angle adjustment mechanism to adjust the pitch angle of the depth camera at the end of the robotic arm, setting the second angle adjustment mechanism to adjust the pitch angle of the head, and setting the rotating cylinder to adjust the rotation angle of the head, the multi-degree-of-freedom adjustment of the depth camera is achieved to cope with different working environments and task types, further improving the efficiency and accuracy of item recognition and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0028] Figure 1 Structural schematic diagram of a dual-arm wheeled linear lifting general intelligent robot disclosed in a specific embodiment of the present invention;

[0029] Figure 2 is Figure 1 structural schematic diagram of the multi-stage spiral lifting mechanism in;

[0030] Figure 3 is Figure 2 cross-sectional view of;

[0031] Figure 4 is Figure 1 structural schematic diagram of the first angle adjustment mechanism in;

[0032] Figure 5 is Figure 1 structural schematic diagram of the second angle adjustment mechanism in;

[0033] Figure 6 is Figure 1 right view of;

[0034] Figure 7 is Figure 1 structural schematic diagram of another angle;

[0035] Figure 8 is Figure 1 structural schematic diagram of another angle;

[0036] Among them, 1. Head; 2. Depth camera; 3. Operating end; 4. Manipulator; 5. Trunk; 6. Multi-stage spiral lifting mechanism; 7. Housing; 8. Lidar; 9. Ultrasonic sensor; 10. Anti-falling sensor; 11. Servo driving wheel; 12. Follow-up wheel; 13. Mobile chassis; 14. Magnetic attraction part; 15. Breathing lamp; 16. First angle adjustment mechanism; 17. Second angle adjustment mechanism; 18. Lifting bottom plate; 19. Fixed housing; 20. First-stage transmission component; 21. Second-stage transmission component; 22. Lifting top plate; 23. Rotary power source; 24. First-stage lead screw; 25. First-stage nut; 26. First-stage telescopic inner shell; 27. First-stage telescopic outer shell; 28. Second-stage lead screw; 29. Second-stage nut; 30. Second-stage telescopic inner shell; 31. Second-stage telescopic outer shell; 32. Sensor of linear encoder; 33. Encoder wire of linear encoder; 34. Connecting piece; 35. First positioning hole; 36. First position adjustment hole; 37. Adjusting and fixing piece; 38. Second position adjustment hole; 39. Second positioning hole; 40. Adjusting and rotating piece; 41. Rotary cylinder piece; 42. Rotating base; 43. Third positioning hole; 44. Third position adjustment hole; 45. Emergency stop button; 46. Spare battery; 47. Spare charging port; 48. Power battery; 49. Charging electrode plate; 50. Elastic anti-collision plate; 51. Pause button; 52. Start button. Detailed implementation manners

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that the structures, proportions, sizes, etc. depicted in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present invention can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0039] It should also be noted that in the embodiments of the present application, the same reference numeral is used to represent the same component or the same part.

[0040] The object of the present invention is to provide a double-arm wheeled linear lifting general intelligent robot to solve the problems existing in the prior art and enable the robot to have a sufficiently broad operating space.

[0041] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Please refer to Figures 1 to 8 , this embodiment provides a double-arm wheeled linear lifting general intelligent robot, including a mobile chassis 13, a robot body, and a multi-stage spiral lifting mechanism 6. The mobile chassis 13 adopts a general mobile chassis to match the transfer requirements of different sizes, different loads, and different scenarios. The robot body includes a head 1, a torso 5, and robotic arms 4. The head 1 is arranged at the top of the torso 5, and the robotic arms 4 are arranged on both sides of the upper part of the torso 5. According to requirements, the robotic arms 4 can adopt multi-degree-of-freedom mechanical parts, such as six degrees of freedom, seven degrees of freedom, etc., to increase the range of motion and flexibility of the working space. A connecting piece 34 for connecting the operating end 3 is arranged at the end of the robotic arm 4, and different connecting pieces 34 can be replaced at the end of the robotic arm 4 to be compatible with various operating end 3 tools, such as multi-finger grippers, dexterous hands, welding torches, charging guns, etc., which can greatly broaden the application field of the robot.

[0043] The fixed end of the multi-stage screw lifting mechanism 6 is arranged at the top of the mobile chassis 13, and the robot body is arranged at the movable end of the multi-stage screw lifting mechanism 6. The screw lifting mechanism includes a fixed housing 19, a rotary power source 23 and a multi-stage transmission assembly. The rotary power source 23 is arranged inside the fixed housing 19, and the multi-stage transmission assembly is in transmission connection with the rotary power source 23. The selection range of the rotary power source 23 is diverse, and servo motors, stepper motors, brushed motors, and brushless motors are all applicable.

[0044] The multi-stage transmission assembly at least includes a first-stage transmission assembly 20 and a second-stage transmission assembly 21:

[0045] The first-stage transmission assembly 20 includes a first-stage lead screw 24, a first-stage nut 25, a first-stage telescopic inner shell 26 and a first-stage telescopic outer shell 27. The first-stage lead screw 24 is in transmission connection with the output end of the rotary power source 23. The first-stage nut 25 is threadedly connected with the first-stage lead screw 24. One end of the first-stage telescopic inner shell 26 is fixedly connected with the first-stage nut 25, and the other end is fixedly connected with the first-stage telescopic outer shell 27. The first-stage telescopic outer shell 27 is movably sleeved outside the fixed housing 19.

[0046] The second-stage transmission assembly 21 includes a second-stage lead screw 28 arranged inside the first-stage telescopic inner shell 26, a second-stage nut 29, a second-stage telescopic inner shell 30 and a second-stage telescopic outer shell 31 movably sleeved outside the first-stage telescopic outer shell 27. One end of the second-stage lead screw 28 is rotatably connected with the first-stage nut 25. The second-stage nut 29 is threadedly connected with the second-stage lead screw 28. One end of the second-stage telescopic inner shell 30 is fixedly connected with the second-stage nut 29, and the other end is fixedly connected with the second-stage telescopic outer shell 31.

[0047] The fixed housing 19, the first-stage telescopic outer shell 27 and the second-stage telescopic outer shell 31 are corresponding polygonal structures to prevent relative rotation between them; the second-stage lead screw 28 is a hollow structure, and the end of the first-stage lead screw 24 far from the rotary power source 23 is sleeved inside the second-stage lead screw 28; a groove is axially formed on the outer periphery of the first-stage lead screw 24, and a protrusion adapted to the groove is axially arranged on the inner wall of the second-stage lead screw 28.

[0048] The multi-stage screw lifting mechanism 6 further includes a lifting bottom plate 18 and a lifting top plate 22. The lifting bottom plate 18 is fixedly arranged at the top of the mobile chassis 13. The rotary power source 23 is fixedly arranged on the lifting bottom plate 18. The first-stage lead screw 24 is rotatably arranged on the lifting bottom plate 18. One end of the second-stage telescopic inner shell 30 far from the second-stage nut 29 is fixedly connected with the lifting top plate 22, and the lifting top plate 22 is fixedly connected with the robot body. Different model specifications can be selected for the lifting bottom plate 18 and the lifting top plate 22 to adapt to different models of the mobile chassis 13 and the robot body.

[0049] The working principle of this embodiment is:

[0050] The rotary power source 23 drives the first-level lead screw 24 to rotate. Since the first-level nut 25 cannot rotate due to the limitation of the first-level telescopic housing 27 and the fixed housing 19, it can move up and down under the drive of the rotating first-level lead screw 24. The first-level nut 25 drives the first-level telescopic inner housing 26 and the first-level telescopic housing 27 to move up and down, realizing the lifting of the first-level transmission assembly 20;

[0051] The first-level lead screw 24 drives the second-level lead screw 28 to rotate through the protrusion. Similarly, the second-level nut 29 cannot rotate due to the limitation of the second-level telescopic housing 31 and the first-level telescopic housing 27. Thus, it can move up and down under the drive of the rotating second-level lead screw 28. The second-level nut 29 drives the second-level telescopic inner housing 30 and the second-level telescopic housing 31 to move up and down, realizing the lifting of the second-level transmission assembly 21.

[0052] This embodiment only describes two-level screw transmission. According to the requirements of the actual robot application scenario, more levels of lifting can be expanded, and the lifting height can be expanded from 375 mm to 800 mm, 1000 mm or even higher. For example, a third-level lead screw, a third-level nut, a third-level telescopic inner housing arranged inside the second-level telescopic inner housing 30, and a third-level telescopic housing sleeved outside the second-level telescopic housing 31, a fourth-level lead screw, a fourth-level nut, a fourth-level telescopic inner housing arranged inside the third-level telescopic inner housing, and a fourth-level telescopic housing sleeved outside the third-level telescopic housing, and so on, an N-level lead screw, an N-level nut, an N-level telescopic inner housing arranged inside the (N - 1)-level telescopic inner housing, and an N-level telescopic housing sleeved outside the (N - 1)-level telescopic housing. In this way, when the space is sufficient, through step-by-step screw transmission, the power of the rotary power source 23 can be transmitted to the N-level nut, that is, transmitted to the lifting top plate 22.

[0053] As a preferred solution of this embodiment, a linear encoder is provided in the multi-level screw lifting mechanism 6. The sensor 32 of the linear encoder is fixedly arranged on the lifting top plate 22. The first-level lead screw 24 is of a hollow structure, and the encoder wire 33 of the linear encoder passes through the second-level lead screw 28 and the first-level lead screw 24 and is fixedly connected to the lifting bottom plate 18. By setting the linear encoder, the linear displacement of the multi-level screw lifting mechanism 6 can be converted into an electrical signal, so as to realize the accurate measurement of the position or displacement amount, and high-precision control of the displacement amount can be achieved in combination with the control system.

[0054] As a preferred solution of this embodiment, depth cameras 2 are provided at the head 1 of the robot body, the end of the robotic arm 4, the front of the torso 5, and the front of the mobile chassis 13. The depth cameras 2 at different heights and different front-back orientations are combined. On the one hand, it maximally eliminates the vision blind spots of the robot, improving the safety index and working efficiency of the robot operation; on the other hand, it can accurately identify the orientation of the operation target. The depth cameras 2 at the head 1 and the front of the torso 5 can take pictures of the surrounding environment from a relatively high position and a relatively large field of view. The control system quickly identifies and moves to near the task target. The depth camera 2 at the end of the robotic arm 4 can provide a higher-precision visual recognition function, and then finely adjust the position of the robotic arm 4. Finally, the operation end 3 of the robotic arm is accurately aligned with the task target with high precision, enabling the robot to have a more flexible and precise working ability.

[0055] Further, a first angle adjustment mechanism 16 for installing the depth camera 2 is also provided on the connecting member 34 at the end of the robotic arm 4 to adjust the pitching angle of the depth camera 2. The first angle adjustment mechanism 16 includes an adjustment fixing member 37 and an adjustment rotating member 40. The adjustment fixing member 37 is fixedly connected to the connecting member 34, and the depth camera 2 is fixedly connected to the adjustment rotating member 40. The adjustment fixing member 37 is provided with a first positioning hole 35 and a first adjustment hole 36. The adjustment rotating member 40 is provided with a second positioning hole 39 and a second adjustment hole 38. The first positioning hole 35 and the second positioning hole 39 are connected by a fastener, and the first adjustment hole 36 and the second adjustment hole 38 are connected by a fastener.

[0056] By providing the first angle adjustment mechanism 16, the angle adjustment within at least the range of 0° to 90° can be realized, so as to adjust the vision position of the depth camera 2 at the end of the robotic arm 4 and improve the efficiency and accuracy of item recognition and grasping.

[0057] Further, a second angle adjustment mechanism 17 for adjusting the pitching angle of the head 1 is provided at the top of the torso 5. The second angle adjustment mechanism 17 includes a rotating base 42 and a rotating cylinder member 41. The rotating base 42 is fixedly connected to the torso 5, and the head 1 is rotatably connected to the rotating cylinder member 41 through a rotation driving mechanism. The rotating cylinder member 41 is used to adjust the rotation angle of the head 1. The rotating base 42 is provided with a third positioning hole 43 and a third adjustment hole 44. The rotating cylinder member 41 is provided with a fourth positioning hole and a fourth adjustment hole. The third positioning hole 43 and the fourth positioning hole are connected by a fastener, and the third adjustment hole 44 and the fourth adjustment hole are connected by a fastener.

[0058] By setting the second angle adjustment mechanism 17, the flexible adjustment of the viewing position of the depth camera 2 on the head 1 can be realized to adapt to the recognition of items at different positions. The rotating cylinder part 41 and the rotating base 42 are made of high-rigidity metal or non-metal materials, and the position is adjusted by fastening screws and nuts, which can well ensure the stable posture of the depth camera 2 while ensuring the rigidity of the angle adjustment mechanism and ensuring the stable posture of the depth camera 2.

[0059] Specifically, two depth cameras 2 can be installed in front of the mobile chassis 13 and installed at a certain angle to fully ensure the accurate recognition of obstacles in front.

[0060] The mobile chassis 13 is provided with one or more of ultrasonic sensors 9, lidar 8, and infrared sensors. Specifically, ultrasonic sensors 9 are designed around the mobile chassis 13, and a anti-falling sensor 10 is also designed at the front face to effectively detect surrounding objects and further ensure the overall safe and reliable operation.

[0061] The traveling mechanism of the mobile chassis 13 includes a driving wheel and a follower wheel 12. The driving wheel adopts a servo power wheel 11, and the wheel, servo motor, and control chip are integrated as a whole, greatly reducing the occupied space of the wheel part.

[0062] The mobile chassis 13 adopts a large-capacity power battery 48 and is additionally equipped with a backup battery 46 to improve the overall operation time and efficiency. The power battery 48 is configured with a charging plate 49, and the backup battery 46 is also configured with a corresponding backup charging port 47. Moreover, the power battery 48 and the backup battery 46 are placed in a sunken manner to reduce the overall center of gravity of the robot and improve the running stability of the robot.

[0063] A start button 52 and a pause button 51 are arranged on the back of the mobile chassis 13, and emergency stop buttons 45 are arranged on the backs of both the mobile chassis 13 and the robot main body, so that the robot can be manually shut down in time when an emergency occurs during operation.

[0064] A breathing lamp 15 is arranged on the front chest of the robot main body. The bright light of the breathing lamp 15 can form a contrast in the dark, making it easier for people to observe the movement track of the robot and playing a warning effect.

[0065] An elastic anti-collision plate 50 is arranged on the side of the mobile chassis 13, and a cover 7 is arranged above. A through hole for the multi-stage spiral lifting mechanism 6 to pass through is opened on the cover 7, and a magnetic adsorption part 14 for adsorbing the cover 7 is arranged at the bottom of the robot body. During the installation and debugging of the mobile chassis 13, the cover 7 can be directly moved upward along the multi-stage spiral lifting mechanism 6 to the bottom of the robot body and directly adsorbed on the magnetic adsorption part 14 without disassembling the cover 7 and then finding a position to place it.

[0066] The working process of this embodiment is as follows:

[0067] During use, first press the Figure 3 start button 52 on the mobile chassis 13 shown in the figure to turn on the power of the robot. At the same time, the two robotic arms 4 start automatically. According to the work tasks in the actual scenario, the internal control system controls the depth cameras 2 on the head 1, the depth cameras 2 on the torso 5, the depth cameras 2 at the ends of the two robotic arms 4, and the depth camera 2 on the mobile chassis 13 to accurately identify the surrounding items and obstacles. According to the position layout of the target item in space, the control system controls the mobile chassis 13 to carry the robot to the corresponding work station. According to the height of the target item, the control system controls the multi-stage spiral lifting mechanism 6 to lift to the corresponding height of the target, and the robotic arm 4 starts to perform corresponding actions. The operating end 3 tool at the end of the robotic arm 4 realizes the grasping and transportation of the target item.

[0068] Before the entire robot works, the pitching angle of the depth camera in the depth of the end of the robotic arm 4 can be adjusted manually by adjusting the first angle adjustment mechanism 16, and the pitching and rotation angles of the depth camera 2 on the head 1 can be adjusted by the second angle adjustment mechanism 17 to achieve the best item recognition range. During the movement of the mobile chassis 13, mapping and navigation are performed through the lidar 8, and the shape and position of the surrounding environment objects are sensed through the depth camera 2, ultrasonic sensor 9, anti-falling sensor 10, and infrared sensor, and the position of itself is adjusted in real time to ensure the safe operation of the robot. When the power of the robot is lower than the preset value, the control system issues an instruction to control the mobile chassis 13 to automatically return to the charging position for charging.

[0069] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0070] If the present invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (such as using bolts or screws for connection), or it can be understood as: an inseparable fixed connection (such as riveting, welding). Of course, the mutual fixed connection can also be replaced by an integral structure (such as manufactured by integral forming using casting technology) (except when it is obviously impossible to adopt the integral forming process).

[0071] In addition, the terms used to represent the positional relationship or shape in any of the technical solutions disclosed in the present invention above, unless otherwise stated, include states or shapes that are approximate, similar, or close to it.

[0072] Any component provided by the present invention can either be assembled from multiple separate components or be a single component manufactured by an integral forming process.

[0073] Adaptations made according to actual needs are all within the protection scope of the present invention.

[0074] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be regarded as limiting the claimed invention.

[0075] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A dual-arm wheeled linear lifting universal intelligent robot, characterized in that: It comprises a mobile chassis, a robot body and a multi-stage spiral lifting mechanism, wherein the fixed end of the multi-stage spiral lifting mechanism is arranged on the top of the mobile chassis, and the robot body is arranged on the movable end of the multi-stage spiral lifting mechanism; The spiral lifting mechanism comprises a fixed housing, a rotating power source and a multi-stage transmission assembly, wherein the rotating power source is arranged inside the fixed housing, and the multi-stage transmission assembly is connected to the rotating power source in a transmission manner; The multi-stage transmission assembly comprises at least a primary transmission assembly and a secondary transmission assembly; The primary transmission assembly comprises a primary screw, a primary nut, a primary telescopic inner shell and a primary telescopic outer shell, wherein the primary screw is transmission-connected to the output end of the rotary power source, the primary nut is threadedly connected to the primary screw, one end of the primary telescopic inner shell is fixedly connected to the primary nut, and the other end is fixedly connected to the primary telescopic outer shell, and the primary telescopic outer shell is movably sleeved on the outside of the fixed shell; The secondary transmission assembly includes a secondary lead screw, a secondary nut, a secondary telescopic inner shell, and a secondary telescopic outer shell movably sleeved on the outside of the primary telescopic outer shell, one end of the secondary lead screw is rotatably connected to the primary nut, the secondary nut is threadedly connected to the secondary lead screw, one end of the secondary telescopic inner shell is fixedly connected to the secondary nut, and the other end is fixedly connected to the secondary telescopic outer shell; The fixed shell, the primary telescopic shell and the secondary telescopic shell are corresponding polygonal structures; The secondary lead screw is a hollow structure, and one end of the primary lead screw away from the rotary power source is sleeved inside the secondary lead screw; a groove is axially provided on the outer periphery of the primary lead screw, and a protrusion matching the groove is axially provided on the inner wall of the secondary lead screw.

2. The dual-arm wheeled linear lifting universal intelligent robot according to claim 1 is characterized in that: The multi-stage spiral lifting mechanism also includes a lifting bottom plate and a lifting top plate. The lifting bottom plate is fixedly arranged on the top of the mobile chassis, the rotating power source is fixedly arranged on the lifting bottom plate, the first-level lead screw is rotatably arranged on the lifting bottom plate, the end of the second-level telescopic inner shell away from the second-level nut is fixedly connected to the lifting top plate, and the lifting top plate is fixedly connected to the robot body.

3. The dual-arm wheeled linear lifting universal intelligent robot according to claim 2 is characterized in that: It also includes a linear encoder, a sensor of the linear encoder is fixedly arranged on the lifting top plate, the primary lead screw is a hollow structure, and the encoder line of the linear encoder passes through the secondary lead screw and the primary lead screw and is fixedly connected to the lifting bottom plate.

4. The dual-arm wheeled linear lifting universal intelligent robot according to claim 1, characterized in that: The mobile chassis is provided with one or more of an ultrasonic sensor, a laser radar, and an infrared sensor.

5. The dual-arm wheeled linear lifting universal intelligent robot according to claim 1, characterized in that: The mobile chassis comprises a cover shell, the cover shell is provided with a through hole for the multi-stage spiral lifting mechanism to pass through, and the bottom of the robot body is provided with a magnetic suction part for adsorbing the cover shell.

6. The dual-arm wheeled linear lifting universal intelligent robot according to any one of claims 1 to 5, characterized in that: The robot body comprises a head, a trunk and a mechanical arm, wherein the head is arranged on the top of the trunk, and the mechanical arm is arranged on both sides of the upper part of the trunk.

7. The dual-arm wheeled linear lifting universal intelligent robot according to claim 6, characterized in that: Depth cameras are arranged on the head, the end of the mechanical arm, the front of the trunk and the front of the mobile chassis.

8. The dual-arm wheeled linear lifting universal intelligent robot according to claim 7, characterized in that: The end of the mechanical arm is provided with a connecting piece for connecting to an operating end.

9. The dual-arm wheeled linear lifting universal intelligent robot according to claim 8, characterized in that: The connecting member is also provided with a first angle adjustment mechanism for installing a depth camera, the first angle adjustment mechanism includes an adjustment fixing member and an adjustment rotating member, the adjustment fixing member is fixedly connected to the connecting member, and the depth camera is fixedly connected to the adjustment rotating member; the adjustment fixing member is provided with a first positioning hole and a first adjustment hole, the adjustment rotating member is provided with a second positioning hole and a second adjustment hole, the first positioning hole and the second positioning hole are connected by a fastener, and the first adjustment hole and the second adjustment hole are connected by a fastener.

10. The dual-arm wheeled linear lifting universal intelligent robot according to claim 6, characterized in that: The head is arranged on the top of the torso through a second angle adjustment mechanism, the second angle adjustment mechanism includes a rotating base and a rotating cylinder, the rotating base is fixedly connected to the torso, and the head is rotatably connected to the rotating cylinder through a rotating drive mechanism; a third positioning hole and a third adjustment hole are provided on the rotating base, and a fourth positioning hole and a fourth adjustment hole are provided on the rotating cylinder, the third positioning hole is connected to the fourth positioning hole by a fastener, and the third adjustment hole is connected to the fourth adjustment hole by a fastener.

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