Double-arm humanoid robot

Abstract

The invention discloses a double-arm humanoid robot which comprises a head unit. A chest unit; the arm unit is a multi-joint mechanical arm; a hand unit; the chassis part is provided with a plurality of omnidirectional wheels; wherein the head unit, the chest unit and the chassis part are sequentially arranged from top to bottom, and the arm units are connected to the two sides of the chest unit; the hand units and the ends, deviating from the chest unit, of the arm units are assembled, and the mechanical structures of the hand units of the two arm units are different. According to the robot, global movement is achieved through the omni-directional wheel chassis, cooperative operation is achieved in combination with the double-side heterogeneous mechanical arms, the space limitation of a traditional fixed base mechanical arm is broken through, the stability defect of a humanoid biped robot is also broken through, the single machine integrates the movement and multifunctional operation capacity, and the robot has a wider industrial application prospect.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a two-armed humanoid robot. Background Art

[0002] Traditional industrial robotic arms are multi-joint automated actuators based on a fixed base, usually driven by servo motors, and perform repetitive operations such as welding and handling through pre-programmed trajectories. Their core advantages lie in high precision, high load capacity, and reliability in structured environments. Humanoid robots, on the other hand, simulate the bipedal movement form of humans, integrate a torso, two arms, and a bipedal mobile platform, and have the ability to autonomously navigate and operate in unstructured environments, adapting to complex terrains and human-robot collaboration scenarios.

[0003] For example, traditional industrial robotic arms and humanoid robots can also be called serial two-armed humanoid robots, which have the following technical drawbacks: limited load capacity. In a serial structure, the torque is transmitted step by step, and the load of the end effector is limited by the weakest joint. When the two arms cooperate in handling, it is easy to overload. Insufficient dynamic performance. The single-chain structure has a large inertia, and vibration is significant during high-speed movement, making it difficult to achieve rapid start-stop or high-frequency interaction, such as hitting and throwing. Low energy efficiency ratio. The motor needs to continuously output torque to maintain the posture, and the energy consumption is superimposed when the two arms cooperate in operation. Collision vulnerability. Rigid collisions are likely to cause joint damage, and there is a lack of a multi-path dispersion mechanism for force impact.

[0004] The layout of traditional robotic arms is limited to fixed positions in their working spaces and it is difficult to dynamically adjust the operation area. When facing large-scale or multi-station tasks, additional guide rails or redundant robotic arms need to be configured, resulting in a sharp increase in system costs, a high floor space occupancy rate, and low flexibility. In addition, the rigid constraint of the base makes it unable to adapt to terrain changes or mobile operation requirements.

[0005] Although the two-leg structure of humanoid robots endows them with terrain adaptability, there are two major bottlenecks: poor stability and high energy consumption. Dynamic balance control relies on complex algorithms and real-time sensor feedback, and any delay may cause tipping over. At the same time, the joint drive needs to continuously counteract gravity, resulting in an energy efficiency much lower than that of wheeled or tracked platforms. In addition, the high complexity of the leg mechanical structure brings about an increase in manufacturing costs and reliability risks.

[0006] Therefore, there is an urgent need for a new robot architecture that combines the operation ability of industrial robotic arms and the flexibility of mobile platforms to break through spatial limitations while maintaining high efficiency and stability. Summary of the Invention

[0007] The problem to be solved by the present invention is to provide a two-armed humanoid robot.

[0008] To solve the above problems, the present invention provides a two-armed humanoid robot. To achieve the above object, the technical solution adopted by the present invention to solve its technical problems is: A two-arm humanoid robot comprises: a head unit; a chest unit; an arm unit which is a multi-joint robotic arm; a hand unit; and a chassis equipped with a plurality of omnidirectional wheels. The head unit, chest unit, and chassis are arranged in sequence from top to bottom, with arm units connected to both sides of the chest unit. The hand unit is assembled with one end of the arm unit facing away from the chest unit, and the mechanical structures of the hand units of the two arm units are different.

[0009] As a further improvement of the present invention, the head unit and the chest unit are connected via a neck unit, and the chest unit and the chassis are connected via a waist unit. Both the neck unit and the waist unit are multi-rod parallel mechanisms.

[0010] As a further improvement of the present invention, the arm unit is a six-axis robotic arm, and the two hand units are a humanoid hand unit and a clamping hand unit respectively.

[0011] As a still further improvement of the present invention, the chest unit is provided with a radar arranged forward.

[0012] As a further improvement of the present invention, the head unit includes a camera.

[0013] As a further improvement of the present invention, the radar is a laser radar, which is located in the lower half of the chest unit. The laser radar can construct a point cloud map for positioning and path planning of the dual-arm humanoid robot.

[0014] As a further improvement of the present invention, the camera is a depth camera capable of dynamically identifying and tracking the target object.

[0015] As a further improvement of the present invention, the chest unit is provided with an upper body frame, the top of the upper body frame is a double-shoulder structure, the bottom of the neck unit is assembled with the double-shoulder structure, and the bottom of the upper body frame is provided with a controller mounting plate.

[0016] As a further improvement of the present invention, a reserved installation hole capable of accommodating a radar is further provided in the front of the double-shoulder structural member.

[0017] As a further improvement of the present invention, the chest unit includes a front chest shell covering the front of the upper body frame, and a back shell covering the rear of the upper body frame. The radar passes through the front chest shell, and the bottom of the front chest shell also extends downward to fix a lower swing piece.

[0018] The beneficial effects of using the dual-arm humanoid robot of this application are: First, through the longitudinal integration of the head unit, chest unit and omnidirectional wheel chassis, and the symmetrical layout of the bilateral arm units, a complete humanoid structure framework, at least the upper body humanoid framework, is constructed. This bionic topological structure enables the robot to naturally adapt to the human working environment, such as the height of the operating table and the width of the passage, solves the inherent defect that the traditional fixed-base robotic arm cannot dynamically adjust the working area, and breaks through the space limitation.

[0019] Secondly, the omnidirectional wheel chassis is adopted to replace the traditional bipedal structure, which avoids the stability and high energy consumption problems of the leg mechanism while retaining the mobility. The omnidirectional wheels provide multi-directional flexible movement ability, enabling the robot to move stably in complex terrains, significantly reducing the difficulty of dynamic balance control and energy consumption, and enhancing the system practicality.

[0020] Thirdly, the differential design of the bilateral heterogeneous hand units endows the robot with the composite ability of fine operation and strong grasping. For example, one side is equipped with a humanoid hand for precision assembly, and the other side is equipped with a clamp hand for heavy object handling, realizing multi-task cooperation through a single machine, and improving the operation flexibility and efficiency.

[0021] Finally, the multi-joint robotic arm can borrow the mature industrial robotic arm. Its cooperation with the omnidirectional wheel chassis, where the omnidirectional wheel chassis provides global movement degrees of freedom, and combined with the spatial extensibility of the multi-joint robotic arm, enables the robot to autonomously adjust its pose and execute tasks in dynamic scenarios, solving the fundamental limitation of the fixed working space of the traditional industrial robotic arm. Description of the Drawings

[0022] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a perspective view of an embodiment of the omnidirectional wheel chassis of the robot; Figure 2 is a perspective view of an embodiment of the omnidirectional wheel chassis of the robot; Figure 3 is a perspective view of an embodiment of the omnidirectional wheel chassis of the robot; Figure 4 is a perspective view of an embodiment of the omnidirectional wheel chassis of the robot; Figure 5 is a perspective view of the horizontal steering wheel of an embodiment of the omnidirectional wheel chassis of the robot; Figure 6It is a perspective view of a horizontal steering wheel of an omnidirectional wheel chassis of a robot; Figure 7 It is a bottom view of a horizontal steering wheel of an omnidirectional wheel chassis of a robot; Figure 8 It is an A-A cross-sectional view of an omnidirectional wheel chassis of a robot; Figure 9 It is an exploded view of a horizontal steering wheel of an omnidirectional wheel chassis of a robot; Figure 10 It is a perspective view of a robot with a parallel waist and a lightweight neck mechanism; Figure 11 It is a perspective view of a waist parallel mechanism of a robot with a parallel waist and a lightweight neck mechanism; Figure 12 It is a perspective view of a static platform of the waist of a robot with a parallel waist and a lightweight neck mechanism; Figure 13 It is a perspective view of a moving platform of the waist of a robot with a parallel waist and a lightweight neck mechanism; Figure 14 It is a perspective view of a leg of the waist of a robot with a parallel waist and a lightweight neck mechanism; Figure 15 It is a perspective view of a neck parallel mechanism of a robot with a parallel waist and a lightweight neck mechanism; Figure 16 It is a perspective view of a neck parallel link of a robot with a parallel waist and a lightweight neck mechanism; Figure 17 It is a perspective view of a dual-arm humanoid robot of the present invention; Figure 18 It is a perspective view of a dual-arm humanoid robot of the present invention; Figure 19 It is a perspective view of a dual-arm humanoid robot of the present invention; Figure 20 It is a perspective view of an arm unit of a dual-arm humanoid robot of the present invention; Figure 21 It is a perspective view of a humanoid hand unit of a dual-arm humanoid robot of the present invention; Figure 22 It is a perspective view of a clamp hand unit of a dual-arm humanoid robot of the present invention.

[0024] 1-head unit; 101-humanoid mandible; 102-humanoid binoculars; 103-humanoid left ear; 104-humanoid right ear; 105-humanoid skull; 106-humanoid back of the head; 2-neck parallel mechanism; 201-neck static platform; 202-neck support rod; 2021-neck ball hinge shaft seat; 2022-neck ball hinge fork seat; 2023-neck linear cylinder; 3-chest unit; 301-shoulder structure; 3011-upper arm mounting hole; 3012-reserved installation Pit; 302-front chest shell; 303-back shell; 304-lower swing piece; 305-upper body frame; 306-radar; 307-controller mounting plate; 4-arm unit; 401-first arm section; 402-second arm section; 403-third arm section; 404-fourth arm section; 405-fifth arm section; 406-sixth arm section; 5-humanoid hand unit; 501-palm section; 502-thumb section; 503-index finger section; 504-middle finger section; 505-ring finger section; 506-small finger section Finger piece; 6-clamp hand unit; 601-clamp finger piece; 602-clamp electric cylinder; 7-waist parallel mechanism; 701-waist dynamic platform; 7011-waist ball hinge seat; 702-waist static platform; 703-waist support leg; 7031-waist upper ball hinge; 7032-waist linear cylinder; 7033-waist lower hinge seat; 704-butterfly piece; 705-lower crossbeam hinge seat; 7051-waist bearing seat; 7052-waist pin shaft; 8-chassis piece; 801-shell; 802- Vehicle floor; 803-load-bearing column; 804-aviation plug; 9-horizontal steering wheel; 901-external gear; 9011-external ring gear; 9012-inner ring; 902-driving gear; 903-first rotating motor; 904-steering mounting plate; 9041-first assembly hole; 9042-second assembly hole; 905-wheel hub support; 9051-avoidance hole; 906-roller; 907-second rotating motor; 908-orthogonal gear mechanism; 909-U-shaped part. DETAILED DESCRIPTION

[0025] The present invention will be described in further detail below with reference to specific embodiments: In order to achieve the purpose of the present invention, Figures 17 to 22 As shown, a two-arm humanoid robot comprises: a head unit 1; a chest unit 3; an arm unit 4, which is a multi-jointed robotic arm; a hand unit; and a chassis 8, which has a plurality of omnidirectional wheels. The head unit 1, chest unit 3, and chassis 8 are arranged in order from top to bottom, with the arm units 4 connected to both sides of the chest unit 3. The hand units are assembled to the ends of the arm units 4 facing away from the chest unit 3, and the mechanical structures of the hand units of the two arm units 4 are different.

[0026] like Figure 17As shown, in some other embodiments of the present invention, the head unit 1 is connected to the chest unit 3 through a neck unit, i.e., the neck parallel mechanism 2, and the chest unit 3 is connected to the chassis member 8 through a waist unit, i.e., the waist parallel mechanism 7. Both the neck unit and the waist unit are multi-link parallel mechanisms.

[0027] In addition, the overall center of gravity of the two-armed humanoid robot is in the chassis member 8 or the waist unit.

[0028] The neck parallel mechanism 2 constructs a flexible neck. Adopting an ultra-lightweight micro parallel mechanism with a self-weight of less than 1 kg and a maximum load of up to 6 kg, it can achieve six-degree-of-freedom flexible movement within a Ø110*30 mm cylindrical space.

[0029] The waist parallel mechanism 7 constructs a firm waist body. Adopting a high-rigidity overconstrained parallel mechanism with a self-weight of about 15 kg and a maximum load of up to 50 kg, it can achieve six-degree-of-freedom flexible movement within a Ø200*60 mm cylindrical space.

[0030] The beneficial effects of adopting the above technical solutions are as follows: By using multi-link parallel mechanisms for the neck unit and the waist unit, the movement stability and vibration resistance of the head and torso are significantly improved. For example, during the equipment handling process, the parallel waist 7 effectively absorbs the vibration transmitted from the chassis 8 to prevent the tool at the end of the robotic arm from shifting; the parallel neck 2 maintains the stability of the sensors of the head unit 1 to ensure that the visual monitoring is not blurred during movement.

[0031] As Figure 20 shown, in some other embodiments of the present invention, the arm unit 4 is a six-axis robotic arm, and the two hand units are a humanoid hand unit 5 and a gripper hand unit 6 respectively.

[0032] In addition, as Figure 20 shown, from the chest unit 3 to the hand unit, the arm unit 4 successively includes a first arm segment 401, a second arm segment 402, a third arm segment 403, a fourth arm segment 404, a fifth arm segment 405, and a sixth arm segment 406.

[0033] As Figure 21 shown, the humanoid hand unit 5 includes a palm member 501, a thumb member 502, an index finger member 503, a middle finger member 504, a ring finger member 505, and a little finger member 506.

[0034] As Figure 22 shown, the gripper hand unit 6 includes a pair of openable and closable finger members 601, and the pair of finger members 601 are driven by a gripper electric cylinder 602 on the adjacent side. Multiple linkages for amplifying its torque are connected behind the finger members 601.

[0035] The arm unit 4, as a collaborative arm, is an ultra-lightweight humanoid robotic arm with a self-weight of about 7 kg and a rated load of up to 5 kg. The end can be freely equipped with an electric gripper or a dexterous hand, enabling direct interaction, safe collaboration, and human-machine integration with humans in a common workspace.

[0036] The beneficial effects of adopting the above technical solution are as follows: By defining the arm unit 4 as a six-axis robotic arm and configuring the humanoid hand unit 5 and the gripper hand unit 6, a single robot can simultaneously possess fine operation and strong grasping capabilities. In a typical scenario such as an electronic product assembly line, for example, the humanoid hand unit 5 can precisely tighten micro screws, while the gripper hand unit 6 simultaneously transports the metal shell, and the dual tasks cooperate to improve the production line efficiency.

[0037] Such as Figure 19 As shown, in some other embodiments of the present invention, the chest unit 3 is equipped with a radar 306 arranged forward.

[0038] The beneficial effects of adopting the above technical solution are as follows: By setting the forward radar 306 in the chest unit 3, the robot is endowed with real-time environmental perception ability. In a warehousing scenario, this radar 306 can detect the front shelves and obstacles, providing obstacle avoidance data for the omnidirectional wheel chassis 8 to avoid collisions with the cargo piles and causing the materials to collapse.

[0039] In some other embodiments of the present invention, the head unit 1 is equipped with a camera.

[0040] In addition, the housing of the head unit 1 includes a humanoid lower jaw part 101, a humanoid binocular part 102, a humanoid left ear part 103, a humanoid right ear part 104, a humanoid skull part 105, and a humanoid posterior brain part 106. The humanoid left ear part 103 and the humanoid right ear part 104 are symmetrically arranged on both sides of the head unit.

[0041] The beneficial effects of adopting the above technical solution are as follows: The high-position layout of adding a camera in the head unit 1 expands the environmental monitoring vision. When the robot passes through the shelf aisle, this camera can identify the sorting marks at the end of the aisle in advance, guiding the robot to decelerate and turn in advance, reducing the mechanical loss caused by sudden stops.

[0042] In some other embodiments of the present invention, the radar 306 is a lidar, and the lidar is located in the lower half of the chest unit 3. The lidar can construct a point cloud map for the positioning and path planning of the two-arm humanoid robot.

[0043] A lidar is set at the navel to construct a high-density point cloud map for robot positioning and fine path planning.

[0044] The beneficial effects of adopting the above technical solution are as follows: By defining the radar 306 as a lidar and placing it in the lower part of the chest unit 3, both the accuracy of point cloud map construction is ensured and the risk of equipment damage is reduced. For example, when operating in a low space, a high-position sensor is prone to collide with pipelines, while the low-position lidar 306 can safely scan the terrain at the bottom of the equipment and accurately plan an obstacle-crossing path.

[0045] In some other embodiments of the present invention, the camera is a depth camera capable of dynamically recognizing and tracking a target object.

[0046] A depth camera is arranged inside the head to achieve dynamic recognition and tracking of the target object, and guide the robot to complete complex and delicate operations on the target object.

[0047] The beneficial effects of adopting the above technical solution are as follows: By defining the camera of the head unit 1 as a depth camera, its three-dimensional perception ability directly supports the precise operation of the robotic arm. On an assembly line, this camera can dynamically recognize the three-dimensional posture of parts on the conveyor belt and guide the robotic arm to accurately grasp curved workpieces with high precision.

[0048] As Figure 19 shown, in some other embodiments of the present invention, the chest unit 3 internally includes an upper body frame 305. The top of the upper body frame 305 is a double-shoulder structural member 301. The bottom of the neck unit is assembled with the double-shoulder structural member 301, and the bottom of the upper body frame 305 is provided with a controller mounting plate 307.

[0049] In addition, a circuit board is assembled on the controller mounting plate 307.

[0050] The beneficial effects of adopting the above technical solution are as follows: By arranging the upper body frame 305 inside the chest unit 3 to integrate the double-shoulder structural member 301 and the controller mounting plate 307, the mechanical load-bearing and electrical layout are optimized. When the robotic arm lifts a load, the double-shoulder structural member 301 evenly distributes the stress to the frame, avoiding local deformation. The centralized installation of the controller shortens the wire length and can be connected to the lidar in the vicinity.

[0051] In some other embodiments of the present invention, a reserved mounting hole 3012 capable of accommodating the radar 306 is further provided in front of the double-shoulder structural member 301.

[0052] The beneficial effects of adopting the above technical solution are as follows: The reserved mounting hole 3012 in front of the double-shoulder structural member 301 provides a retrofit-free assembly interface for the radar 306. If the equipment is upgraded, the lidar 306 can be directly embedded in the reserved hole 3012, saving installation man-hours and ensuring an unobstructed radar view.

[0053] As Figure 17 、 Figure 18As shown, in some other embodiments of the present invention, the chest unit 3 includes a front chest shell 302 covering the front of the upper body frame 305, and also includes a back shell 303 covering the back of the upper body frame 305. The radar 306 passes through the front chest shell 302, and a lower pendulum 304 is fixedly extended downward at the bottom of the front chest shell 302.

[0054] The beneficial effects of adopting the above technical solutions are as follows: The protective design of the front chest shell 302 and the back shell 303, combined with the center of gravity optimization of the lower pendulum 304, synchronously improve the safety and motion stability of the device. It avoids the collision damage of the chest unit 3 caused by external objects or the movement of the arm unit 4.

[0055] For clearly expressing the internal structure, Figure 19 Compared with Figure 17 , Figure 19 the front chest shell 302, the lower pendulum 304, and the humanoid binocular component 102 are hidden. Figure 20 Only one arm unit 4 is shown.

[0056] Figure 1 The two-arm humanoid robot of Figure 10 is assembled with the two-arm humanoid robot of Figure 17 to form the two-arm humanoid robot as shown in

[0057] As Figures 1 to 9 shown, an omnidirectional wheel chassis of a robot includes: a chassis member 8 for carrying the robot body. Horizontal steering wheels 9, and three horizontal steering wheels 9 are located on the bottom surface of the chassis member 8, and the connection lines of the three horizontal steering wheels 9 form a triangle. Among them, each horizontal steering wheel 9 has a first rotational degree of freedom for changing the orientation of the horizontal steering wheel 9, and also includes a second rotational degree of freedom for driving the chassis member 8 to move. The rotation axis of the first rotational degree of freedom is a vertical first rotation axis, and the rotation axis of the second rotational degree of freedom is a horizontal second rotation axis.

[0058] For clearly expressing the structure, Figure 1 it is an oblique view from bottom to top, Figure 2 and it is an oblique view from top to bottom.

[0059] For clearly expressing the internal structure, Figure 3 part of the enclosure 801 is hidden, Figure 4 and on the basis of Figure 3 all the enclosures 801 are hidden.

[0060] In some other embodiments of the present invention, the horizontal steering wheel 9 includes a roller 906 capable of contacting the ground. An external gear slewing gear 901 is provided directly above the roller 906. The external gear slewing gear 901 is assembled with the bottom surface of the chassis member 8, and an active gear 902 meshes with the outside of the external gear slewing gear 901. The external gear slewing gear 901 has a first rotational degree of freedom, the roller 906 has a second rotational degree of freedom, and the active gear 902 drives the external gear slewing gear 901 to rotate.

[0061] In addition, the pitch circle diameter of the active gear 902 is smaller than that of the external gear slewing gear 901. The centroid of the roller 906 coincides with the centroid of the external gear slewing gear 901 on the same vertical line.

[0062] The beneficial effects of adopting the above technical solutions are as follows: The meshing transmission between the external gear slewing gear 901 and the active gear 902 ensures the accurate transmission of the steering power to the roller 906. For example, it can avoid slipping during right-angle steering in a narrow passage. It simplifies the internal power chain of the steering wheel and reduces the risk of transmission failure.

[0063] As Figure 5 、 Figure 8 shown, in some other embodiments of the present invention, the external gear slewing gear 901 includes an external gear ring 9011 and an inner ring member 9012 arranged coaxially. A bearing is installed between the external gear ring 9011 and the inner ring member 9012, or simply ball bearings are also acceptable. The external gear ring 9011 and the inner ring member 9012 have a relative rotational degree of freedom. The external gear ring 9011 is fixed to the bottom surface of the chassis member 8, and the inner ring member 9012 is synchronized with the roller 906 around the first rotational degree of freedom.

[0064] The beneficial effects of adopting the above technical solutions are as follows: The external gear ring 9011 fixed to the chassis member 8 provides a rigid reference. The inner ring member 9012 rotates synchronously with the roller 906 through the bearing, coping with the emergency steering condition during high-speed translation, realizing the complete decoupling of the steering and driving actions, and eliminating motion interference. During actual steering, the position of the active gear 902 also changes dynamically.

[0065] In some other embodiments of the present invention, the roller 906 is driven by a coaxial first rotating motor 903, and the active gear 902 is driven by a second rotating motor 907. The axes of the first rotating motor 903 and the second rotating motor 907 are both horizontal, and the active gear 902 is connected to the second rotating motor 907 through an orthogonal gear mechanism.

[0066] The beneficial effects of adopting the above technical solution are as follows: The first rotating motor 903 coaxially drives the roller 906 to ensure zero-loss output of the driving force. The orthogonal gear mechanism 908 converts the horizontal torque of the second rotating motor 907 into a vertical-direction driving force for the driving gear 902, adapting to the low space of the chassis. Since the axial dimension of the motor is generally larger than the radial dimension, the motor can be placed horizontally, thus solving the transmission-direction conflict in the layout of the horizontal motor.

[0067] As Figure 6 , Figure 9 shown, in some other embodiments of the present invention, a steering mounting plate 904 is assembled between the roller 906 and the external gear slewing gear 901. The steering mounting plate 904 includes a first assembly hole 9041 and a second assembly hole 9042 that are not connected to each other. The external gear slewing gear 901 is coaxially arranged with the first assembly hole 9041, and the driving gear 902 is coaxially arranged with the second assembly hole 9042. The orthogonal gear mechanism, the inner ring member and the steering mounting plate are assembled and fixed.

[0068] The beneficial effects of adopting the above technical solution are as follows: The first assembly hole 9041 of the steering mounting plate 904 provides coaxial positioning for the external gear slewing gear 901, and the second assembly hole 9042 restricts the position of the driving gear 902, ensuring long-term meshing accuracy and reducing the cumulative assembly error. The steering mounting plate 904 also functions as an assembly transition part.

[0069] In some other embodiments of the present invention, a hub support 905 is further provided between the steering mounting plate 904 and the roller 906. A U-shaped member 909 is also fixed to the hub support 905, and the hub support 905 and the U-shaped member 909 surround and fix the second rotating motor 907.

[0070] The beneficial effects of adopting the above technical solution are as follows: The hub support 905 and the U-shaped member 909 form a frame to wrap the second rotating motor 907. For example, when driving on a bumpy road surface, the motor vibration can be suppressed. The anti-vibration performance of the motor is enhanced, and at the same time, lateral support stiffness is provided for the roller 906.

[0071] As Figure 9 shown, in some other embodiments of the present invention, the hub support 905 further has an avoidance hole 9051, and the roller 906 passes through the avoidance hole 9051.

[0072] The beneficial effects of adopting the above technical solution are as follows: The avoidance hole 9051 allows the roller 906 to pass through the hub support 905 without obstruction, eliminating the interference of the hub structure on the movement freedom of the roller, making the vertical direction of the entire horizontal steering wheel 9 more compact, and thus making the entire omnidirectional wheel chassis lower and more stable.

[0073] As Figure 3As shown, in some other embodiments of the present invention, a vertical load-bearing column 803 is connected between the upper top surface and the lower bottom surface of the inner wall of the chassis member 8.

[0074] In addition, the load-bearing column 803 can be a steel square tube structure.

[0075] The beneficial effects of adopting the above technical solution are as follows: The vertical load-bearing column 803 is directly connected to the upper and lower inner wall surfaces of the chassis member 8, enhancing the longitudinal bending stiffness of the chassis, preventing the deformation of the vehicle floor 802, and having strong vertical load-bearing capacity.

[0076] As Figure 1 shown, in some other embodiments of the present invention, an aviation plug 804 is provided on one side of the chassis member 8.

[0077] The beneficial effects of adopting the above technical solution are as follows: The aviation plug 804 is integrated on the side wall of the chassis member 8, realizing the quick and sealed connection of power supplies and signal lines, and adapting to the environment of oil stains and dust.

[0078] As Figures 1 to 3 shown, in some other embodiments of the present invention, the chassis member 8 includes a vehicle floor 802 and an enclosure 801. The vehicle floor 802 and the enclosure 801 enclose a cavity, and a battery can be placed in the cavity. The top view contour of the chassis member 8 is an equilateral triangle or a hexagon.

[0079] In addition, the consecutive connection lines of three horizontal steering wheels 9 form an equilateral triangle.

[0080] The beneficial effects of adopting the above technical solution are as follows: The battery compartment enclosed by the vehicle floor 802 and the enclosure 801 reduces the center of gravity of the whole vehicle and can prevent tipping when the robotic arm extends. The equilateral triangle contour provides a symmetric support moment during high-speed side shifting such as in production line obstacle avoidance, enhancing dynamic stability.

[0081] A robot with a parallel waist and lightweight neck mechanism, as Figure 10 shown, includes: a head unit 1. A neck unit, which is a neck parallel mechanism 2. The neck parallel mechanism 2 includes a plurality of neck struts 202. A chest unit 3. A waist unit, which is a waist parallel mechanism 7. The waist parallel mechanism 7 includes a plurality of waist legs 703. Among them, the head unit 1, the neck unit, the chest unit 3, and the waist unit are arranged in sequence from top to bottom. The two ends of the neck unit form a moving platform and a static platform, and the two ends of the waist unit form a moving platform and a static platform. There are two adjacent neck struts 202 arranged at a non-perpendicular included angle, and there are two adjacent waist legs 703 arranged at a non-perpendicular included angle.

[0082] In some other embodiments of the present invention, both the neck parallel mechanism 2 and the waist parallel mechanism 7 are six-degree-of-freedom platforms. The neck parallel mechanism 2 includes six neck struts 202, and the waist parallel mechanism 7 includes six waist legs 703. The six neck struts 202 of the neck parallel mechanism 2 form three pairs of struts, and the three pairs of struts are arranged in a circular array. The six waist legs 703 of the waist parallel mechanism 7 form three pairs of legs, and the three pairs of legs are arranged in a circular array.

[0083] The beneficial effects of adopting the above technical solution are as follows: By arranging the six neck struts 202 of the neck parallel mechanism ၂ and the six waist legs 703 of the waist parallel mechanism ၇ in three pairs of circular arrays, the dynamic and static stability of the mechanism is significantly enhanced. This layout forms a closed force system, enabling the stress distribution of the neck static platform 201 and the waist moving platform 701 to be uniform under multi-directional loads, and effectively suppressing the platform tremor during high-speed movement.

[0084] As Figure 10 shown, in some other embodiments of the present invention, the mass of the neck parallel mechanism 2 is less than the mass of the waist parallel mechanism 7. The volume of the neck parallel mechanism 2 is less than the volume of the waist parallel mechanism 7. The axial dimension of the neck parallel mechanism 2 is less than the axial dimension of the waist parallel mechanism 7. The radial dimension of the neck parallel mechanism 2 is less than the radial dimension of the waist parallel mechanism 7.

[0085] The beneficial effects of adopting the above technical solution are as follows: Defining that the neck parallel mechanism 2 is smaller than the waist parallel mechanism 7 in terms of mass, volume, axial dimension, and radial dimension realizes the collaborative optimization of neck lightweight and waist high rigidity. The compact design of the neck mechanism 2 reduces the moment of inertia of the head unit 1 and improves the attitude response speed; the larger size of the waist mechanism 7 ensures the bearing capacity for the chest unit 3.

[0086] As Figure 10 shown, in some other embodiments of the present invention, the radial dimension of the neck parallel mechanism 2 gradually decreases from top to bottom, and the radial dimension of the waist parallel mechanism 7 gradually increases from top to bottom. As Figure 15 shown, the same ends of the tops of several neck struts 202 are jointly and movably assembled with a neck static platform 201, and the same ends of the bottoms of several neck struts 202 are jointly and movably assembled with a double-shoulder structure member 301. The same ends of the tops of several waist legs 703 are jointly and movably assembled with a waist moving platform 701, and the same ends of the bottoms of several waist legs 703 are jointly and movably assembled with a waist static platform 702.

[0087] In addition, the double-shoulder structure member 301 is located inside the upper half of the chest unit 3, and both ends of the double-shoulder structure member 30 have upper arm mounting holes 3011 for fixing the arm unit 4.

[0088] The beneficial effects of adopting the above technical solutions are as follows: The neck parallel mechanism 2 adopts a radially tapered configuration with a larger upper part and a smaller lower part, which matches the center of gravity distribution of the head unit 1 and reduces the risk of overturning during pitching motion. The waist parallel mechanism 7 adopts a radially expanding configuration with a smaller upper part and a larger lower part, which expands the bottom support surface to enhance the anti-torsion stiffness. At the same time, both ends of the neck strut 202 are respectively assembled on the neck static platform 201 and the shoulder structure member 301, and both ends of the waist leg 703 are respectively assembled on the waist moving platform 701 and the waist static platform 702, clarifying the interface relationship for modular integration.

[0089] As shown, in some other embodiments of the present invention, the waist static platform 702 includes three lower beam hinge seats 705 arranged in an equilateral triangle. Waist bearing seats 7051 are movably assembled at both ends of the lower beam hinge seat 705, and two waist pin shafts 7052 are assembled at non-end positions of each lower beam hinge seat 705. The axis of the waist bearing seat 7051 is parallel to the length direction of the lower beam hinge seat 705, the axis of the waist pin shaft 7051 is perpendicular to the length direction of the lower beam hinge seat 705, and each lower beam hinge seat 705 is movably assembled with two waist legs 703 through two waist pin shafts 7052.

[0090] The beneficial effects of adopting the above technical solutions are as follows: The waist static platform 702 is provided with three lower beam hinge seats 705 arranged in an equilateral triangle, and each lower beam hinge seat 705 connects two legs 703 through the waist bearing seat 7051 and two waist pin shafts 7052. The triangular layout improves the anti-deformation ability of the platform; the axis of the waist bearing seat 7051 is parallel to the length direction of the lower beam hinge seat 705, and in cooperation with the perpendicular waist pin shaft 7052, an orthogonal constraint node is formed to resist the lateral moment.

[0091] As Figures 10 to 12 shown, in some other embodiments of the present invention, the waist moving platform 701 is equipped with a waist spherical hinge seat 7011 that is movably assembled with one end of the waist leg 703. The waist spherical hinge seat 7011 includes a butterfly-shaped member 704, and each butterfly-shaped member 704 is movably assembled with two waist legs 703.

[0092] In addition, the butterfly-shaped member 704 is also key-shaped, and the two symmetric ear parts of the butterfly-shaped member 704 are movably assembled with one end of the waist leg 703. The butterfly-shaped member 704 also has a shaft rod for inserting a centripetal bearing, thus jointly forming the waist spherical hinge seat 7011. Therefore, the waist moving platform 701 is assembled with three butterfly-shaped members 704.

[0093] The beneficial effects of adopting the above technical solution are as follows: The waist moving platform 701 is provided with a butterfly-shaped member 704 to form a waist spherical hinge seat 7011, and the single butterfly-shaped member 704 is simultaneously connected to the upper waist spherical hinges 7031 of two waist legs 703. This design reduces the number of hinge points by half, avoids the risk of motion interference, and enhances the local structural stiffness through the butterfly-shaped member 704 shared by the double legs 703.

[0094] As Figure 13 shown, in some other embodiments of the present invention, each end of the neck support rod 202 has two rotational degrees of freedom.

[0095] In addition, the axes corresponding to the two rotational degrees of freedom at the same end of the neck support rod 202 are perpendicular to each other. Corresponding to each end of the neck support rod 202, there are a neck spherical hinge fork-shaped seat 2022 and a neck spherical hinge shaft seat 2021.

[0096] The beneficial effects of adopting the above technical solution are as follows: Double rotational degree-of-freedom hinges are configured at both ends of the neck support rod 202, such as the neck spherical hinge shaft seat 2021 and the neck spherical hinge fork-shaped seat 2022, enabling the head unit 1 to perform combined pitching and yawing motions and breaking through the attitude limitations of single-degree-of-freedom joints.

[0097] As Figure 16 shown, in some other embodiments of the present invention, each end of the waist leg 703 has one rotational degree of freedom.

[0098] In addition, the axes corresponding to the rotational degrees of freedom at both ends of the waist leg 703 are parallel to each other. Corresponding to both ends of the waist leg 703 are the upper waist spherical hinge 7031 and the lower waist hinge seat 7033 respectively.

[0099] The beneficial effects of adopting the above technical solution are as follows: Single rotational degree-of-freedom hinges are adopted at both ends of the waist leg 703, such as the upper waist spherical hinge 7031 and the lower waist hinge seat 7033. The joint structure is simplified and the clearance error is reduced. Combining with the pure axial telescopic motion of the waist linear cylinder 7032, the transmission rigidity and control reliability are enhanced.

[0100] In some other embodiments of the present invention, as Figure 14 shown, the neck support rod 202 includes a neck linear cylinder 2023, and as Figure 14 shown, the waist leg 703 includes a waist linear cylinder 7032. Both the neck linear cylinder 2023 and the waist linear cylinder 7032 have a linear nested telescopic structure, and both the neck linear cylinder 2023 and the waist linear cylinder 7032 are linear electric cylinders.

[0101] The beneficial effects of this technical solution are: the neck support rod 202 incorporates a built-in neck linear cylinder 2023, and the waist support leg 703 incorporates a built-in waist linear cylinder 7032, both of which are electric linear cylinders. The servo drive of the electric cylinders achieves millimeter-level precision displacement control, and the linear nesting structure reduces radial space usage, eliminating hysteresis and contamination risks in hydraulic and pneumatic systems.

[0102] like Figure 16 Figure 14 As shown, in some other embodiments of the present invention, the waist support leg 703 includes a power member that drives the waist linear cylinder 7032 to extend and retract, and the power member is arranged parallel to one side of the waist linear cylinder 7032.

[0103] The beneficial effects of this technical solution are: the waist support leg 703 is equipped with a power element, such as a servo motor, parallel to the waist linear cylinder 7032. This parallel arrangement shortens the transmission path, improving energy efficiency. The split design facilitates independent maintenance of the power element and linear cylinder 7032, reducing maintenance complexity.

[0104] The dual-arm humanoid parallel robot is a high-end robot system that integrates humanoid morphology and parallel mechanisms.

[0105] The technology behind the dual-arm humanoid parallel robot combines the parallel mechanism and bionic robotics. Its core lies in the use of a parallel mechanism as the joint drive system, which offers greater stiffness, precision, and dynamic response than traditional serial mechanisms.

[0106] In terms of mechanical design, a compact joint module is realized through a parallel branched chain configuration with three to six degrees of freedom, and lightweight materials such as carbon fiber are combined to reduce motion inertia. The control system uses a kinematic algorithm based on Lie group theory to solve the forward and inverse problem of the parallel mechanism, and introduces impedance control to achieve smooth operation. The perception system integrates six-dimensional force sensors and binocular vision, and cooperates with adaptive control algorithms to achieve high-precision operations. This technology is particularly suitable for industrial scenarios that require high rigidity and high precision, such as precision assembly, minimally invasive surgery and other fields. The main challenges currently faced include limited workspace, avoidance of singular configurations, and multi-degree-of-freedom collaborative control. Future development directions will focus on intelligent control algorithm optimization and modular joint design.

[0107] The hardware design fully adheres to the principles of "humanoid engineering," featuring a bionic architecture with 37 degrees of freedom (DOF) throughout the robot: 6DOF in the neck, 6DOF in the waist, 6DOF in the arm, 6DOF in the dexterous hand, 1DOF in the gripper, and 6DOF in the chassis. This ultra-redundant DOF layout fully covers the robot's full range of motion.

[0108] Structurally, the neck unit adopts an ultra-lightweight micro-parallel mechanism with a self-weight of less than 1 kg. It can achieve pitch and yaw of ±30° within a space of 110 mm × 30 mm and can carry a sensing device with a load of 6 kg, such as an industrial camera or a gyroscope. The waist adopts an innovative over-constrained parallel mechanism composed of six groups of aerospace aluminum alloy branches, with a maximum load of 200 kg, and has excellent structural stability and high load capacity.

[0109] This application adopts a hybrid configuration design to optimize the motion performance through a proximal parallel and distal serial architecture. The waist and neck adopt six-degree-of-freedom parallel mechanisms to provide high stiffness support and dynamic load capacity. The upper arm is a serial structure, including rotation and pitch joints, ensuring flexible movement in a large range. The end effector selects an adaptive serial hand to achieve stable grasping. Overall, this configuration ensures the working space through the serial chain and improves the stiffness and accuracy through the parallel nodes.

[0110] The operation process of the serial-parallel dual-arm humanoid robot starts with the active adjustment of its six-degree-of-freedom parallel waist and neck mechanisms. This mechanism provides stable support and a flexible motion reference for the two arms by adjusting the platform attitude in real time. When performing a task, the six-degree-of-freedom serial manipulator operates in coordination with the parallel base. The waist unit realizes the pitch, yaw, and lifting of the torso through the coordinated movement of three groups of telescopic branches. At the same time, the parallel neck mechanism drives the vision system to actively track the target. The serial manipulator then completes large-range spatial movement based on the stable base, and its end effector achieves millimeter-level operation accuracy under the combined control of the waist, neck, and arm. The entire system works in coordination through the dynamic stability compensation of the parallel mechanism and the trajectory tracking control of the serial arm, completing complex operation tasks while maintaining the overall attitude stability. Typical applications include scenarios such as precision assembly, dynamic grasping, and human-computer interaction.

[0111] The robot in this application has significant advantages compared with traditional serial configurations: its parallel waist bears the load through the coordinated work of multiple branches, increasing the overall load capacity by 2 to 3 times. At the same time, the increased stiffness of the base enables the end positioning accuracy to reach ±0.1 mm. The active compensation mechanism of the six-degree-of-freedom parallel neck improves the visual stability by 80%. Cooperating with the serial manipulator, it expands the working space by 40% while enhancing the anti-disturbance ability. In terms of dynamic response, the force-closure characteristic of the parallel structure improves the impact load dispersion efficiency by 60% and reduces the energy consumption by 35%. This configuration is particularly suitable for multi-task scenarios that require high precision (such as minimally invasive surgery), large loads (such as industrial assembly), and dynamic stability (such as mobile operation). While maintaining the flexibility of the serial mechanism, it achieves a breakthrough improvement in performance through the parallel nodes.

[0112] The key innovation points of the series-parallel double-arm humanoid robot of the present invention are as follows: First, a hybrid configuration of "parallel waist and neck and series arms" is innovatively proposed. The active disturbance rejection and dynamic balance of the torso are realized through a six-degree-of-freedom parallel waist platform, and the working space is expanded by cooperating with a six-degree-of-freedom series manipulator. Second, a reconfigurable modular joint interface is designed. The core points include: the topological design of the hybrid configuration, the multi-degree-of-freedom motion coupling control method, and the fast disassembly and assembly structure of the modular joint, which are particularly creative in the fields of service robots, precision manufacturing, etc.

[0113] The robot of the present application also has the following characteristics: Hybrid configuration dynamics optimization: Design the parallel waist, neck, and shoulders to share the inertial load of the series arms, and develop a rigid-flexible coupling dynamics model to balance speed and accuracy. Variable stiffness drive: Embed a parallel variable stiffness module in the key joints, and realize the rapid switching between high explosive force such as hammering and compliant operation such as assembly by adjusting the stiffness of the branch chain. Distributed force control: Based on the force redundancy characteristics of the parallel structure, construct an impedance control algorithm for the cooperation of the two arms to realize the active absorption and redistribution of the collision force. Energy consumption management: Utilize the passive self-locking ability of the parallel mechanism such as the locking shoulder joint to reduce the motor power consumption during static object holding and improve the endurance. The core challenge lies in the unified kinematic modeling and real-time control of the series-parallel structure, which requires combining topological optimization and bionic control strategies to balance the high dynamic and high load requirements. The application scenarios of the robot of the present application include: First, material sorting and boxing: Replace manual labor to complete the high-precision sorting and flexible boxing of special-shaped and tiny materials, and solve the problems of misplacement and efficiency bottlenecks in mixed-line production. Second, flexible assembly and operation: Realize the automation of processes such as part installation, circuit board insertion, and bolt tightening, break through the beat limit of manual operation, and reduce the product quality risks caused by human factors. Third, flexible production line operation: Support multi-process mixed-line production and rapid changeover, and solve the problems of production capacity waste and cost pressure caused by insufficient flexibility of traditional production lines. Fourth, warehouse management: Realize dynamic inventory monitoring, intelligent scheduling, and autonomous handling of exceptions, and eliminate manual inventory errors and compliance risks. Fifth, material handling: Accurately sort materials and deliver them to the designated workstations. Sixth, quality inspection: Realize the full-process inspection of surface and internal defects and process traceability, and replace manual labor to reduce the missed inspection rate and quality disputes. Seventh, equipment maintenance: Perform predictive maintenance and standardized operations on production equipment, and replace manual labor to reduce the risk of downtime and dependence on experts. Eighth, substitute work in special environments: In high-risk and high-cleanliness scenarios such as welding, chemical cleaning, and semiconductor clean rooms, completely replace manual labor to complete the operation tasks in toxic, harmful, high-temperature, high-pressure, or ultra-clean environments.

[0114] The above embodiments are only used to illustrate the technical concept and features of the present invention. The purpose is to enable those skilled in the art to understand the content of the present invention and implement it, and it cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A two-armed humanoid robot, characterized in that, include: Head unit; chest unit; The arm unit is a multi-joint robotic arm; Hand unit; A chassis having a plurality of omnidirectional wheels; The head unit, chest unit, and chassis are arranged in sequence from top to bottom, and both sides of the chest unit are connected to the arm units; The hand unit is assembled with one end of the arm unit away from the chest unit, and the mechanical structures of the hand units of the two arm units are different.

2. The two-armed humanoid robot according to claim 1, characterized in that: The head unit and the chest unit are connected via a neck unit, and the chest unit and the chassis are connected via a waist unit. Both the neck unit and the waist unit are multi-rod parallel mechanisms.

3. The two-armed humanoid robot according to claim 1, characterized in that: The arm unit is a six-axis robotic arm, and the two hand units are a humanoid hand unit and a clamp hand unit.

4. The two-armed humanoid robot according to claim 2, characterized in that: The chest unit is equipped with a radar.

5. The two-armed humanoid robot according to claim 1, characterized in that: The head unit includes a camera.

6. The two-armed humanoid robot according to claim 4, wherein: The radar is a laser radar, which is located in the lower half of the chest unit. The laser radar can construct a point cloud map for positioning and path planning of the dual-arm humanoid robot.

7. The two-armed humanoid robot according to claim 5, characterized in that: The camera is a depth camera capable of dynamically identifying and tracking target objects.

8. The two-armed humanoid robot according to claim 4, characterized in that: The chest unit is provided with an upper body frame inside, the top of the upper body frame is a double-shoulder structural member, the bottom of the neck unit is assembled with the double-shoulder structural member, and the bottom of the upper body frame is provided with a controller mounting plate.

9. The two-armed humanoid robot according to claim 8, characterized in that: A reserved mounting hole capable of accommodating a radar is also provided in the front of the double-shoulder structural member.

10. The two-armed humanoid robot according to claim 8, characterized in that: The chest unit includes a front chest shell covering the front of the upper body frame, and a back shell covering the rear of the upper body frame. The radar passes through the front chest shell, and a lower swing piece is fixed to the bottom of the front chest shell extending downward.

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