Wheeled humanoid robot

Abstract

The wheeled humanoid robot comprises a chassis, and a plurality of walking wheels are installed on the chassis in the circumferential direction; the power source is arranged on the chassis; the steering mechanism is movably arranged on the chassis and is in transmission connection with the power source, and the steering mechanism is in transmission connection with all the walking wheels; the synchronous rotating mechanism is rotatably arranged on the chassis, and one end of the synchronous rotating mechanism is in transmission connection with the steering mechanism; the sweeping mechanism is rotatably arranged on the chassis, and the sweeping mechanism is in transmission connection with the synchronous rotating mechanism; and in the process that the steering mechanism drives the walking wheels to rotate so that the wheel type humanoid robot can steer, the steering mechanism synchronously drives the sweeping mechanism to rotate through the synchronous rotating mechanism, and therefore the sweeping mechanism can be located in the moving path of the walking wheels all the time.

Description

Technical Field

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

[0002] Humanoid robots are humanoid robots that are suitable for completing designated tasks on behalf of humans in environments where humans live, work, and reside. Today, humanoid robots are widely used in work scenarios such as smart factories, warehousing and logistics, and the service industry to assist or cooperate with workers in completing various tasks, achieving the effect of improving quality, increasing efficiency, and reducing costs.

[0003] To adapt to complex and harsh working environments, humanoid robots are typically equipped with steering and cleaning mechanisms on their chassis. The steering mechanism controls the steering of the running wheels, enabling the robot to automatically change direction and move toward its destination more efficiently while also performing operations such as obstacle avoidance. The cleaning mechanism is used to clean impurities from the ground, achieving automatic cleaning operations and more effectively removing impurities from the running wheel's trajectory. This prevents impurities from contaminating the running wheel surface, affecting the robot's walking stability, and increasing the cleaning burden on the robot. However, in conventional technologies, the steering and cleaning mechanisms are controlled by a controller and operate independently. This makes it difficult for the steering and cleaning mechanisms to maintain synchronization. As a result, the cleaning mechanism experiences a lag in movement during the robot's turns, preventing it from effectively cleaning impurities from the ground. This affects the robot's cleaning efficiency. Furthermore, the cleaning mechanism cannot stay on the running wheel's trajectory, causing the running wheel to run over impurities, which can then be deposited on the running wheel, causing sanitation issues. Summary of the Invention

[0004] Based on this, it is necessary to provide a wheeled humanoid robot to address the problem that traditional technology has poor synchronization between steering movement and cleaning action, which affects cleaning efficiency and causes hygiene problems.

[0005] The present application proposes a wheeled humanoid robot comprising:

[0006] A chassis, wherein a plurality of running wheels are mounted on the chassis along the circumference;

[0007] a power source, the power source being mounted on the chassis;

[0008] A steering mechanism, the steering mechanism being movably mounted on the chassis and being in transmission connection with the power source, and the steering mechanism being in transmission connection with all the traveling wheels;

[0009] a synchronous rotation mechanism, the synchronous rotation mechanism being rotatably disposed on the chassis, and one end of the synchronous rotation mechanism being transmission-connected to the steering mechanism;

[0010] A cleaning mechanism, wherein the cleaning mechanism is rotatably arranged on the chassis, and the cleaning mechanism is transmission-connected to the synchronous rotation mechanism; wherein, in the process of the steering mechanism driving the walking wheel to rotate so as to turn the wheeled humanoid robot, the steering mechanism synchronously drives the cleaning mechanism to rotate through the synchronous rotation mechanism, so that the cleaning mechanism is always in the moving path of the walking wheel.

[0011] In the wheeled humanoid robot of the present solution, a plurality of running wheels distributed along the circumferential direction are installed on the chassis, and the plurality of running wheels contact the ground at the same time to achieve stable support for the wheeled humanoid robot. During operation, as the wheeled robot moves, the cleaning mechanism cleans the ground synchronously, on the one hand, achieving the removal of impurities on the ground, and on the other hand, achieving the removal of impurities in the moving path of the running wheels. Furthermore, when the power source outputs a driving force to the steering mechanism to drive all the running wheels to deflect in the same direction through the steering mechanism, and the humanoid robot turns and moves, the steering mechanism will simultaneously transmit the driving force to the synchronous rotation mechanism, and then drive the cleaning mechanism and the running wheels to maintain synchronous and same-direction deflection through the synchronous rotation mechanism, thereby ensuring that the cleaning mechanism is always in the moving path of the running wheels, ensuring that the cleaning mechanism can always effectively and timely clean and remove impurities in the moving path of the running wheels, that is, ensuring the cleaning efficiency of the humanoid robot, while reliably preventing impurities from adhering to the wheel surface of the running wheels, causing hygiene problems of the humanoid robot, increasing the cleaning burden of the user, and at the same time causing the friction coefficient of the running wheels to decrease, affecting the walking stability of the humanoid robot.

[0012] The technical solution of this application is further described below:

[0013] In one embodiment, the steering mechanism includes a rocker arm, a first steering assembly and a second steering assembly. The power source is connected to the rocker arm to drive the rocker arm to swing back and forth. The first steering assembly is rotatably disposed on the chassis and is connected to the rocker arm. The second steering assembly is rotatably disposed on the chassis and is connected to the rocker arm. There are four running wheels distributed in a rectangular shape, two of which are connected to the first steering assembly, and the remaining two are connected to the second steering assembly.

[0014] In one embodiment, the power source includes a first motor, a first screw and a first nut block, the chassis is provided with a first slide groove, the rocker arm is provided with a long slot hole, the first motor is transmission-connected to the first screw rod, the first nut block is screwed onto the first screw rod, and a portion of the first nut block is slidably disposed in the first slide groove, and the remaining portion of the first nut block is slidably disposed in the long slot hole; wherein the length extension direction of the first slide groove intersects with the length extension direction of the long slot hole.

[0015] In one embodiment, the first steering assembly and the second steering assembly each include a transmission block, a first push-pull unit and a second push-pull unit, the first push-pull unit and the second push-pull unit are respectively connected to a corresponding one of the travel wheels, and the first push-pull unit and the second push-pull unit are both connected to the transmission block, and the transmission block is rotatably connected to the rocker arm;

[0016] The first push-pull unit and the second push-pull unit both include a first push-pull rod and a second push-pull rod, one end of the first push-pull rod is rotatably connected to the transmission block, the other end of the first push-pull rod is rotatably connected to one end of the second push-pull rod, and the other end of the second push-pull rod is rotatably connected to the walking wheel.

[0017] In one embodiment, the synchronous rotation mechanism includes a rotating shaft, a first fixed shaft, a second fixed shaft, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear. The rotating shaft is rotatably arranged on the chassis, and the first bevel gear and the second bevel gear are axially spaced apart on the rotating shaft. The third bevel gear is arranged on the second push-pull rod through the first fixed shaft and meshes with the first bevel gear. The fourth bevel gear is arranged on the cleaning mechanism through the second fixed shaft and meshes with the second bevel gear to drive the cleaning mechanism to rotate reciprocally to achieve cleaning operations on the passing ground.

[0018] In one embodiment, the cleaning mechanism includes a mounting box, a drive assembly and a cleaning piece. The mounting box is rotatably arranged on the chassis, the fourth bevel gear is arranged on the mounting box through the second fixed shaft, the drive assembly is arranged on the mounting box, and the cleaning piece is transmission-connected to the drive assembly and can move relative to the mounting box.

[0019] In one embodiment, the driving assembly includes a second motor, a second screw and a second nut block, the mounting box is provided with a second slide groove, the second motor is arranged in the mounting box and is transmission-connected to the second screw rod, the second nut block is screwed to the second screw rod, and the second nut block can be slidably passed through the second slide groove, and the cleaning member is connected to the second nut block.

[0020] In one embodiment, the cleaning mechanism also includes a monitoring sensor, which is arranged on the mounting box, and the monitoring probe of the monitoring sensor is used to be set toward the ground. A robot body is mounted on the chassis, and a central controller is arranged in the robot body. The central controller is electrically connected to the monitoring sensor.

[0021] In one embodiment, the wheeled humanoid robot further includes a lifting and reversing mechanism, which includes a bracket, a lifting drive, and a lifting foot. The bracket is arranged on the chassis, the lifting drive is arranged on the bracket and is transmission-connected to the lifting foot. The chassis is provided with an avoidance through-hole, and the lifting foot is lifted and moved through the avoidance through-hole, and the lifting foot is used to abut against or away from the ground.

[0022] In one embodiment, the jacking reversing mechanism also includes a third motor and a transmission frame, the third motor is arranged on the bracket, the transmission frame is rotatably arranged on the bracket and is transmission-connected to the third motor, and the transmission frame is rotationally connected to the jacking drive to drive the jacking drive and the jacking support leg to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings that constitute a part of this application are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 Schematic diagram of the structure of a wheeled humanoid robot according to an embodiment.

[0026] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective.

[0027] Figure 3 Schematic diagram of the internal structure of a chassis according to an embodiment.

[0028] Figure 4 This is a structural diagram of the steering mechanism, synchronous rotation mechanism and jacking and reversing mechanism installed in the chassis.

[0029] Figure 5 It is a structural schematic diagram of the first steering assembly or the second steering assembly.

[0030] Figure 6 Schematic diagram of the structure of a synchronous rotation mechanism according to an embodiment.

[0031] Figure 7 Schematic diagram of the structure of a cleaning mechanism according to an embodiment.

[0032] Figure 8It is a structural schematic diagram of a jacking and reversing mechanism according to an embodiment.

[0033] Figure 9 for Figure 8 Schematic diagram of the structure from another perspective.

[0034] Description of reference numerals:

[0035] 100. Wheeled humanoid robot; 10. Chassis; 11. Travel wheels; 12. First chute; 20. Power source; 21. First motor; 22. First screw; 23. First nut block; 30. Steering mechanism; 31. Rocker; 311. Long slot; 32. First steering assembly; 33. Second steering assembly; 30a. Transmission block; 30b. First push-pull rod; 30c. Second push-pull rod; 40. Synchronous rotation mechanism; 41. Rotation axis; 42. First fixed axis; 43. Second fixed shaft; 44. First bevel gear; 45. Second bevel gear; 46. Third bevel gear; 47. Fourth bevel gear; 50. Cleaning mechanism; 51. Mounting box; 511. Second slide; 52. Cleaning member; 53. Second motor; 54. Second screw; 55. Second nut block; 56. Monitoring sensor; 60. Lifting and reversing mechanism; 61. Bracket; 62. Lifting drive; 63. Lifting support foot; 64. Third motor; 65. Transmission frame; 70. Robot body. DETAILED DESCRIPTION

[0036] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0037] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0038] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0039] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0040] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0041] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0042] See Figures 1 to 4, a wheeled humanoid robot 100 is shown in one embodiment of the present application, and includes a chassis 10, a power source 20, a steering mechanism 30, a synchronous rotation mechanism 40, and a cleaning mechanism 50. The chassis 10 is specifically a wheeled chassis 10, that is, a plurality of running wheels 11 are mounted circumferentially on the chassis 10. A drive device is also mounted inside the chassis 10, which is in transmission connection with the plurality of running wheels 11 to drive the running wheels 11 to rotate, thereby enabling the wheeled humanoid robot 100 to walk.

[0043] For example, in the present application, the chassis 10 is a rectangular structure, and a running wheel 11 is installed at each of the four corners of the chassis 10. The four running wheels 11 arranged in a rectangular shape can provide the wheeled humanoid robot 100 with sufficient mobility and support stability.

[0044] Furthermore, a robot body 70 is mounted above the chassis 10. The robot body 70 includes a torso and a manipulator mounted thereon, enabling the wheeled humanoid robot 100 to perform tasks such as picking up and placing objects. A head is also mounted on top of the robot body 70, equipped with functional components such as a camera and a navigation system, enabling the wheeled humanoid robot 100 to perform tasks such as avoidance and autonomous navigation.

[0045] The power source 20 is installed on the chassis 10; the steering mechanism 30 is movably installed on the chassis 10 and is transmission-connected to the power source 20, and the steering mechanism 30 is transmission-connected to all the walking wheels 11; the synchronous rotation mechanism 40 is rotatably arranged on the chassis 10, and one end of the synchronous rotation mechanism 40 is transmission-connected to the steering mechanism 30; the cleaning mechanism 50 is rotatably arranged on the chassis 10, and the cleaning mechanism 50 is transmission-connected to the synchronous rotation mechanism 40; wherein, in the process of the steering mechanism 30 driving the walking wheel 11 to rotate to make the wheeled humanoid robot 100 turn, the steering mechanism 30 synchronously drives the cleaning mechanism 50 to rotate through the synchronous rotation mechanism 40, so that the cleaning mechanism 50 is always in the moving path of the walking wheel 11.

[0046] In summary, the implementation of the technical solution of this embodiment will achieve the following beneficial effects: in the wheeled humanoid robot 100 of this solution, a plurality of running wheels 11 distributed along the circumferential direction are installed on the chassis 10, and the plurality of running wheels 11 contact the ground at the same time to achieve stable support for the wheeled humanoid robot 100. When working, as the wheeled robot moves, the cleaning mechanism 50 cleans the ground synchronously, on the one hand, it realizes the removal of impurities on the ground, and on the other hand, it also realizes the removal of impurities in the moving path of the running wheels 11; further, when the power source 20 outputs driving force to the steering mechanism 30, so as to drive all the running wheels 11 to deflect in the same direction through the steering mechanism 30, thereby achieving When the humanoid robot turns and moves, the steering mechanism 30 will simultaneously transmit the driving force to the synchronous rotation mechanism 40, and then drive the cleaning mechanism 50 and the walking wheel 11 to maintain synchronous and directional deflection through the synchronous rotation mechanism 40, thereby ensuring that the cleaning mechanism 50 is always in the moving path of the walking wheel 11, ensuring that the cleaning mechanism 50 can always clean and remove impurities on the moving path of the walking wheel 11 in a timely and effective manner, that is, ensuring the cleaning efficiency of the humanoid robot, and at the same time reliably avoiding impurities from sticking to the wheel surface of the walking wheel 11, causing hygiene problems for the humanoid robot, increasing the cleaning burden of the user, and at the same time causing the friction coefficient of the walking wheel 11 to decrease, affecting the walking stability of the humanoid robot.

[0047] Please continue reading Figure 3 and Figure 4 On the basis of the above embodiment, the steering mechanism 30 includes a rocker arm 31, a first steering assembly 32 and a second steering assembly 33. The power source 20 is connected to the rocker arm 31 to drive the rocker arm 31 to swing back and forth. The first steering assembly 32 is rotatably disposed on the chassis 10 and is connected to the rocker arm 31. The second steering assembly 33 is rotatably disposed on the chassis 10 and is connected to the rocker arm 31. Four running wheels 11 are provided and distributed in a rectangular shape, two of which are connected to the first steering assembly 32, and the remaining two running wheels 11 are connected to the second steering assembly 33.

[0048] During operation, the power source 20 outputs a driving force to the rocker arm 31, causing the rocker arm 31 to swing back and forth. During the reciprocating swing of the rocker arm 31, a push-pull force is simultaneously applied to the first steering assembly 32 and the second steering assembly 33, achieving synchronous and unidirectional reciprocating movement between the first steering assembly 32 and the second steering assembly. In this way, the first steering assembly 32 and the second steering assembly 33 can synchronously push and pull the two correspondingly connected running wheels 11 to cause deflection, that is, to achieve synchronous and unidirectional rotation of the four running wheels 11, thereby achieving steering movement of the wheeled humanoid robot 100. The above-mentioned steering mechanism 30 has a short power transmission path and good transmission reliability, which can well ensure the precise and synchronous rotation of the four running wheels 11 in the same direction, thereby ensuring the stable movement of the wheeled humanoid robot 100.

[0049] Please continue reading Figure 3 More specifically, in one embodiment, the power source 20 includes a first motor 21, a first screw 22 and a first nut block 23, the chassis 10 is provided with a first slide groove 12, the rocker arm 31 is provided with a long slot hole 311, the first motor 21 is transmission-connected to the first screw 22, the first nut block 23 is screwed onto the first screw 22, and a portion of the first nut block 23 is slidably disposed in the first slide groove 12, and the remaining portion of the first nut block 23 is slidably disposed in the long slot hole 311; wherein, the length extension direction of the first slide groove 12 intersects with the length extension direction of the long slot hole 311.

[0050] As will be readily understood, when the first motor 21 drives the first screw 22 to rotate, the first screw 22, by virtue of the transmission characteristics of the thread pair, synchronously drives the first nut block 23 to reciprocate along the axial direction of the first screw 22. During this process, the first nut block 23 synchronously slides within the intersecting first chute 12 and the elongated slot 311. A force interaction is formed between the first nut block 23 and the wall of the elongated slot 311, thereby driving the rocker 31 to achieve reciprocating swing. The use of a threaded transmission mechanism to transmit driving force to the rocker 31 offers excellent stability and effectively overcomes frictional resistance between components and between the running wheels 11 and the ground, preventing slippage that could affect driving efficiency.

[0051] Please continue reading Figures 3 to 5 Furthermore, in an optional embodiment, the first steering assembly 32 and the second steering assembly 33 both include a transmission block 30a, a first push-pull unit and a second push-pull unit, the first push-pull unit and the second push-pull unit are respectively connected to a corresponding walking wheel 11, and the first push-pull unit and the second push-pull unit are both connected to the transmission block 30a, and the transmission block 30a is rotatably connected to the rocker arm 31.

[0052] The first push-pull unit and the second push-pull unit both include a first push-pull rod 30b and a second push-pull rod 30c. One end of the first push-pull rod 30b is rotatably connected to the transmission block 30a, the other end of the first push-pull rod 30b is rotatably connected to one end of the second push-pull rod 30c, and the other end of the second push-pull rod 30c is rotatably connected to the walking wheel 11.

[0053] The first steering assembly 32 and the second steering assembly 33 are designed to include a transmission block 30a, a first push-pull unit, and a second push-pull unit, so that the transmission block 30a can be connected to the rocker 31 in a transmission manner, thereby obtaining the power transmitted by the rocker 31 through the transmission block 30a, and then the first push-pull unit and the second push-pull unit can synchronously drive the running wheels 11 on both sides, that is, simultaneously drive the four running wheels 11 arranged in a rectangular shape to turn synchronously in the same direction. The first push-pull unit and the second push-pull unit are formed by a first push-pull rod 30b and a second push-pull rod 30c that are rotatably connected. The first push-pull rod 30b and the second push-pull rod 30c can rotate relative to each other. Compared with a design with an integrated structure, the required movement space can be smaller and the rotation of the running wheels 11 can be better adapted, ensuring smooth rotation of each component. It can be understood that the transmission block 30a is rotatably connected to the rocker 31 so that the transmission block 30a does not interfere with the reciprocating swing of the rocker 31, while also ensuring that the rocker 31 can smoothly transmit the driving force to the transmission block 30a.

[0054] Please continue reading Figure 3 , Figure 5 and Figure 6 In addition, in another embodiment, the synchronous rotation mechanism 40 includes a rotating shaft 41, a first fixed shaft 42, a second fixed shaft 43, a first bevel gear 44, a second bevel gear 45, a third bevel gear 46 and a fourth bevel gear 47. The rotating shaft 41 is rotatably arranged on the chassis 10, and the first bevel gear 44 and the second bevel gear 45 are axially spaced apart on the rotating shaft 41. The third bevel gear 46 is arranged on the second push-pull rod 30c through the first fixed shaft 42 and meshes with the first bevel gear 44. The fourth bevel gear 47 is arranged on the cleaning mechanism 50 through the second fixed shaft 43 and meshes with the second bevel gear 45 to drive the cleaning mechanism 50 to rotate reciprocatingly to achieve cleaning operations on the passing ground.

[0055] It should be noted that, in terms of structural arrangement, the first bevel gear 44 and the second bevel gear 45 are coaxially arranged, the axis of the third bevel gear 46 and the axis of the fourth bevel gear 47 are arranged parallel and spaced apart, and the axes of the first bevel gear 44 and the second bevel gear 45 are perpendicularly intersected with the axes of the third bevel gear 46 and the fourth bevel gear 47. When the transmission block 30a pushes and pulls the second push-pull rod 30c to move, the third bevel gear 46 set on the second push-pull rod 30c will drive the first bevel gear 44 meshed with it to rotate, and the first bevel gear 44 then synchronously drives the rotating shaft 41 and the second bevel gear 45 to rotate synchronously; the second bevel gear 45 can further drive the fourth bevel gear 47 meshed with it to rotate, so that the fourth bevel gear 47 can drive the cleaning mechanism 50 to rotate through the second fixed shaft 43, so that the cleaning mechanism 50 and the walking wheel 11 maintain synchronous and co-directional rotation, ensuring that the cleaning mechanism 50 always remains on the moving path of the walking wheel 11, and timely and effective cleaning of impurities in the moving path. The cleaning mechanism 50 is rotatably connected to the chassis 10 to provide a rotation fulcrum for the cleaning mechanism 50 , thereby ensuring that the cleaning mechanism 50 rotates smoothly and reliably.

[0056] Please continue reading Figure 1 and Figure 7 Specifically, in one embodiment, the cleaning mechanism 50 includes a mounting box 51, a drive assembly, and a cleaning member 52. The mounting box 51 is rotatably mounted on the chassis 10. The fourth bevel gear 47 is mounted on the mounting box 51 via the second fixed shaft 43. The drive assembly is mounted on the mounting box 51. The cleaning member 52 is in transmission connection with the drive assembly and is movable relative to the mounting box 51. The mounting box 51 is used to mount the cleaning mechanism 50 on the chassis 10, and simultaneously integrates the drive assembly and the cleaning member 52, thereby improving the integration of the cleaning mechanism 50. During operation, the drive assembly can drive the cleaning member 52 to move relative to the mounting box 51 to clean impurities in the moving path of the running wheels 11.

[0057] Optionally, the cleaning member 52 can be implemented in a variety of ways. For example, the cleaning member 52 can be a cleaning brush, which is arranged in front of the moving path of the running wheel 11. The cleaning brush can always sweep away impurities on the moving path of the running wheel 11, preventing the running wheel 11 from pressing on impurities when passing, thereby causing impurities to stick to the wheel surface and cause hygiene problems. Alternatively, the cleaning member 52 can also be a dust collecting member, and the side of the dust collecting member close to the ground is provided with a dust suction port, which can generate negative pressure suction to suck impurities on the moving path into the dust collection box in the chassis 10, thereby completely removing impurities on the ground and impurities in the moving path of the running wheel 11, etc.; the specific selection can be flexibly made according to actual needs.

[0058] Please continue reading Figure 7Specifically, in one embodiment, the driving assembly includes a second motor 53, a second screw 54, and a second nut block 55. The mounting box 51 is provided with a second slide groove 511. The second motor 53 is disposed in the mounting box 51 and is transmission-connected to the second screw 54. The second nut block 55 is screwed to the second screw 54 and slidably inserted into the second slide groove 511. The cleaning member 52 is connected to the second nut block 55. The second motor 53 drives the second screw 54 to rotate. With the transmission characteristics of the thread pair, the second screw 54 can drive the second nut block 55 to reciprocate along the axial direction of the second screw 54, thereby driving the cleaning member 52 to reciprocate. This allows the cleaning member 52 to not only clean away impurities on the moving path of the travel wheel 11 to prevent the impurities from being contaminated on the wheel surface, but also adjust the position of the cleaning member 52 and the travel wheel 11 to ensure that the cleaning member 52 and the travel wheel 11 are aligned along the traveling direction.

[0059] Of course, in other optional embodiments, the driving component may also adopt a scissor mechanism, a telescopic rod mechanism, or other structural forms, as long as it can drive the cleaning member 52 to move back and forth.

[0060] Please continue reading Figure 7 Furthermore, based on the above embodiment, the cleaning mechanism 50 further includes a monitoring sensor 56. The monitoring sensor 56 is disposed on the mounting box 51, and the monitoring probe of the monitoring sensor 56 is configured to face the ground. The chassis 10 is mounted with a robot body 70. The robot body 70 is provided with a central controller, which is electrically connected to the monitoring sensor 56. The monitoring sensor 56 can identify the location of impurities on the moving path of the running wheel 11 in real time, and then provide feedback to the central controller, so that the central controller outputs a forward and reverse switching instruction to the second motor 53, so that the cleaning element 52 can effectively and timely remove impurities in the moving path, thereby improving the working efficiency of the cleaning element 52.

[0061] Optionally, the monitoring sensor 56 may be any one of, but not limited to, a camera, a visual sensor, etc., and may be flexibly selected according to actual needs.

[0062] Please continue reading Figure 3 , Figure 4 , Figure 8 and Figure 9In addition, based on any of the above embodiments, the wheeled humanoid robot 100 further includes a lifting and reversing mechanism 60. The lifting and reversing mechanism 60 includes a bracket 61, a lifting driver 62, and a lifting leg 63. The bracket 61 is disposed on the chassis 10. The lifting driver 62 is disposed on the bracket 61 and is in transmission connection with the lifting leg 63. The chassis 10 is provided with an escape hole. The lifting leg 63 is disposed in the escape hole so as to be movable and retractable. The lifting leg 63 is used to abut against or away from the ground. Furthermore, the lifting and reversing mechanism 60 further includes a third motor 64 and a transmission frame 65. The third motor 64 is disposed on the bracket 61. The transmission frame 65 is rotatably disposed on the bracket 61 and is in transmission connection with the third motor 64. The transmission frame 65 is rotationally connected to the lifting driver 62 to drive the lifting driver 62 and the lifting leg 63 to rotate.

[0063] In some cases, since the wheeled humanoid robot 100 itself has a certain volume, its turning radius will be limited. In particular, when the wheeled humanoid robot 100 moves to a corner, aisle or other location with a narrow space, it is difficult to exit by rotating the walking wheels 11. To address this, the present application can first drive the jacking legs 63 to descend by the jacking driver 62 to support the ground, so that the chassis 10 can be lifted off the ground. Then, the transmission frame 65 is driven by the third motor 64, so that the transmission frame 65 drives the jacking driver 62 and the jacking legs 63 to rotate a certain angle. With the help of the relative movement relationship, the wheeled humanoid robot 100 can also rotate as a whole by a certain angle with the jacking legs 63 as the fulcrum, thereby realizing large-angle reversal of the whole machine, effectively solving the above-mentioned problem.

[0064] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A wheeled humanoid robot, characterized in that: include: A chassis, wherein a plurality of running wheels are mounted on the chassis along the circumference; a power source, the power source being mounted on the chassis; A steering mechanism, the steering mechanism being movably mounted on the chassis and being in transmission connection with the power source, and the steering mechanism being in transmission connection with all the traveling wheels; a synchronous rotation mechanism, the synchronous rotation mechanism being rotatably disposed on the chassis, and one end of the synchronous rotation mechanism being transmission-connected to the steering mechanism; A cleaning mechanism, wherein the cleaning mechanism is rotatably arranged on the chassis, and the cleaning mechanism is transmission-connected to the synchronous rotation mechanism; wherein, in the process of the steering mechanism driving the walking wheel to rotate so as to turn the wheeled humanoid robot, the steering mechanism synchronously drives the cleaning mechanism to rotate through the synchronous rotation mechanism, so that the cleaning mechanism is always in the moving path of the walking wheel.

2. The wheeled humanoid robot according to claim 1, characterized in that: The steering mechanism includes a rocker arm, a first steering assembly and a second steering assembly. The power source is connected to the rocker arm to drive the rocker arm to swing back and forth. The first steering assembly is rotatably disposed on the chassis and is connected to the rocker arm. The second steering assembly is rotatably disposed on the chassis and is connected to the rocker arm. There are four running wheels distributed in a rectangular shape, two of which are connected to the first steering assembly, and the remaining two are connected to the second steering assembly.

3. The wheeled humanoid robot according to claim 2, wherein: The power source includes a first motor, a first screw and a first nut block, the chassis is provided with a first slide groove, the rocker arm is provided with a long slot hole, the first motor is transmission-connected to the first screw rod, the first nut block is screwed onto the first screw rod, and a part of the first nut block is slidably disposed in the first slide groove, and the remaining part of the first nut block is slidably disposed in the long slot hole; wherein the length extension direction of the first slide groove intersects with the length extension direction of the long slot hole.

4. The wheeled humanoid robot according to claim 2, characterized in that: The first steering assembly and the second steering assembly each include a transmission block, a first push-pull unit, and a second push-pull unit, wherein the first push-pull unit and the second push-pull unit are respectively connected to a corresponding one of the travel wheels, and the first push-pull unit and the second push-pull unit are both connected to the transmission block, and the transmission block is rotatably connected to the rocker arm; The first push-pull unit and the second push-pull unit both include a first push-pull rod and a second push-pull rod, one end of the first push-pull rod is rotatably connected to the transmission block, the other end of the first push-pull rod is rotatably connected to one end of the second push-pull rod, and the other end of the second push-pull rod is rotatably connected to the walking wheel.

5. The wheeled humanoid robot according to claim 4, characterized in that: The synchronous rotation mechanism includes a rotating shaft, a first fixed shaft, a second fixed shaft, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear. The rotating shaft is rotatably arranged on the chassis. The first bevel gear and the second bevel gear are axially spaced apart and arranged on the rotating shaft. The third bevel gear is arranged on the second push-pull rod through the first fixed shaft and meshes with the first bevel gear. The fourth bevel gear is arranged on the cleaning mechanism through the second fixed shaft and meshes with the second bevel gear to drive the cleaning mechanism to rotate reciprocally to realize cleaning operations on the passing ground.

6. The wheeled humanoid robot according to claim 5, characterized in that: The cleaning mechanism includes a mounting box, a driving assembly and a cleaning piece. The mounting box is rotatably arranged on the chassis. The fourth bevel gear is arranged on the mounting box through the second fixed shaft. The driving assembly is arranged on the mounting box. The cleaning piece is transmission-connected to the driving assembly and can move relative to the mounting box.

7. The wheeled humanoid robot according to claim 6, characterized in that: The driving assembly includes a second motor, a second screw and a second nut block. The mounting box is provided with a second slide groove. The second motor is arranged in the mounting box and is transmission-connected to the second screw. The second nut block is screwed to the second screw, and the second nut block can be slidably passed through the second slide groove. The cleaning member is connected to the second nut block.

8. The wheeled humanoid robot according to claim 7, wherein: The cleaning mechanism also includes a monitoring sensor, which is arranged on the mounting box, and the monitoring probe of the monitoring sensor is used to be set toward the ground. A robot body is installed on the chassis, and a central controller is arranged in the robot body. The central controller is electrically connected to the monitoring sensor.

9. The wheeled humanoid robot according to any one of claims 1 to 8, characterized in that: The wheeled humanoid robot also includes a lifting and reversing mechanism, which includes a bracket, a lifting drive and a lifting foot. The bracket is arranged on the chassis, the lifting drive is arranged on the bracket and is transmission-connected to the lifting foot. The chassis is provided with an avoidance through-hole, and the lifting foot is arranged in the avoidance through-hole in a manner that can be raised and lowered, and the lifting foot is used to abut against or away from the ground.

10. The wheeled humanoid robot according to claim 9, characterized in that: The jacking reversing mechanism also includes a third motor and a transmission frame. The third motor is arranged on the bracket. The transmission frame is rotatably arranged on the bracket and is in transmission connection with the third motor. The transmission frame is rotatably connected to the jacking drive to drive the jacking drive and the jacking support leg to rotate.

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