Wheel-type humanoid robot

Abstract

The application relates to a wheeled humanoid robot, comprising a chassis, a plurality of walking wheels mounted on the chassis in a circumferential direction, a power source arranged on the chassis, a steering mechanism movably arranged on the chassis and in driving connection with the power source, and in driving connection with all the walking wheels, a synchronous rotating mechanism rotatably arranged on the chassis and in driving connection with one end of the steering mechanism, and a cleaning mechanism rotatably arranged on the chassis and in driving connection with the synchronous rotating mechanism; wherein, during the process that the steering mechanism drives the walking wheels to rotate to make the wheeled humanoid robot turn, the steering mechanism synchronously drives the cleaning mechanism to rotate through the synchronous rotating mechanism, so that the cleaning mechanism is always in the moving path of the walking wheels.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a wheeled humanoid robot. Background Technology

[0002] Humanoid robots are a type of humanoid robot that is suitable for replacing humans in performing designated tasks in human living, working, and residential environments. 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, resulting in improved quality, increased efficiency, and reduced 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 direction of the walking wheels, enabling the robot to automatically change direction and move towards its destination more efficiently, while also performing obstacle avoidance. The cleaning mechanism cleans impurities from the ground, enabling automated cleaning and more effectively removing debris from the walking wheel tracks, preventing impurities from adhering to the wheel surfaces and affecting the robot's stability, thus reducing the cleaning burden. However, in traditional technologies, both the steering and cleaning mechanisms operate independently, controlled by a controller. This makes it difficult for the two mechanisms to maintain synchronized movement. Consequently, during turns, the cleaning mechanism may lag behind and fail to effectively clean impurities from the ground, impacting the robot's cleaning efficiency. Furthermore, the cleaning mechanism may not stay on the walking wheel tracks, causing the wheels to run over impurities, which can then accumulate on the wheels, leading to hygiene problems. Summary of the Invention

[0004] Therefore, it is necessary to provide a wheeled humanoid robot to address the problem of poor synchronization between the turning and sweeping actions in traditional technologies, which affects cleaning efficiency and causes hygiene issues.

[0005] This application proposes a wheeled humanoid robot, which includes:

[0006] A chassis, on which multiple wheels are mounted circumferentially.

[0007] A power source, which is installed on the chassis;

[0008] A steering mechanism, which is movably mounted on the chassis and drivenly connected to the power source, and is drivenly connected to all the wheels;

[0009] A synchronous rotation mechanism is rotatably mounted on the chassis, and one end of the synchronous rotation mechanism is connected to the steering mechanism in a transmission manner.

[0010] The cleaning mechanism is rotatably arranged on the chassis and is in transmission connection with the synchronous rotation mechanism; wherein, during the process that the steering mechanism drives the walking wheels to rotate to make the wheeled humanoid robot turn, the steering mechanism drives the cleaning mechanism to rotate synchronously through the synchronous rotation mechanism, so that the cleaning mechanism is always in the moving path of the walking wheels.

[0011] In the wheeled humanoid robot, the chassis is provided with a plurality of walking wheels distributed in the circumferential direction, and the plurality of walking wheels simultaneously contact the ground to realize stable support of the wheeled humanoid robot. During work, the cleaning mechanism synchronously cleans the ground along with the movement of the wheeled robot, which not only removes impurities on the ground, but also removes impurities in the moving path of the walking wheels. Further, when the power source outputs driving force to the steering mechanism to drive all the walking wheels to deflect in the same direction through the steering mechanism to realize turning movement of the humanoid robot, the steering mechanism simultaneously transmits the driving force to the synchronous rotation mechanism, and then drives the cleaning mechanism to deflect in the same direction synchronously with the walking wheels through the synchronous rotation mechanism, so as to ensure that the cleaning mechanism is always in the moving path of the walking wheels, and ensure that the cleaning mechanism can timely and effectively clean and remove impurities in the moving path of the walking wheels, that is, ensure the cleaning efficiency of the humanoid robot, and at the same time, reliably avoid impurities adhering to the wheel surface of the walking wheels to cause hygiene problems of the humanoid robot, increase the cleaning burden of the user, and reduce the friction coefficient of the walking wheels to affect the walking stability of the humanoid robot.

[0012] The technical scheme of the present application is further described as follows:

[0013] In one embodiment, the steering mechanism includes a swing rod, a first steering assembly and a second steering assembly. The power source is in transmission connection with the swing rod to drive the swing rod to reciprocate. The first steering assembly is rotatably arranged on the chassis and is in transmission connection with the swing rod. The second steering assembly is rotatably arranged on the chassis and is in transmission connection with the swing rod. The walking wheels are arranged in four and distributed in a rectangular shape. Two of the walking wheels are in transmission connection with the first steering assembly, and the remaining two walking wheels are in transmission connection with the second steering assembly.

[0014] In one embodiment, the power source includes a first motor, a first screw rod and a first nut block. The chassis is provided with a first sliding groove. The swing rod is provided with a long slot hole. The first motor is in transmission connection with the first screw rod. The first nut block is screwed on the first screw rod, and a part of the first nut block is slidably arranged in the first sliding groove, and the remaining part of the first nut block is slidably arranged in the long slot hole. The length extension direction of the first sliding groove intersects with the length extension direction of the long slot hole.

[0015] In one of the embodiments, 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 walking wheels, and the first push-pull unit and the second push-pull unit are both connected to the transmission block, the transmission block is rotationally connected to the swing rod.

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

[0017] In one of the embodiments, the synchronous rotation mechanism includes a rotation 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 rotation shaft is rotationally arranged on the chassis, the first bevel gear and the second bevel gear are axially spaced on the rotation shaft, the third bevel gear is arranged on the second push-pull rod through the first fixed shaft and is engaged with the first bevel gear, and the fourth bevel gear is arranged on the cleaning mechanism through the second fixed shaft and is engaged with the second bevel gear, so as to drive the cleaning mechanism to reciprocatingly rotate to realize the cleaning operation on the ground.

[0018] In one of the embodiments, the cleaning mechanism includes a mounting box, a driving assembly and a cleaning member, the mounting box is rotationally 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, and the cleaning member is drivingly connected to the driving assembly and is movable relative to the mounting box.

[0019] In one of the embodiments, the driving assembly includes a second motor, a second screw rod and a second nut block, the mounting box is provided with a second sliding slot, the second motor is arranged on the mounting box and is drivingly connected to the second screw rod, the second nut block is screwed on the second screw rod, the second nut block is slidably arranged in the second sliding slot, and the cleaning member is connected to the second nut block.

[0020] In one of the embodiments, the cleaning mechanism further includes a monitoring sensor, the monitoring sensor is arranged on the mounting box, a monitoring probe of the monitoring sensor is arranged towards the ground, a robot main body is arranged on the chassis, a central controller is arranged in the robot main body, and the central controller is electrically connected to the monitoring sensor.

[0021] In one of the embodiments, the wheeled humanoid robot further comprises a jacking reversing mechanism, the jacking reversing mechanism comprises a support, a jacking driver and a jacking leg, the support is arranged on the chassis, the jacking driver is arranged on the support and is in driving connection with the jacking leg, the chassis is provided with a relief through hole, the jacking leg is movably arranged in the relief through hole, and the jacking leg is used for abutting against or moving away from the ground.

[0022] In one of the embodiments, the jacking reversing mechanism further comprises a third motor and a transmission support, the third motor is arranged on the support, the transmission support is rotatably arranged on the support and is in driving connection with the third motor, and the transmission support is in rotational connection with the jacking driver to drive the jacking driver and the jacking leg to rotate. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and are used to interpret the application and its specification, and do not constitute improper limitations to the present application.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 The structural schematic diagram of the wheeled humanoid robot of an embodiment.

[0026] Figure 2 For Figure 1 The structural schematic diagram of another view.

[0027] Figure 3 The internal structural schematic diagram of the chassis of an embodiment.

[0028] Figure 4 The structural schematic diagram of the chassis in which the steering mechanism, the synchronous rotating mechanism and the jacking reversing mechanism are installed.

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

[0030] Figure 6 The structural schematic diagram of the synchronous rotating mechanism of an embodiment.

[0031] Figure 7 The structural schematic diagram of the cleaning mechanism of an embodiment.

[0032] Figure 8A structural schematic diagram of a jacking reversing mechanism of an embodiment.

[0033] Figure 9 A structural schematic diagram of a jacking reversing mechanism of an embodiment. Figure 8 A structural schematic diagram of a jacking reversing mechanism of an embodiment.

[0034] Legend of reference signs:

[0035] 100, wheeled humanoid robot; 10, chassis; 11, walking wheel; 12, first sliding groove; 20, power source; 21, first motor; 22, first screw rod; 23, first nut block; 30, steering mechanism; 31, swing rod; 311, long slot hole; 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 shaft; 42, first fixed shaft; 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 sliding groove; 52, cleaning piece; 53, second motor; 54, second screw rod; 55, second nut block; 56, monitoring sensor; 60, jacking reversing mechanism; 61, support; 62, jacking driver; 63, jacking leg; 64, third motor; 65, transmission frame; 70, robot main body. DETAILED DESCRIPTION

[0036] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0037] In the description of the present application, if the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, the terms "first", "second", and the like, if any, are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or implicating the number of indicated technical features. Thus, a feature defined with "first" or "second" can include at least one of the features explicitly or implicitly. In the description of the present application, the term "plurality" means at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0039] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In the present application, unless otherwise explicitly specified and limited, if the first feature is described as "on" or "under" the second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or it can only mean that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or it can only mean that the first feature is lower than the second feature in horizontal height.

[0041] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not represent the only implementation.

[0042] Reference Figures 1 to 4A wheeled humanoid robot 100 according to an embodiment of the present application comprises 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 a wheeled chassis 10, i.e. a plurality of walking wheels 11 are mounted on the chassis 10 in a circumferential direction. A driving device is further mounted in the chassis 10 and is in driving connection with the walking wheels 11 to drive the walking wheels 11 to rotate and realize the walking of the wheeled humanoid robot 100.

[0043] For example, the chassis 10 is in a rectangular structure, and one walking wheel 11 is mounted on the chassis 10 near each of the four corners. The four walking wheels 11 arranged in a rectangular shape can provide sufficient moving ability and support stability for the wheeled humanoid robot 100.

[0044] Further, a robot body 70 is further mounted on the chassis 10, and the robot body 70 comprises a trunk and a mechanical arm mounted on the trunk, so that the wheeled humanoid robot 100 has the ability to pick and place objects. A head is further arranged on the top of the robot body 70, and the head is provided with a camera, a navigator and other functional devices, so that the wheeled humanoid robot 100 has the ability to avoid and autonomously navigate.

[0045] The power source 20 is mounted on the chassis 10. The steering mechanism 30 is movably mounted on the chassis 10 and is in driving connection with the power source 20, and the steering mechanism 30 is in driving connection with 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 in driving connection with the steering mechanism 30. The cleaning mechanism 50 is rotatably arranged on the chassis 10, and the cleaning mechanism 50 is in driving connection with the synchronous rotation mechanism 40. In the process of driving the walking wheels 11 to rotate by the steering mechanism 30 to turn the wheeled humanoid robot 100, the steering mechanism 30 drives the cleaning mechanism 50 to rotate by the synchronous rotation mechanism 40, so that the cleaning mechanism 50 is always in the moving path of the walking wheels 11.

[0046] In summary, the implementation of the technical scheme of the embodiment will have the following beneficial effects: in the wheeled humanoid robot 100 of the present scheme, the chassis 10 is provided with a plurality of walking wheels 11 distributed circumferentially, and the plurality of walking wheels 11 simultaneously contact the ground to realize stable support of the wheeled humanoid robot 100. During work, the cleaning mechanism 50 synchronously cleans the ground along with the movement of the wheeled robot, which realizes the removal of impurities on the ground and also removes the impurities in the moving path of the walking wheels 11. Further, when the power source 20 outputs driving force to the steering mechanism 30 to drive all the walking wheels 11 to deflect in the same direction through the steering mechanism 30, the steering mechanism 30 simultaneously transmits the driving force to the synchronous rotating mechanism 40, and then drives the cleaning mechanism 50 to deflect in the same direction through the synchronous rotating mechanism 40, so as to ensure that the cleaning mechanism 50 is always in the moving path of the walking wheels 11, and to ensure that the cleaning mechanism 50 can timely and effectively clean the impurities in the moving path of the walking wheels 11, that is, to ensure the cleaning efficiency of the humanoid robot, and to reliably avoid the impurities adhering to the surface of the walking wheels 11, causing hygiene problems of the humanoid robot, increasing the cleaning burden of the user, and reducing the friction coefficient of the walking wheels 11, affecting the walking stability of the humanoid robot.

[0047] Please continue to refer to Figure 3 and Figure 4 On the basis of the above embodiment, the steering mechanism 30 includes a swing rod 31, a first steering assembly 32 and a second steering assembly 33. The power source 20 is in transmission connection with the swing rod 31 to drive the swing rod 31 to reciprocate. The first steering assembly 32 is rotatably arranged on the chassis 10 and in transmission connection with the swing rod 31. The second steering assembly 33 is rotatably arranged on the chassis 10 and in transmission connection with the swing rod 31. The walking wheels 11 are arranged in four and in a rectangular distribution. Two of the walking wheels 11 are in transmission connection with the first steering assembly 32, and the remaining two walking wheels 11 are in transmission connection with the second steering assembly 33.

[0048] During work, the power source 20 outputs driving force to the swing rod 31, so that the swing rod 31 can reciprocate. During the reciprocation of the swing rod 31, the swing rod 31 synchronously applies a pushing and pulling force to the first steering assembly 32 and the second steering assembly 33, so as to realize the synchronous and same-direction reciprocation between the first steering assembly 32 and the second steering assembly 33. In this way, the first steering assembly 32 and the second steering assembly 33 can synchronously push and pull the two walking wheels 11 connected thereto to deflect, that is, to realize the synchronous and same-direction rotation of the four walking wheels 11, so as to realize the steering movement of the wheeled humanoid robot 100. The power transmission path of the above-mentioned steering mechanism 30 is short, the transmission reliability is good, and the precise synchronous and same-direction rotation of the four walking wheels 11 can be well ensured, thereby ensuring the stable movement of the wheeled humanoid robot 100.

[0049] Please continue to refer toFigure 3 More specifically, in one embodiment, the power source 20 comprises a first motor 21, a first screw rod 22 and a first nut block 23, the chassis 10 is provided with a first sliding groove 12, the swing rod 31 is provided with a long slot hole 311, the first motor 21 is in driving connection with the first screw rod 22, the first nut block 23 is screwed on the first screw rod 22, and a part of the first nut block 23 is slidably arranged in the first sliding groove 12, and the rest of the first nut block 23 is slidably arranged in the long slot hole 311; wherein the length extension direction of the first sliding groove 12 intersects with the length extension direction of the long slot hole 311.

[0050] It is easy to understand that when the first motor 21 drives the first screw rod 22 to rotate, the first screw rod 22 synchronously drives the first nut block 23 to reciprocate along the axial direction of the first screw rod 22 by virtue of the transmission characteristics of the threaded pair, and in the process, the first nut block 23 synchronously slides in the first sliding groove 12 and the long slot hole 311 which are arranged in intersection, the first nut block 23 forms a force action relationship with the hole wall of the long slot hole 311, thereby driving the swing rod 31 to realize reciprocating swing. The threaded transmission mechanism is adopted to transmit driving force to the swing rod 31, which has good stability, can well overcome the frictional resistance between the parts and the frictional resistance between the walking wheels 11 and the ground, and prevent slipping to affect the driving efficiency.

[0051] Please continue to refer to Figures 3 to 5 Further, in an optional embodiment, the first steering assembly 32 and the second steering assembly 33 each comprise 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 with a corresponding arranged walking wheel 11, and the first push-pull unit and the second push-pull unit are both connected with the transmission block 30a, and the transmission block 30a is in rotational connection with the swing rod 31.

[0052] The first push-pull unit and the second push-pull unit each comprise a first push-pull rod 30b and a second push-pull rod 30c, one end of the first push-pull rod 30b is in rotational connection with the transmission block 30a, the other end of the first push-pull rod 30b is in rotational connection with one end of the second push-pull rod 30c, and the other end of the second push-pull rod 30c is in rotational connection with the walking wheel 11.

[0053] The first steering assembly 32 and the second steering assembly 33 are designed to include the transmission block 30a, the first push-pull unit and the second push-pull unit, so that the transmission block 30a can be in transmission connection with the swing rod 31, and then the swing rod 31 transmits power through the transmission block 30a, and then the first push-pull unit and the second push-pull unit can synchronously drive the walking wheels 11 on both sides, that is, simultaneously drive the four walking wheels 11 in rectangular distribution to synchronously and unidirectionally steer. The first push-pull rod 30b and the second push-pull rod 30c in rotational connection constitute the first push-pull unit and the second push-pull unit, and the first push-pull rod 30b and the second push-pull rod 30c can rotate relative to each other. Compared with the integrated structure design, the required movement space can be smaller, and the rotation of the walking wheels 11 can be better adapted, and the rotation smoothness of each component can be ensured. It can be understood that the transmission block 30a is in rotational connection with the swing rod 31, so that the transmission block 30a will not interfere with the reciprocating swing of the swing rod 31, and at the same time, the swing rod 31 can smoothly transmit driving force to the transmission block 30a.

[0054] Please continue to refer to Figure 3 , Figure 5 and Figure 6 In addition, in still 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. The first bevel gear 44 and the second bevel gear 45 are arranged on the rotating shaft 41 in an axial direction. The third bevel gear 46 is arranged on the second push-pull rod 30c through the first fixed shaft 42 and is in meshing connection 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 is in meshing connection with the second bevel gear 45, so as to drive the cleaning mechanism 50 to reciprocate and rotate to realize the sweeping operation on the ground.

[0055] It should be noted that 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 in parallel and spaced apart, and the axes of the first bevel gear 44 and the second bevel gear 45 are perpendicular to 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 arranged on the second push-pull rod 30c at this time drives the first bevel gear 44 engaged with it to rotate, and the first bevel gear 44 in turn 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 engaged 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 traveling wheel 11 are kept synchronous and rotate in the same direction, so as to ensure that the cleaning mechanism 50 always keeps on the moving path of the traveling wheel 11, and realizes timely and effective cleaning of impurities in the moving path. The cleaning mechanism 50 is rotatably connected to the chassis 10 to provide a rotating fulcrum for the cleaning mechanism 50, so as to ensure that the cleaning mechanism 50 rotates stably and reliably.

[0056] Please continue to refer to Figure 1 and Figure 7 , specifically, in one embodiment, the cleaning mechanism 50 includes a mounting box 51, a driving assembly and a cleaning piece 52, the mounting box 51 is rotatably arranged on the chassis 10, the fourth bevel gear 47 is arranged on the mounting box 51 through the second fixed shaft 43, the driving assembly is arranged on the mounting box 51, and the cleaning piece 52 is in transmission connection with the driving assembly and can move relative to the mounting box 51. The mounting box 51 is used for mounting the cleaning mechanism 50 to the chassis 10, and simultaneously realizes loading and integration of the driving assembly and the cleaning piece 52, and improves the integration degree of the cleaning mechanism 50. In work, the driving assembly can drive the cleaning piece 52 to move relative to the mounting box 51, so as to realize the effect of completely cleaning the impurities on the moving path of the traveling wheel 11.

[0057] Optionally, the specific implementation mode of the cleaning piece 52 can be various. For example, the cleaning piece 52 can be a cleaning brush, which is arranged in front of the moving path of the traveling wheel 11, and can always sweep away the impurities on the moving path of the traveling wheel 11, so as to avoid the impurities being pressed by the traveling wheel 11 when the traveling wheel 11 moves, and then causing the impurities to be adhered to the wheel surface to cause hygiene problems. Alternatively, the cleaning piece 52 can also be a dust suction piece, which is provided with a dust suction port on the side close to the ground, and can suck the impurities on the moving path into a dust collection box in the chassis 10 through negative pressure suction force, so as to completely remove the impurities on the ground and the impurities in the moving path of the traveling wheel 11, etc.; and the specific implementation mode can be flexibly selected according to actual needs.

[0058] Please continue to refer to Figure 7In particular, in one embodiment, the driving assembly includes a second motor 53, a second screw rod 54, and a second nut block 55. The mounting box 51 is provided with a second sliding groove 511. The second motor 53 is arranged in the mounting box 51 and is in driving connection with the second screw rod 54. The second nut block 55 is screwed on the second screw rod 54, and the second nut block 55 is slidably arranged in the second sliding groove 511. The cleaning member 52 is connected with the second nut block 55. The second motor 53 drives the second screw rod 54 to rotate. By virtue of the driving characteristics of the threaded pair, the second screw rod 54 can drive the second nut block 55 to reciprocate along the axial direction of the second screw rod 54, so as to drive the cleaning member 52 to reciprocate. Thus, the cleaning member 52 can sweep and remove the impurities on the moving path of the walking wheel 11, so as to avoid the impurities from adhering to the wheel surface. Meanwhile, the cleaning member 52 can be adjusted in position with the walking wheel 11, so as to ensure that the cleaning member 52 is aligned with the walking wheel 11 in the walking direction.

[0059] Of course, in other optional embodiments, the driving assembly can also adopt a scissor mechanism or a telescopic rod mechanism, as long as the driving assembly can drive the cleaning member 52 to reciprocate.

[0060] Please continue to refer to Figure 7 Further, on the basis of the above-mentioned embodiments, the cleaning mechanism 50 further includes a monitoring sensor 56. The monitoring sensor 56 is arranged on the mounting box 51, and a monitoring probe of the monitoring sensor 56 is arranged to face the ground. The robot main body 70 is arranged on the chassis 10. A central controller is arranged in the robot main body 70. The central controller is in electrical connection with the monitoring sensor 56. The monitoring sensor 56 can identify the position of the impurities on the moving path of the walking wheel 11 in real time, and then feed back to the central controller. The central controller outputs a forward / reverse switching instruction to the second motor 53, so that the cleaning member 52 can effectively sweep the impurities on the moving path in time, and the working efficiency of the cleaning member 52 is improved.

[0061] Optionally, the monitoring sensor 56 can be, but is not limited to, any one of a camera, a vision sensor, and the like, which can be selected flexibly according to actual needs.

[0062] Please continue to refer to Figure 3 , Figure 4 , Figure 8 and Figure 9In addition, on the basis of any of the above embodiments, the wheeled humanoid robot 100 further comprises a jacking reversing mechanism 60, the jacking reversing mechanism 60 comprising a support 61, a jacking driver 62 and a jacking leg 63, the support 61 being arranged on the chassis 10, the jacking driver 62 being arranged on the support 61 and in transmission connection with the jacking leg 63, the chassis 10 being provided with a relief through hole, the jacking leg 63 being arranged in the relief through hole in a liftable and lowerable manner, and the jacking leg 63 being used for abutting against or moving away from the ground. Further, the jacking reversing mechanism 60 further comprises a third motor 64 and a transmission frame 65, the third motor 64 being arranged on the support 61, and the transmission frame 65 being arranged on the support 61 in a rotatable manner and in transmission connection with the third motor 64, and the transmission frame 65 being in rotational connection with the jacking driver 62 so as to drive the jacking driver 62 and the jacking leg 63 to rotate.

[0063] In some cases, due to the volume of the wheeled humanoid robot 100 itself, the turning radius of the wheeled humanoid robot 100 is limited, especially when the wheeled humanoid robot 100 moves to a narrow corner, a passageway or the like, it is difficult to move out by rotating the walking wheels 11. In view of this, the jacking driver 62 can be used to drive the jacking leg 63 to descend and support the ground, so as to lift the chassis 10 and move away from the ground. Then, the third motor 64 drives the transmission frame 65 to rotate the transmission frame 65, the jacking driver 62 and the jacking leg 63 by a certain angle, and by virtue of the relative movement relationship, the wheeled humanoid robot 100 can rotate by a certain angle as a whole with the jacking leg 63 as a fulcrum, so as to realize large-angle reversing of the whole machine and effectively solve the above problems.

[0064] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0065] The above embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A wheeled humanoid robot, characterized by, The wheel type humanoid robot comprises a chassis, a plurality of walking wheels mounted on the chassis in a circumferential direction, a power source, a steering mechanism movably mounted on the chassis and in transmission connection with the power source, the steering mechanism being in transmission connection with all the walking wheels, a synchronous rotating mechanism rotatably arranged on the chassis and in transmission connection with the steering mechanism at one end, and a cleaning mechanism rotatably arranged on the chassis and in transmission connection with the synchronous rotating mechanism. The wheel type humanoid robot further comprises a jacking and reversing mechanism, the jacking and reversing mechanism comprising a support, a jacking driver and a jacking leg, the support being arranged on the chassis, the jacking driver being arranged on the support and in transmission connection with the jacking leg, the chassis being provided with a relief through hole, the jacking leg being movably arranged in the relief through hole, and the jacking leg being used for abutting or moving away from the ground. The steering mechanism comprises a swing rod, a first steering assembly and a second steering assembly, the power source being in transmission connection with the swing rod to drive the swing rod to reciprocating swing, the first steering assembly being rotatably arranged on the chassis and in transmission connection with the swing rod, the second steering assembly being rotatably arranged on the chassis and in transmission connection with the swing rod, and the walking wheels being arranged in four and in a rectangular distribution, two of the walking wheels being in transmission connection with the first steering assembly and the remaining two of the walking wheels being in transmission connection with the second steering assembly. The power source comprises a first motor, a first screw rod and a first nut block, the chassis being provided with a first sliding groove, the swing rod being provided with a long slot hole, the first motor being in transmission connection with the first screw rod, the first nut block being screwed on the first screw rod, a part of the first nut block being slidably arranged in the first sliding groove, and the remaining part of the first nut block being slidably arranged in the long slot hole, wherein the length extension direction of the first sliding groove intersects the length extension direction of the long slot hole. The first steering assembly and the second steering assembly each comprise 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 being connected with a corresponding one of the walking wheels, the first push-pull unit and the second push-pull unit each being connected with the transmission block, and the transmission block being in rotational connection with the swing rod. The first push-pull unit and the second push-pull unit each comprise a first push-pull rod and a second push-pull rod, one end of the first push-pull rod being in rotational connection with the transmission block, the other end of the first push-pull rod being in rotational connection with one end of the second push-pull rod, and the other end of the second push-pull rod being in rotational connection with the walking wheel. ​ 2. The wheeled humanoid robot according to claim 1, characterized in that, ​ 3. The wheeled humanoid robot according to claim 2, characterized in that, ​ 4. The wheeled humanoid robot according to claim 2, characterized in that, ​ ​ 5. The wheeled humanoid robot according to claim 4, characterized in that, The synchronous rotating mechanism comprises 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 arranged on the rotating shaft in an axial direction, the third bevel gear is arranged on the second push-pull rod through the first fixed shaft and is engaged with the first bevel gear, and the fourth bevel gear is arranged on the cleaning mechanism through the second fixed shaft and is engaged with the second bevel gear, so as to drive the cleaning mechanism to rotate reciprocatingly to realize the cleaning operation on the ground. 6.The wheeled humanoid robot according to claim 5, wherein, The cleaning mechanism comprises 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, and the cleaning piece is in transmission connection with 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 comprises a second motor, a second screw rod and a second nut block, the mounting box is provided with a second sliding groove, the second motor is arranged on the mounting box and is in transmission connection with the second screw rod, the second nut block is screwed on the second screw rod, the second nut block is slidably arranged in the second sliding groove, and the cleaning piece is connected with the second nut block.

8. The wheeled humanoid robot according to claim 7, characterized in that, The cleaning mechanism further comprises a monitoring sensor, the monitoring sensor is arranged on the mounting box, a monitoring probe of the monitoring sensor is arranged towards the ground, a robot main body is arranged on the chassis, a central controller is arranged in the robot main body, and the central controller is in electrical connection with the monitoring sensor. 9.The wheeled humanoid robot according to claim 8, wherein, The monitoring sensor is a visual sensor. 10.The wheeled humanoid robot of claim 1, wherein, The jacking reversing mechanism further comprises a third motor and a transmission frame, the third motor is arranged on the support, the transmission frame is rotatably arranged on the support and is in transmission connection with the third motor, and the transmission frame is in rotating connection with the jacking driver, so as to drive the jacking driver and the jacking leg to rotate.

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