Double-arm wheel train humanoid robot

Abstract

The invention discloses a double-arm wheel train humanoid robot, and belongs to the technical field of mechanical equipment, the double-arm wheel train humanoid robot comprises a chassis, the chassis comprises a driving wheel and a steering wheel; the trunk part comprises lower limb sections, upper limb sections and inductors, the upper limb sections are installed on the chassis in a lifting mode through the lower limb sections, and the inductors are arranged at the highest positions of the upper limb sections. Through the arrangement of the chassis, the trunk part and the two execution pieces, full-automatic replenishment is carried out on different kinds of goods on the goods shelf of the supermarket and the supermarket, the mechanical arms of the execution pieces can adapt to clamping for boxed goods, bottled goods and hanging goods, all old goods are taken out of the goods shelf together, and the labor intensity of workers is reduced. The new goods are supplemented to the rear side of the goods shelf through the other execution part, and then the old goods are placed on the front side of the new goods, so that the goods selling period is prevented from being too long.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical equipment, and particularly relates to a double-arm wheeled humanoid robot. BACKGROUND

[0002] The double-arm wheeled humanoid robot is a robot that combines human-like double-arm operation and wheeled mobile chassis. The design aims to simulate the flexibility of human arms and the efficient mobility of wheeled chassis, thereby performing diversified tasks in complex environments. Such robots are usually equipped with various sensors and intelligent algorithms to support autonomous navigation, double-arm collaborative work, voice interaction control, and other functions, and can adapt to various work scenarios.

[0003] The existing Chinese invention patent with the publication number CN119283031A discloses a humanoid robot double-arm adaptive force control operation method and system. Although it can divide collaborative tasks into free motion stage, constraint establishment stage and constraint motion stage, and generate corresponding control instructions in each stage; input the generated control instructions into the double-arm robot system to realize coordinated motion control of the double-arm robot in different stages, it cannot be as flexible as manual operation when replenishing goods in a commercial superstore. Instead, it directly places new goods in the empty space formed by the sales, which blocks the old goods at the back, resulting in a longer sales cycle for the goods at the back, and even the risk of expiration. In view of this, a double-arm wheeled humanoid robot is provided. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the above-mentioned prior art and provide a double-arm wheeled humanoid robot.

[0005] The technical solution adopted to solve the above technical problems is: A double-arm wheeled humanoid robot, comprising: a chassis comprising drive wheels and steering wheels; a torso comprising a lower limb segment, an upper limb segment and a sensor, the upper limb segment being mounted on the chassis in a lifting manner through the lower limb segment, and the upper limb segment being provided with a sensor at the highest position; two actuators, the two actuators being symmetrically mounted on both sides of the upper limb segment, the actuators comprising a mechanical arm and a mechanical hand, the mechanical arm being capable of driving the mechanical hand to move in four degrees of freedom; the mechanical hand comprising a base, the base being provided with two relay seats at the end face, the base being capable of driving the two relay seats to move synchronously close to or away from each other, the two relay seats being connected to a first support plate and a second support plate respectively, the relay seats being capable of driving the free ends of the first support plate and the second support plate to move close to each other when the relay seats move close to each other, and the base being provided with an extendable support rod at the middle part, the support rod leaving a containing space between the first support plate and the second support plate.

[0006] The bottom plate can quickly and stably move on the flat ground of the supermarket, and the height of the trunk part can be lifted to adapt to shelves and storage cabinets of different heights, so that the replenishment work of a larger coverage range can be carried out. When replenishing box-packaged goods, the first executor's mechanical hand's support plate one and support plate two are inserted into the upper half of the goods, the goods are clamped from both sides and lifted for a distance, and then the goods are taken off the shelf after passing over the anti-falling fence on the shelf. The support rod is elongated to support the goods below to prevent the goods from falling. When replenishing goods with hanging packaging, the support rod is rotated above the support plate one and the support plate two, the support rod is shortened and connected to the end of the hanging rod, the support plate one and the support plate two clamp the lower part of the hanging packaging, and the hanging packaging is moved away from the hanging rod. During the process, the support rod is continuously elongated, so that the hanging packaging is hung outside the support rod. The second executor's mechanical hand's support plate one and support plate two take new goods in the storage cabinet, and the new goods are placed on the shelf or hung on the hanging rod first. The first executor horizontally places the old goods on the shelf or hangs the old goods on the hanging rod. During the process, the new goods are pushed to the deep part of the shelf, and after the replenishment is completed, the new goods are located behind the old goods. The old goods are replaced to the front position which is easier to sell, so as to avoid that the goods are sold for too long a period of time.

[0007] Further, the base further comprises a main frame, a end sleeve horizontally slidable is arranged in the middle of the main frame, the relay seat comprises a flat plate, the oblique support block is fixedly installed on one side of the end sleeve opposite to the flat plate, the oblique support block is hinged to a cover through a vertical torsion spring shaft at one end close to the center of the base, the cover is arranged outside the end sleeve, and a wedge block is arranged on the circumferential outer wall of the end sleeve opposite to the oblique support block.

[0008] Through the above technical solution, in order to ensure that multiple goods are smoothly and synchronously clamped, when the two end sleeves horizontally approach, the two relay seats are pushed to horizontally approach and clamp multiple goods. The wedge block can extrude the oblique support block, so that the free ends of the support plate one and the support plate two approach each other. In this way, the support plate one and the support plate two can avoid being unable to stably clamp the goods away from the base due to the blocking of the goods close to the base, and the clamping of multiple goods is ensured to be smoothly carried out.

[0009] Further, the relay seat further comprises a dovetail strip, the dovetail strip is horizontally slidably connected with the main frame, one end of the dovetail strip close to the center of the base is hinged to a hinged seat through a supporting lug, and a guide block is slidably arranged on the end of the dovetail strip away from the hinged seat through a guide hole. The hinged seat and the guide block are fixedly connected with the flat plate.

[0010] Through the above technical solution, in order to ensure the horizontal stability of the support plate one and the support plate two, the dovetail strip horizontally slides between the flat plate and the main frame, so that the free ends of the support plate one and the support plate two are prevented from excessively falling due to the weight of the goods and causing the goods to slide off. At the same time, the design of the hinged seat and the guide block enables the horizontal swing between the dovetail strip and the flat plate, without affecting the extrusion of the wedge block on the oblique support block to make the free ends of the support plate one and the support plate two approach each other.

[0011] Further, the base further comprises two horizontal retractors arranged at the ends of the main frame, the end sleeves are fixedly installed at the movable ends of the retractors by limiting rings, the retractors can drive the end sleeves to slide horizontally, a guide rod is inserted and installed between the two retractors, and the middle part of the guide rod is fixedly connected with the main frame.

[0012] According to the technical scheme, the two horizontal retractors are arranged as power sources to control the horizontal sliding of the end sleeves, the end sleeves are fixed at the free ends of the retractors, when the two retractors are elongated, the two end sleeves approach each other to make the first support plate and the second support plate approach each other to clamp the goods, and when the two retractors are shortened, the two end sleeves move away from each other to make the first support plate and the second support plate move away from each other to release the goods.

[0013] Further, the support rod comprises a retractable inner tube, a pump device is installed at the air inlet end of the retractable inner tube, the pump device is fixedly connected with the base, and a retractable sleeve is arranged outside the retractable inner tube.

[0014] According to the technical scheme, a specific structure of the support rod is disclosed, the retractable inner tube is a corrugated retractable tube, the pump device serves as an air source to inflate or deflate the retractable inner tube, the retractable inner tube can be greatly elongated and tightened to be in a horizontal straight rod shape when inflated, and the retractable inner tube can be shortened to release space when deflated, the retractable sleeve is made of metal wires and can be retracted with the retractable inner tube, air leakage of the retractable inner tube caused by abrasion is reduced, the maintenance period is prolonged, and the undulations of the circumferential outer wall of the retractable inner tube are compensated to avoid blocking the smooth sliding of the hanging package along the retractable inner tube.

[0015] Further, the support rod further comprises a protective sleeve, and the protective sleeve is fixedly installed at the connection position between the pump device and the retractable inner tube.

[0016] According to the technical scheme, the protective sleeve is made of a hard material and is sleeved outside the retractable inner tube, the joint of the retractable inner tube can be protected to prevent air leakage caused by direct pressure deformation of the joint position, and meanwhile, the protective sleeve is larger than the outer diameter of the retractable inner tube, the retractable inner tube can be accommodated when the retractable inner tube is shortened, and the deflated retractable inner tube is prevented from being hung on the goods shelf or other positions.

[0017] Further, the support rod further comprises an end head, the end head is fixed at the end of the retractable inner tube away from the pump device, the retractable sleeve is fixed between the end head and the pump device, and a lashing bar is installed at the end of the end head away from the retractable inner tube.

[0018] By the above technical scheme, in order to ensure the smooth transition of the hanging type package between the hanging rod and the supporting rod, the end head is made of magnetic material and can be adsorbed on the end of the metal hanging rod, avoiding the disengagement during butt joint, and the crosspiece is made of soft magnetic plastic material and can be flexibly connected on the lower side of the hanging rod, further improving the contact area of the connecting position without affecting the hanging type package, and ensuring the stable adsorption of the end head on the end of the hanging rod.

[0019] Further, the first supporting plate has a vertical section and a horizontal section, the vertical section and the horizontal section are perpendicular to each other to form a ninety-degree angle, the first supporting plate and the second supporting plate are mirror-symmetrical, the free ends of the horizontal sections of the first supporting plate and the second supporting plate are close to each other and form an intermediate gap, and the vertical sections of the first supporting plate and the second supporting plate are installed with a rack on the opposite side of the vertical outer wall.

[0020] Through the above technical scheme, the first supporting plate and the second supporting plate adopt the "┛" shape, the vertical section can extrude the vertical side wall of the goods to complete the clamping of the boxed goods, and for the bottled goods, the bottle mouth can be clamped in the intermediate gap to avoid that the vertical section cannot smoothly clamp the cylindrical bottled goods, because the hanging type package is mostly soft package, the stability of the extrusion and clamping of the vertical section is poor, the horizontal section can be connected on the lower part of the hanging type package to ensure the smooth taking of goods, the rack can increase the surface roughness of the vertical section to improve the stability of clamping the boxed goods and the bottled goods, and the rack can limit the hanging type package to make the hanging type package keep substantially perpendicular to the supporting rod and not be excessively twisted, and then smoothly transition between the hanging rod and the supporting rod.

[0021] Further, the mechanical arm comprises a first joint, a second joint, a third joint and a fourth joint, the first joint, the second joint, the third joint and the fourth joint are connected in sequence, the first joint is fixedly connected with the upper limb section, and the fourth joint is fixedly connected with the base.

[0022] Through the above technical scheme, a specific configuration of the mechanical arm is disclosed, the first joint is fixed on the upper limb section to drive the remaining joints below to swing forward and backward, the second joint is used to drive the remaining joints to vertically swing up and down, the third joint drives the remaining joints to rotate to change the up-down positional relationship between the supporting rod and the first supporting plate and the second supporting plate, and the fourth joint can drive the mechanical hand to swing up and down to finally realize the horizontal clamping and moving of goods.

[0023] Further, the upper limb section is internally provided with a wind power cooling device, the upper limb section is provided with an air outlet hole in communication with an air outlet end of the wind power cooling device on the side facing the mechanical hand, the lower limb section is provided with an air guide hole on the side facing the mechanical hand, the base is internally provided with a dust collecting device, and a negative pressure suction device internally provided in the dust collecting device is in communication with the air guide hole through an air guide head.

[0024] By the above technical scheme, in order to adapt to the replenishment scene, in the replenishment, the old goods are close to the air outlet position by using the time period of taking and shelving the new goods, the wake generated by the heat dissipation device is used to blow off the floating dust on the surface of the old goods, and in the process of the floating dust flowing down, the negative pressure generated by the negative pressure suction device built in the dust collecting device is used to capture the floating dust at the lower limb joint position, and the floating dust is gathered at the position of the dust collecting device and waits for subsequent processing, so that the old goods surface is arranged in the replenishment process.

[0025] The beneficial effects of the present application are as follows: The present application can automatically replenish different types of goods on the goods shelves of supermarkets by setting the chassis, the trunk and two actuators, can adapt to clamping by the mechanical hands of the actuators, can take all old goods off the shelves together, can replenish new goods to the rear side of the shelves by another actuator, and can place the old goods in front of the new goods to avoid long selling cycle of the goods. The present application can clamp multiple goods by the mutual approach of the support plate one and the support plate two, can ensure stable clamping of the far end goods by the mutual approach of the free ends of the support plate one and the support plate two, can align the upper hole of the hanging goods with the hanging rod by the support rod cooperating with the support plate one and the support plate two, can ensure smooth taking and placing of the goods, can save the manual intervention step, and has high practicability. The present application can blow off the floating dust on the surface of the old goods by the wake generated by the heat dissipation device, can capture the floating dust by the negative pressure of the dust collecting device in the process of the floating dust flowing down, and can gather the floating dust at the position of the dust collecting device and wait for subsequent processing, so that the old goods surface dust is cleaned in the replenishment process. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the first perspective view of the present application; Figure 2 is the structure diagram of the lower limb joint of the present application; Figure 3 is the structure diagram of the chassis of the present application in the state of removing the outer cover; Figure 4 is the structure diagram between the mechanical arm and the mechanical hand of the present application; Figure 5 is the structure diagram of the mechanical hand of the present application; Figure 6 is the structure diagram between the telescopic device, the relay seat, the support plate one and the support plate two of the present application; Figure 7 is the split diagram between the telescopic device and the relay seat of the present application; Figure 8 is a schematic view of a cross section between the telescopic device and the relay seat of the present application; Figure 9 is a schematic view of a cross section of the support rod of the present application; Figure 10 is a schematic view of the state of the support rod in the extended state of the present application.

[0027] Reference signs: 1, chassis; 11, drive wheel; 12, steering wheel; 13, rocker arm; 14, telescopic cylinder 1; 15, telescopic cylinder 2; 16, dust collecting device; 2, lower limb section; 21, air inlet hole; 22, air inlet head; 3, upper limb section; 31, air outlet hole; 4, inductor; 5, mechanical arm; 51, first joint; 52, second joint; 53, third joint; 54, fourth joint; 6, mechanical hand; 61, base; 611, main frame; 612, telescopic device; 613, guide rod; 614, end sleeve; 615, limiting ring; 616, wedge block; 62, relay seat; 621, flat plate; 622, inclined support block; 623, hinged seat; 624, guide block; 625, dovetail bar; 626, cover shell; 627, support lug; 628, guide hole; 629, torsion spring shaft; 63, support plate 1; 64, support plate 2; 65, support rod; 651, air pumping device; 652, protective sleeve; 653, telescopic inner tube; 654, telescopic sleeve; 655, end head; 656, lashing bar; 66, rack; 7, hanging rod; 8, hanging package. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0029] As shown in Figure 1 - Figure 10 The present embodiment provides a two-armed wheel system humanoid robot, which is adapted to the use in supermarkets and meets different types of goods replenishment requirements, and provides a specific configuration, which comprises: Regarding the chassis 1, referring to Figure 1 and Figure 3 , the chassis 1 comprises two drive wheels 11 and two steering wheels 12, so as to move and turn quickly; Regarding the trunk, the trunk includes lower limb section 2, upper limb section 3 and sensor 4, the lower limb section 2 and the chassis 1 are installed with a rocker arm 13, the rocker arm 13 and the chassis 1 are installed with a telescopic cylinder two 15, the rocker arm 13 and the lower limb section 2 are installed with a telescopic cylinder one 14, the telescopic cylinder one 14 and the telescopic cylinder two 15 can drive the lower limb section 2 to change height and front and back inclination, improve the flexibility of use, and adapt to the needs of different height goods taking and placing, the upper limb section 3 is provided with a sensor 4 at the highest position, carries a visual module, a ranging module, an audio receiving and playing module and other sensing modules, and performs human-computer interaction, controls the action of the device and other steps; Regarding the two execution members, referring to Figure 2 and Figure 4 , the two execution members are symmetrically installed on both sides of the upper limb section 3, and the execution member includes a mechanical arm 5 and a mechanical hand 6, the mechanical arm 5 can drive the mechanical hand 6 to move in four degrees of freedom, and the two execution members respectively perform different actions to complete the replenishment action in cooperation; Among them, referring to Figure 4 , the mechanical hand 6 includes a base 61, two relay seats 62 are arranged on the end face of the base 61, the base 61 can drive the two relay seats 62 to move synchronously close to or away from each other, the two relay seats 62 are respectively connected with a first supporting plate 63 and a second supporting plate 64, when the two relay seats 62 move close to each other, the free ends of the first supporting plate 63 and the second supporting plate 64 move close to each other, a telescopic supporting rod 65 is installed in the middle of the base 61, and a containing space is left between the supporting rod 65 and the first supporting plate 63 and the second supporting plate 64.

[0030] The working principle of the embodiment is as follows: The chassis 1 has four wheels, which can quickly and stably move on the flat ground of a supermarket, and is more suitable for the ground environment of a supermarket than a biped humanoid robot, and can adapt to different height shelves and storage cabinets by using the height adjustment of the trunk, and has good applicability to multi-layer shelves, when replenishing goods in a vertical package (box or bottle), the first execution member, the first supporting plate 63 and the second supporting plate 64 of the mechanical hand 6 are inserted into the upper half of the goods, then the two are moved close to each other to clamp the goods, the goods are clamped from both sides and lifted for a distance, and then the goods are taken off from the shelf after passing over the anti-falling fence on the shelf, the supporting rod 65 is elongated to support the goods below to form a containing space to avoid the goods from falling; When replenishing goods in a hanging package 8, the supporting rod 65 is rotated above the first supporting plate 63 and the second supporting plate 64, because the lower part of the hanging package 8 is suspended, the first supporting plate 63 and the second supporting plate 64 can be directly inserted into the lower part of the hanging package 8 for clamping, the supporting rod 65 is first shortened to be connected to the end of the hanging rod 7, and drives the hanging package 8 to move away from the hanging rod 7, in the process, the supporting rod 65 is continuously elongated, so that the hanging package 8 gradually transitions from the hanging rod 7 to the outside of the supporting rod 65, and the process of taking the old hanging package 8 off the hanging rod 7 is completed, and the hanging package 8 is stably placed in the containing space; After the old goods are removed, the support plate one 63 and the support plate two 64 of the second executor's mechanical arm 6 take the new goods from the storage cabinet, which is preferably placed at the lowermost part of the shelf to shorten the replenishment path. After the new goods are placed on the shelf or hung on the hanging rod 7, the first executor horizontally places the old goods on the shelf or hangs the old goods on the hanging rod 7. During this process, the new goods are pushed to the deep part of the shelf. After the replenishment is completed, the new goods are located at the rear side of the old goods. During the replenishment, the old goods are replaced to the front part of the shelf, which is easier to sell, so as to avoid that the goods are sold for too long.

[0031] In further embodiments, in order to ensure that multiple goods are successfully and synchronously clamped, referring to Figure 5 、 Figure 6 and Figure 7 , the base 61 further comprises a main frame 611 fixed at the lower end of the mechanical arm 5, and a middle part of the main frame 611 is provided with an end sleeve 614 capable of sliding horizontally. The relay base 62 comprises a flat plate 621, and a slanted support block 622 is hingedly connected to a cover 626 near one end of the center of the base 61 through a vertical torsion spring shaft 629. The cover 626 is sleeved outside the end sleeve 614. Before clamping the goods, the torsion spring shaft 629 makes the support plate one 63 and the support plate two 64 parallel to each other, so as to be smoothly inserted into the gap on both sides of the goods. Then, the two end sleeves 614 are horizontally close to each other, so that the two relay bases 62 are horizontally close to clamp multiple goods. At the same time, when multiple goods are clamped, because the goods have consistent sizes, the support plate one 63 and the support plate two 64 cannot stably clamp the goods far away from the base 61 due to the obstruction of the goods close to the base 61. Therefore, the flat plate 621 is fixedly installed with the slanted support block 622 opposite to one side of the end sleeve 614, and the end sleeve 614 is installed with a wedge block 616 on the circumferential outer wall opposite to the slanted support block 622. The wedge block 616 presses the inclined surface of the slanted support block 622, which pushes the flat plate 621 to swing around the torsion spring shaft 629, so as to make the free ends of the support plate one 63 and the support plate two 64 close to each other. In this way, the goods far away from the support plate one 63 and the support plate two 64 can also be clamped, so as to ensure the smooth clamping of multiple goods.

[0032] In further embodiments, in order to ensure the horizontal stability of the support plate one 63 and the support plate two 64, referring to Figure 7 and Figure 8, the relay seat 62 further comprises dovetail strips 625, which are embedded on the main frame 611 and horizontally slide and connect with the main frame 611. The end of the dovetail strip 625 close to the center of the base 61 is hingedly connected with a hinged seat 623 through a supporting lug 627. The end of the dovetail strip 625 away from the hinged seat 623 is slidingly installed with a guide block 624 through a guide hole 628. The hinged seat 623 and the guide block 624 are both fixedly connected with the flat plate 621, so as to horizontally slide the flat plate 621 and the main frame 611, preventing the free ends of the first supporting plate 63 and the second supporting plate 64 from excessively falling due to the weight of the goods, causing the goods to slide off. At the same time, the design of the hinged seat 623 and the guide block 624 allows the flat plate 621 to swing relative to the dovetail strip 625 around the hinged seat 623. The guide block 624 is a circular arc structure, and the center of the circle coincides with the axis of the hinged seat 623, so that the dovetail strip 625 and the flat plate 621 can horizontally swing relative to each other, without affecting the wedge block 616 to press the inclined support block 622 to make the free ends of the first supporting plate 63 and the second supporting plate 64 close to each other.

[0033] In further embodiments, in order to control the horizontal sliding of the end sleeve 614, refer to Figure 6 and Figure 7 The base 61 further comprises two telescopic devices 612 horizontally arranged at the ends of the main frame 611. The two horizontally arranged telescopic devices 612 serve as power sources. The end sleeve 614 is fixedly installed on the movable end of the telescopic device 612 through a limiting ring 615, and the end sleeve 614 is fixed on the free end of the telescopic device 612. When the two telescopic devices 612 are extended, the two end sleeves 614 will approach each other, and the first supporting plate 63 and the second supporting plate 64 will be pressed by the flat plate 621 to approach each other to clamp the goods. When the two telescopic devices 612 are shortened, the two end sleeves 614 will move away from each other, and the first supporting plate 63 and the second supporting plate 64 will move away from each other to put down the goods. A guide rod 613 is inserted and installed between the two telescopic devices 612. The middle part of the guide rod 613 is fixedly connected with the main frame 611. Blind holes are formed in the movable end of the telescopic device 612 and inserted with the guide rod 613, so that the radial force of the movable end of the guide rod 613 can be transmitted to the position of the main frame 611, reducing the radial force of the movable end of the guide rod 613 and ensuring stable operation during long-time extension and contraction.

[0034] In further embodiments, a specific configuration of the supporting rod 65 is disclosed, refer to Figure 9 and Figure 10, the supporting rod 65 comprises a telescopic inner tube 653, the telescopic inner tube 653 is a flexible corrugated telescopic tube, a pump air device 651 is installed at the air inlet end of the telescopic inner tube 653, the pump air device 651 serves as an air source to inflate or deflate the telescopic inner tube 653, the pump air device 651 is fixedly connected with the base 61, and the telescopic inner tube 653 is sleeved with a telescopic sleeve 654 outside, when inflated, the telescopic inner tube 653 can be greatly elongated and tightened to be in a horizontal straight rod shape, can be inserted into the opening in the upper portion of the hanging type package 8, and positionally restricts the old hanging type package 8, so that the hanging type package 8 cannot be smoothly hung on the hanging rod 7, and when deflated, the telescopic inner tube 653 can be shortened to release space, the telescopic sleeve 654 is made of metal wire weaving and can be telescoped with the telescopic inner tube 653, air leakage of the telescopic inner tube 653 due to abrasion is reduced, a maintenance period is prolonged, and the telescopic sleeve 654 has a certain supporting capacity and can always keep a cylindrical shape during telescoping, so that the fluctuation of the circumferential outer wall of the telescopic inner tube 653 is compensated, and the smooth sliding of the hanging type package 8 along the telescopic inner tube 653 is avoided.

[0035] In further embodiments, with reference to Figure 9 , the supporting rod 65 further comprises a protective sleeve 652, the protective sleeve 652 is fixedly installed at the connection position between the pump air device 651 and the telescopic inner tube 653, the protective sleeve 652 is made of hard material and is sleeved outside the telescopic inner tube 653, can protect the joint of the telescopic inner tube 653, prevent air leakage caused by direct pressure deformation of the joint position, and meanwhile, the protective sleeve 652 is larger than the outer diameter of the telescopic inner tube 653, can accommodate the telescopic inner tube 653 when the telescopic inner tube 653 is shortened, and avoid the deflated telescopic inner tube 653 from being hung on a shelf or other position.

[0036] In further embodiments, to ensure the smooth transition of the hanging type package 8 between the hanging rod 7 and the supporting rod 65, with reference to Figure 9 and Figure 10 , the supporting rod 65 further comprises an end head 655, the end head 655 is made of magnetic material and can be adsorbed on the end portion of the metal hanging rod 7, to avoid disengagement during butt joint, the end head 655 is fixed at the end of the telescopic inner tube 653 away from the pump air device 651, the telescopic sleeve 654 is fixed between the end head 655 and the pump air device 651, and a lath 656 is installed at the end of the end head 655 away from the telescopic inner tube 653, the lath 656 is made of soft magnetic plastic material, that is, a flexible rubber strip mixed with metal powder, can be magnetized by the end head 655, because the opening of the hanging type package 8 is larger than the outer diameters of the hanging rod 7 and the supporting rod 65, there is a gap in the lower portion of the opening of the hanging type package 8, the flexible lath is lapped on the lower side of the hanging rod 7, while not affecting the hanging type package 8, further improves the contact area of the lapped position, and ensures that the end head 655 is stably adsorbed on the end portion of the hanging rod 7.

[0037] In further embodiments, with reference to Figure 5, the vertical section can extrude the vertical side wall of the goods, and the vertical section and the horizontal section are perpendicular to each other to form a ninety-degree angle, the support plate one 63 and the support plate two 64 are mirror symmetric, and the vertical section of the support plate one 63 and the support plate two 64 is provided with a rack 66 on the side of the vertical outer wall, for the bottled goods, the free ends of the horizontal sections of the support plate one 63 and the support plate two 64 are close to each other and form a middle gap, the bottle mouth can be clamped in the middle gap to clamp the goods, the annular protrusion at the position of the bottle mouth is clamped on the upper surface of the horizontal section, the vertical section cannot smoothly clamp the cylindrical bottled goods, the stability of clamping the bottled goods is improved, the rack 66 can increase the surface roughness of the vertical section, and the stability of clamping the boxed goods and the bottled goods is improved, because the hanging type package 8 is mostly soft package with narrow vertical side wall, the stability of extrusion and clamping is poor, the horizontal section can be lapped on the lower part of the hanging type package 8 at this time, so that the goods can be smoothly taken, the rack 66 can limit the position of the hanging type package 8, so that the hanging type package 8 can be kept substantially perpendicular to the support rod 65 and cannot be excessively twisted due to extrusion of the vertical section, so that the hanging rod 7 and the support rod 65 can be smoothly aligned with the opening in the upper part of the hanging type package 8, and then smoothly transition between the hanging rod 7 and the support rod 65.

[0038] In further embodiments, a specific configuration of the mechanical arm 5 is disclosed, referring to Figure 4 , the mechanical arm 5 comprises a first joint 51, a second joint 52, a third joint 53 and a fourth joint 54, the first joint 51, the second joint 52, the third joint 53 and the fourth joint 54 are connected in sequence, the first joint 51 is fixedly connected to the upper limb segment 3, and drives the remaining joints below to swing forward and backward, the second joint 52 is used to drive the remaining joints to swing vertically up and down, the third joint 53 drives the remaining joints to rotate, changes the position relationship between the support rod 65 and the support plate one 63 and the support plate two 64, and the fourth joint 54 is fixedly connected to the base 61, the fourth joint 54 can drive the mechanical hand 6 to swing up and down, and finally realize horizontal clamping and moving of the goods.

[0039] In further embodiments, in order to adapt to the replenishment scene, referring to Figure 2 and Figure 3The upper limb section 3 is provided with a wind cooling device, preferably a cooling fan. The upper limb section 3 is provided with an air outlet hole 31 on the side facing the mechanical arm 6, which is in communication with the air outlet end of the wind cooling device. The air after cooling is concentrated at the air outlet hole 31. In the replenishment process, the old goods are placed close to the air outlet hole 31, and the air flow generated by the wind cooling device is used to blow the dust on the surface of the old goods. The lower limb section 2 is provided with an air inlet hole 21 on the side facing the mechanical arm 6. The chassis 1 is provided with a dust collecting device 16. The dust collecting device 16 includes a box body with a filter screen. The box body is provided with a negative pressure suction device, which generates a negative pressure suction force. The negative pressure suction device is preferably a diaphragm pump. The negative pressure suction device is in communication with the air inlet hole 21 through an air inlet head 22. During the downward movement of the dust, a negative pressure is generated by the negative pressure suction device in the dust collecting device 16 to capture the dust at the position of the lower limb section 2. The dust is collected at the filter screen of the dust collecting device 16 for subsequent processing. The air is directly discharged from the box body, realizing the surface cleaning of the old goods in the replenishment process and avoiding the pollution of the surrounding air.

[0040] The above is only a preferred embodiment of the present application, not for limiting the protection scope of the present application.

Claims

1. A dual-arm wheeled humanoid robot, characterized in that, include: The chassis (1) includes drive wheels (11) and steering wheels (12). The trunk includes a lower limb segment (2), an upper limb segment (3) and a sensor (4). The upper limb segment (3) is mounted on the chassis (1) in a way that allows it to be raised and lowered via the lower limb segment (2). The sensor (4) is located at the highest point of the upper limb segment (3). Two actuators are symmetrically mounted on both sides of the upper limb segment (3). The actuators include a robotic arm (5) and a robotic hand (6). The robotic arm (5) can drive the robotic hand (6) to move in four degrees of freedom. The robotic arm (6) includes a base (61), and two relay seats (62) are provided on the end face of the base (61). The base (61) can drive the two relay seats (62) to move closer or further away synchronously. The two bases (61) are respectively connected to support plate one (63) and support plate two (64). When the relay seats (62) move closer to each other, they drive the free ends of support plate one (63) and support plate two (64) to move closer to each other. A telescopic support rod (65) is installed in the middle of the base (61). There is a space between the support rod (65) and support plate one (63) and support plate two (64).

2. The dual-arm wheeled humanoid robot according to claim 1, characterized in that, The base (61) also includes a main frame (611), and the main frame (611) is provided with a horizontally sliding end sleeve (614) in the middle. The relay base (62) includes a flat plate (621), and a diagonal brace (622) is fixedly installed on the side of the flat plate (621) facing the end sleeve (614). The end of the diagonal brace (622) near the center of the base (61) is hinged to a cover (626) through a vertical torsion spring shaft (629). The cover (626) is sleeved on the outside of the end sleeve (614). A wedge (616) is installed on the outer circumference of the end sleeve (614) facing the diagonal brace (622).

3. The dual-arm wheeled humanoid robot according to claim 2, characterized in that, The relay base (62) also includes a dovetail strip (625), which is horizontally slidably engaged with the main frame (611). The dovetail strip (625) is hinged to a hinge seat (623) at one end near the center of the base (61) via a support lug (627). The dovetail strip (625) is slidably mounted to a guide block (624) at the other end away from the hinge seat (623) via a guide hole (628). Both the hinge seat (623) and the guide block (624) are fixedly connected to the plate (621).

4. The dual-arm wheeled humanoid robot according to claim 2, characterized in that, The base (61) also includes two telescopic devices (612) horizontally arranged at the ends of the main frame (611). The end sleeve (614) is fixedly installed on the movable end of the telescopic device (612) by a limiting ring (615). The telescopic device (612) can drive the end sleeve (614) to slide horizontally. A guide rod (613) is inserted between the two telescopic devices (612). The middle part of the guide rod (613) is fixedly connected to the main frame (611).

5. The dual-arm wheeled humanoid robot according to claim 1, characterized in that, The support rod (65) includes a telescopic inner tube (653), and an air pump (651) is installed at the air inlet end of the telescopic inner tube (653). The air pump (651) is fixedly connected to the base (61), and a telescopic sleeve (654) is sleeved on the outside of the telescopic inner tube (653).

6. The dual-arm wheeled humanoid robot according to claim 5, characterized in that, The support rod (65) also includes a protective sleeve (652), which is fixedly installed at the connection between the air pump (651) and the telescopic inner tube (653).

7. The dual-arm wheeled humanoid robot according to claim 5, characterized in that, The support rod (65) also includes an end (655), which is fixed to the end of the telescopic inner tube (653) away from the air pump (651). The telescopic sleeve (654) is fixed between the end (655) and the air pump (651). A tie rod (656) is installed at the end of the end (655) away from the telescopic inner tube (653).

8. The dual-arm wheeled humanoid robot according to claim 1, characterized in that, The first support plate (63) has a vertical section and a horizontal section. The vertical section and the horizontal section intersect perpendicularly to form a 90-degree angle. The first support plate (63) and the second support plate (64) are mirror symmetrical. The free ends of the horizontal sections of the first support plate (63) and the second support plate (64) are close to each other and form a gap in the middle. The vertical outer walls of the vertical sections of the first support plate (63) and the second support plate (64) are equipped with racks (66) on opposite sides.

9. The dual-arm wheeled humanoid robot according to claim 1, characterized in that, The robotic arm (5) includes a first joint (51), a second joint (52), a third joint (53) and a fourth joint (54), which are connected in sequence. The first joint (51), the second joint (52), the third joint (53) and the fourth joint (54) are fixedly connected to the upper limb segment (3), and the fourth joint (54) is fixedly connected to the base (61).

10. The dual-arm wheeled humanoid robot according to claim 1, characterized in that, The upper limb segment (3) is equipped with a wind-powered heat dissipation device. The upper limb segment (3) has an air outlet (31) on the side facing the robot (6) that is connected to the air outlet of the wind-powered heat dissipation device. The lower limb segment (2) has an air vent (21) on the side facing the robot (6). The chassis (1) is equipped with a dust collection device (16). The air inlet of the negative pressure suction device built into the dust collection device (16) is connected to the air vent (21) through the air vent head (22).

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