A two-armed wheeled humanoid robot

Abstract

The application discloses a double-arm wheel series humanoid robot and belongs to the technical field of mechanical equipment. The double-arm wheel series humanoid robot comprises a chassis, wherein the chassis comprises driving wheels and steering wheels; a trunk, wherein the trunk comprises a lower limb section, an upper limb section and a sensor; the upper limb section is installed on the chassis in a lifting manner through the lower limb section; and the upper limb section is provided with the sensor at the highest position. The double-arm wheel series humanoid robot is capable of automatically replenishing different types of goods on a commercial superstore shelf through the setting of the chassis, the trunk and two execution members, and can cope with box goods, bottle goods and hanging goods. The mechanical hands of the execution members can be adapted to clamping, all old goods can be taken off the shelf, new goods can be replenished to the rear side of the shelf by using another execution member, and the old goods can be placed in front of the new goods, so that the selling cycle of the goods is avoided to be too long.

Description

Technical Field

[0001] This invention belongs to the field of mechanical equipment technology, specifically relating to a dual-arm wheeled humanoid robot. Background Technology

[0002] Dual-arm wheeled humanoid robots are robots that combine humanoid dual-arm operation with a wheeled mobile chassis. They are designed to simulate the flexibility of human arms and the efficient mobility of a wheeled chassis, thereby performing diverse tasks in complex environments. These robots are typically equipped with multiple sensors and intelligent algorithms, supporting functions such as autonomous navigation, dual-arm collaborative operation, and voice interaction control, and can adapt to various work scenarios.

[0003] A Chinese invention patent with publication number CN119283031A discloses a humanoid robot dual-arm adaptive force control operation method and system. Although it can divide the collaborative task into a free movement stage, a constraint establishment stage, and a constraint movement stage, and generate corresponding control commands in each stage, and input the generated control commands into the dual-arm robot system to achieve coordinated movement control of the dual-arm robot in different stages, in the specific application scenario of supermarkets, when replenishing goods, it cannot be as flexible as a human. New goods are often placed directly into the empty spaces created by the sale, which keeps the old goods behind them blocked. This results in a longer sales cycle for the goods behind, with the risk of near-expiration or even expiration. In view of this, a dual-arm wheeled humanoid robot is provided. Summary of the Invention

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

[0005] The technical solution adopted to solve the above technical problems is: A dual-arm wheeled humanoid robot, comprising: Chassis, the chassis including drive wheels and steering wheels; The trunk includes a lower limb segment, an upper limb segment, and a sensor. The upper limb segment is vertically mounted on the chassis via the lower limb segment, and the sensor is located at the highest point of the upper limb segment. Two actuators are symmetrically mounted on both sides of the upper limb segment. Each actuator includes a robotic arm and a robotic hand. The robotic arm can drive the robotic hand to move in four degrees of freedom. The robotic arm includes a base, and two relay seats are provided on the end face of the base. The base can drive the two relay seats to move closer or further away synchronously. The two bases are respectively connected to support plate one and support plate two. When the relay seats move closer to each other, they drive the free ends of support plate one and support plate two to move closer to each other. A telescopic support rod is installed in the middle of the base, and there is an accommodating space between the support rod and support plate one and support plate two.

[0006] The chassis can move quickly and stably on flat supermarket floors, and its height adjustment mechanism allows it to adapt to shelves and storage cabinets of varying heights, enabling replenishment work over a wider area. When replenishing boxed goods, the first robotic arm inserts its first and second support plates into the upper part of the goods, clamping them from both sides and lifting them a short distance. After passing over the anti-fall railing on the shelf, it is removed from the shelf, and the support rod extends to support the bottom of the goods to prevent them from falling. When replenishing hanging packaged goods, the support rod rotates above the first and second support plates, and then shortens to overlap the end of the hanging rod. Support plates one and two clamp the lower part of the hanging package and move it away from the hanging rod. During this process, the support rod extends continuously, causing the hanging package to hang on the outside of the support rod. The second actuator's robotic arm uses support plates one and two to retrieve new goods from the storage cabinet and places them on the shelf or hangs them on the hanging rod. The first actuator then places the old goods horizontally on the shelf or hangs them back on the hanging rod. During this process, the new goods are pushed deeper into the shelf. After replenishment, the new goods are located behind the old goods. When replenishing, the old goods are replaced with goods in a more easily sellable front position to avoid excessively long sales cycles.

[0007] Furthermore, the base also includes a main frame, the main frame has an end sleeve that can slide horizontally in the middle, the relay base includes a plate, a diagonal brace is fixedly installed on the side of the plate facing the end sleeve, the end of the diagonal brace near the center of the base is hinged to a cover through a vertical torsion spring shaft, the cover is sleeved on the outside of the end sleeve, and a wedge is installed on the outer circumference of the end sleeve facing the diagonal brace.

[0008] Through the above technical solution, in order to ensure that multiple goods are clamped smoothly and synchronously, when the two end sleeves are horizontally close, the two relay seats will be pushed horizontally close to clamp multiple goods. Among them, the wedge block will squeeze the inclined support block, so that the free ends of support plate one and support plate two are close to each other. In this way, support plate one and support plate two can avoid being unable to stably clamp goods far from the base due to the obstruction of goods near the base, thus ensuring the smooth clamping of multiple goods.

[0009] Furthermore, the relay base also includes a dovetail strip, which is horizontally and slidably engaged with the main frame. The dovetail strip is hinged to a hinge seat via a support lug at one end near the center of the base, and a guide block is slidably installed at the other end of the dovetail strip away from the hinge seat via a guide hole. Both the hinge seat and the guide block are fixedly connected to the plate.

[0010] Through the above technical solution, in order to ensure the horizontal stability of support plate one and support plate two, the dovetail strip allows the flat plate and the main frame to slide horizontally, preventing the free ends of support plate one and support plate two from excessively falling due to the weight of the goods and causing the goods to slip. At the same time, the design of the hinge seat and guide block allows the dovetail strip and the flat plate to swing horizontally, without affecting the wedge block pressing the diagonal brace block to bring the free ends of support plate one and support plate two closer to each other.

[0011] Furthermore, the base also includes two telescopic devices horizontally arranged at the ends of the main frame. The end sleeve is fixedly installed on the movable end of the telescopic device by a limiting ring. The telescopic device can drive the end sleeve to slide horizontally. A guide rod is inserted between the two telescopic devices, and the middle part of the guide rod is fixedly connected to the main frame.

[0012] The above technical solution uses two horizontally arranged telescopic devices as power sources to control the horizontal sliding of the end sleeves. The end sleeves are fixed to the free ends of the telescopic devices. When the two telescopic devices extend, the two end sleeves will move closer to each other, causing support plate one and support plate two to move closer to each other to clamp the goods. When the two telescopic devices shorten, the two end sleeves will move away from each other, causing support plate one and support plate two to move away from each other to release the goods.

[0013] Furthermore, the support rod includes a telescopic inner tube, an air pump is installed at the air inlet end of the telescopic inner tube, the air pump is fixedly connected to the base, and a telescopic sleeve is fitted on the outer side of the telescopic inner tube.

[0014] The above technical solution discloses a specific configuration of a support rod. The telescopic inner tube is a corrugated telescopic tube. The air pump is used as an air source to inflate or deflate the telescopic inner tube. When inflated, the telescopic inner tube can be greatly extended and taut into a horizontal straight rod shape. When deflated, the telescopic inner tube can be shortened to release space. The telescopic sleeve is made of braided metal wire and can extend and retract with the telescopic inner tube, reducing air leakage caused by wear, extending the maintenance cycle, and compensating for the undulations of the outer circumference of the telescopic inner tube, thus avoiding obstruction of the smooth sliding of hanging packaging along the telescopic inner tube.

[0015] Furthermore, the support rod also includes a protective sleeve, which is fixedly installed at the connection between the air pump and the telescopic inner tube.

[0016] With the above technical solution, the protective sleeve is made of rigid material and is placed on the outside of the telescopic inner tube. It can protect the joint of the telescopic inner tube and prevent air leakage caused by direct pressure deformation at the joint. At the same time, the protective sleeve is larger than the outer diameter of the telescopic inner tube, so it can accommodate the telescopic inner tube when it is shortened, and prevent the telescopic inner tube, which has softened due to exhaust, from hanging on the shelf or other positions.

[0017] Furthermore, the support rod also includes an end, which is fixed to the end of the telescopic inner tube away from the air pumping device. The telescopic sleeve is fixed between the end and the air pumping device, and a tie rod is installed on the end of the end away from the telescopic inner tube.

[0018] Through the above technical solutions, in order to ensure a smooth transition between the hanging packaging and the support rod, the end is made of magnetic material, which can be attached to the end of the metal hanging rod to avoid detachment during docking. At the same time, the overlap strip is made of soft magnetic plastic material, which can flexibly overlap the lower side of the hanging rod. Without affecting the hanging packaging, it further increases the contact area at the overlap position and ensures that the end is stably attached to the end of the hanging rod.

[0019] Furthermore, the first support plate has a vertical section and a horizontal section, which intersect perpendicularly to form a 90-degree angle. The first support plate and the second support plate are mirror symmetrical. The free ends of the horizontal sections of the first support plate and the second support plate are close to each other and form a gap in the middle. A rack is installed on the vertical outer wall of the opposite side of the vertical section of the first support plate and the second support plate.

[0020] Through the above technical solutions, support plate one and support plate two adopt a "┛" shape. The vertical section can squeeze the vertical side wall of the goods to complete the clamping of boxed goods. For bottled goods, the bottle mouth can be inserted into the middle gap to prevent the vertical section from being unable to clamp the cylindrical bottled goods smoothly. Since hanging packaging is mostly soft packaging, the vertical section has poor stability in squeezing and clamping. The horizontal section can overlap the lower part of the hanging packaging to ensure smooth picking. The rack can increase the surface roughness of the vertical section to improve the stability of clamping boxed and bottled goods. The rack can also limit the hanging packaging, so that the hanging packaging can remain basically perpendicular to the support rod without excessive twisting, thus smoothly transitioning between the hanging rod and the support rod.

[0021] Furthermore, the robotic arm includes a first joint, a second joint, a third joint, and a fourth joint, which are connected in sequence. The first joint is fixedly connected to the upper limb segment, and the fourth joint is fixedly connected to the base.

[0022] The above technical solution discloses a specific configuration of a robotic arm. The first joint is fixed on the upper limb segment, which drives the remaining joint below to swing back and forth. The second joint is used to drive the remaining joint to swing vertically up and down. The third joint drives the remaining joint to rotate, changing the vertical position relationship between the support rod and the first and second support plates. The fourth joint can drive the robotic arm to swing up and down, ultimately realizing the horizontal clamping and moving replenishment of goods.

[0023] Furthermore, the upper limb segment is equipped with a built-in wind-powered cooling device, and the upper limb segment has an air outlet on the side facing the robot hand that communicates with the air outlet of the wind-powered cooling device. The lower limb segment has an air intake hole on the side facing the robot hand. The chassis is equipped with a dust collection device, and the air inlet of the negative pressure suction device built into the dust collection device is connected to the air intake hole through an air intake head.

[0024] To adapt to replenishment scenarios, the above technical solution utilizes the time between new goods being retrieved and shelved during replenishment. Old goods are placed near the vent, and the exhaust blast generated by the fan-powered cooling device blows away surface dust. As the dust descends, a negative pressure is generated by the built-in negative pressure suction device in the dust collection equipment, capturing the dust at the lower segment and allowing it to accumulate for further processing. This achieves surface cleaning of old goods during the replenishment process.

[0025] The beneficial effects of this invention are as follows: This invention, through the setup of a chassis, a body, and two actuators, enables fully automated replenishment of different types of goods on supermarket shelves. It can handle boxed goods, bottled goods, and hanging goods. The robotic arm of this actuator can grip all the old goods together and remove them from the shelf. The other actuator then replenishes the new goods to the back of the shelf and places the old goods in front of the new goods, thus avoiding excessively long sales cycles. This invention uses the configuration of the actuators, with support plate one and support plate two close to each other to clamp the goods. At the same time, the free ends of support plate one and support plate two are close to each other to ensure stable clamping of the goods at the far end when clamping multiple goods. For hanging goods, the support rod can work with support plate one and support plate two to align the upper opening of the hanging goods with the hanging rod, ensuring that the goods can be picked up and put down smoothly, eliminating the need for manual intervention and making it highly practical. This invention optimizes the lower and upper limb segments. During the time when new goods are picked up and put on the shelf, the old goods are brought close to the exhaust blast generated by the back heat dissipation device to blow away the floating dust on the surface of the old goods. As the floating dust moves downward, it is captured by the negative pressure of the dust collection device and gathered at the dust collection device for subsequent processing, thus realizing the cleaning of dust on the surface of old goods during the replenishment process. Attached Figure Description

[0026] Figure 1 This is a first-view structural diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the lower limb segment with an air vent in this invention; Figure 3 This is a structural schematic diagram of the chassis of the present invention with the outer cover removed; Figure 4 This is a schematic diagram of the structure between the robotic arm and the robotic hand of the present invention; Figure 5 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 6 This is a schematic diagram of the structure between the telescopic device, relay seat, support plate one, and support plate two of the present invention. Figure 7 This is a schematic diagram showing the separation between the telescopic device and the relay seat of the present invention; Figure 8 This is a cross-sectional schematic diagram of the telescopic device and the relay seat of the present invention; Figure 9 This is a cross-sectional schematic diagram of the support rod of the present invention; Figure 10 This is a schematic diagram of the support rod in its extended state according to the present invention.

[0027] Reference numerals: 1. Chassis; 11. Drive wheel; 12. Steering wheel; 13. Rocker arm; 14. Telescopic cylinder one; 15. Telescopic cylinder two; 16. Dust collection device; 2. Lower limb segment; 21. Air vent; 22. Air vent head; 3. Upper limb segment; 31. Air outlet; 4. Sensor; 5. Robotic arm; 51. First joint; 52. Second joint; 53. Third joint; 54. Fourth joint; 6. Robotic hand; 61. Base; 611. Main frame; 612. Telescopic device; 613. Guide rod; 614. End sleeve; 615. 616. Limiting ring; 62. Wedge block; 63. Relay seat; 64. Flat plate; 65. Diagonal brace block; 66. Hinge seat; 67. Guide block; 68. Dovetail strip; 69. Cover; 60. Lug; 61. Guide hole; 62. Torsion spring shaft; 63. Support plate one; 64. Support plate two; 65. Support rod; 66. Pumping equipment; 67. Protective sleeve; 68. Telescopic inner tube; 69. Telescopic sleeve; 60. End; 610. Overlap strip; 611. Rack; 622. Hanging rod; 63. Hanging packaging. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] like Figure 1 - Figure 10 As shown, this embodiment provides a dual-arm wheeled humanoid robot, designed to meet the replenishment needs of different types of goods in supermarkets, and includes a specific configuration: Regarding chassis 1, refer to... Figure 1 and Figure 3 The chassis 1 includes two drive wheels 11 and two steering wheels 12 for rapid movement and steering; Regarding the torso, the torso includes the lower limb segment 2, the upper limb segment 3, and the sensor 4. A rocker arm 13 is installed between the lower limb segment 2 and the chassis 1. A telescopic cylinder 15 is installed between the rocker arm 13 and the chassis 1. A telescopic cylinder 14 is installed between the rocker arm 13 and the lower limb segment 2. The lower limb segment 2 can be driven to change its height and tilt forward and backward through the telescopic cylinder 14 and the telescopic cylinder 15, thereby improving the flexibility of use and adapting to the needs of picking up and placing goods at different heights. The sensor 4 is located at the highest point of the upper limb segment 3. It is equipped with a vision module, a ranging module, an audio transmission module, and other sensing modules to perform human-computer interaction, control the actions of the equipment, and other steps. Regarding the two executables, refer to... Figure 2 and Figure 4 Two actuators are symmetrically installed 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 two actuators perform different actions respectively and cooperate with each other to complete the replenishment action. Among them, reference Figure 4 The robotic arm 6 includes a base 61, with two relay seats 62 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 1 63 and support plate 2 64. When the relay seats 62 move closer to each other, they drive the free ends of support plate 1 63 and support plate 2 64 to move closer to each other. A telescopic support rod 65 is installed in the middle of the base 61, and there is an accommodating space between the support rod 65 and support plate 1 63 and support plate 2 64.

[0030] The working principle of this embodiment is as follows: The chassis 1 has four wheels, which can move quickly and stably on the flat ground of the supermarket. Compared with bi-legged humanoid robots, it is more adapted to the floor environment of the supermarket. By adjusting the height of the torso, it can adapt to shelves and storage cabinets of different heights. It is well-suited for multi-layer shelves. When replenishing vertically packaged (boxed or bottled) goods, the first actuator, the robotic arm 6, inserts its first support plate 63 and second support plate 64 into the upper part of the goods. Then, they move closer together to clamp the goods. The goods are clamped from both sides and lifted a distance. After passing over the anti-fall railing on the shelf, the goods are removed from the shelf. The support rod 65 extends to support the bottom of the goods, forming a storage space to prevent the goods from falling. When replenishing goods in hanging package 8, support rod 65 rotates above support plate 1 63 and support plate 2 64. Since the bottom of hanging package 8 is suspended, support plate 1 63 and support plate 2 64 can be directly inserted into the lower part of hanging package 8 for clamping. Support rod 65 first shortens and overlaps the end of hanging rod 7, and drives hanging package 8 away from hanging rod 7. During the process, support rod 65 continues to extend, so that hanging package 8 gradually transitions from hanging rod 7 to the outside of support rod 65, completing the process of removing old hanging package 8 from hanging rod 7, and stably placing hanging package 8 in the storage space. After the old goods are removed, the second actuator, robotic arm 6, uses support plates 63 and 64 to retrieve new goods from the storage cabinet. The storage cabinet is best placed at the bottom 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 actuator then places the old goods horizontally on the shelf or hangs them back on the hanging rod 7. During this process, the new goods are pushed deeper into the shelf. After replenishment, the new goods are located behind the old goods. When replenishing, the old goods are replaced with goods in a more easily sold front position to avoid excessively long sales cycles.

[0031] In a further embodiment, to ensure that multiple goods are successfully and synchronously clamped, refer to Figure 5 , Figure 6 and Figure 7 The base 61 also includes a main frame 611, which is fixed to the lower end of the robotic arm 5. The main frame 611 has a horizontally sliding end sleeve 614 in its middle. The relay seat 62 includes a flat plate 621. A cover 626 is hinged to one end of a diagonal brace 622 near the center of the base 61 via a vertical torsion spring shaft 629. The cover 626 is fitted onto the outside of the end sleeve 614. Before clamping the goods, the torsion spring shaft 629 makes the support plate 1 63 and support plate 2 64 parallel to each other, allowing them to be smoothly inserted into the gaps on both sides of the goods. Then, the two end sleeves 614 approach horizontally, causing the two relay seats 62 to approach horizontally and clamp multiple goods. When clamping multiple goods simultaneously, because the goods... Since the items are of uniform size, the first support plate 63 and the second support plate 64 cannot stably clamp the items far from the base 61 because the items near the base 61 are blocked. Therefore, a diagonal brace 622 is fixedly installed on the side of the flat plate 621 opposite the end sleeve 614. A wedge 616 is installed on the outer circumference of the end sleeve 614 opposite the diagonal brace 622. The wedge 616 presses against the inclined surface of the diagonal brace 622, which pushes the flat plate 621 to swing around the torsion spring shaft 629, thereby bringing the free ends of the first support plate 63 and the second support plate 64 closer to each other. In this way, the items far from the support plate 63 and the second support plate 64 can also be forcefully clamped, thus ensuring the smooth clamping of multiple items.

[0032] In a further embodiment, to ensure the horizontal stability of support plate 63 and support plate 64, refer to Figure 7 and Figure 8The relay base 62 also includes a dovetail strip 625, which is embedded in the main frame 611 and horizontally slidably engaged with it. At one end of the dovetail strip 625 near the center of the base 61, a hinge seat 623 is hinged to it via a lug 627. At the other end of the dovetail strip 625 away from the hinge seat 623, a guide block 624 is slidably mounted to it via a guide hole 628. Both the hinge seat 623 and the guide block 624 are fixedly connected to the plate 621, allowing for horizontal sliding between the plate 621 and the main frame 611, preventing the support plate from shifting. The free ends of support plate 63 and support plate 64 sag excessively due to the weight of the goods, causing the goods to slip. At the same time, the design of hinge seat 623 and guide block 624 allows plate 621 to swing relative to dovetail bar 625 around hinge seat 623. Guide block 624 has a circular arc structure with its center coinciding with the axis of hinge seat 623, allowing horizontal swing between dovetail bar 625 and plate 621 without affecting wedge block 616 pressing diagonal brace block 622 to bring the free ends of support plate 63 and support plate 64 closer to each other.

[0033] In a further embodiment, to control the horizontal sliding of the end sleeve 614, refer to Figure 6 and Figure 7 The base 61 also includes two horizontally arranged telescopic devices 612 at the ends of the main frame 611. These two horizontally arranged telescopic devices 612 serve as a power source. End sleeves 614 are fixedly installed on the movable ends of the telescopic devices 612 via limiting rings 615. When the two telescopic devices 612 extend, the two end sleeves 614 will approach each other, and by pressing the flat plate 621, the support plate 1 63 and support plate 2 64 will approach each other to clamp the goods. When the telescopic device 612 is shortened, the two end sleeves 614 will move away from each other, causing the support plate 1 63 and support plate 2 64 to move away from each other and lower 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 to the main frame 611. The movable end of the telescopic device 612 has a blind hole and is inserted into the guide rod 613. This can transfer the radial force of the movable end of the guide rod 613 to the position of the main frame 611, reduce the radial force of the movable end of the guide rod 613, and ensure the stable operation of telescopic movement over a long period of time.

[0034] In a further embodiment, a specific configuration of the support rod 65 is disclosed, referring to... Figure 9 and Figure 10The support rod 65 includes a telescopic inner tube 653, which is a flexible corrugated telescopic tube. An air pump 651 is installed at the air inlet end of the telescopic inner tube 653. The air pump 651 serves as an air source for inflating or deflating the telescopic inner tube 653. The air pump 651 is fixedly connected to the base 61. A telescopic sleeve 654 is fitted over the outer side of the telescopic inner tube 653. When inflated, the telescopic inner tube 653 can significantly extend and taut into a horizontal straight rod shape, which can be inserted into the opening at the top of the hanging package 8 to adjust the position of the old hanging package 8. The inner tube 653 is designed to prevent the hanging package 8 from being unable to be smoothly reattached to the hanging rod 7. During exhaust, the telescopic inner tube 653 can shorten to release space. The telescopic sleeve 654 is made of braided metal wire and can extend and retract with the telescopic inner tube 653, reducing air leakage caused by wear and extending the maintenance cycle. It also has a certain support capacity and can maintain a cylindrical shape during the extension and retraction process. It can compensate for the undulation of the outer circumference of the telescopic inner tube 653 and avoid obstructing the smooth sliding of the hanging package 8 along the telescopic inner tube 653.

[0035] In a further embodiment, refer to Figure 9 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. The protective sleeve 652 is made of rigid material and is fitted over the outside of the telescopic inner tube 653. It can protect the joint of the telescopic inner tube 653 and prevent air leakage caused by direct pressure deformation at the joint. At the same time, the protective sleeve 652 is larger than the outer diameter of the telescopic inner tube 653. When the telescopic inner tube 653 is shortened, it can accommodate the telescopic inner tube 653 and prevent the telescopic inner tube 653, which has softened due to exhaust, from hanging on the shelf or other positions.

[0036] In a further embodiment, to ensure a smooth transition of the hanging package 8 between the hanging rod 7 and the support rod 65, refer to Figure 9 and Figure 10 The support rod 65 also includes an end 655, which is made of magnetic material and can be attached to the end of the metal hanging rod 7 to prevent detachment during connection. The end 655 is fixed to the end of the telescopic inner tube 653 away from the pumping device 651. The telescopic sleeve 654 is fixed between the end 655 and the pumping device 651. An overlap strip 656 is installed on the end of the end 655 away from the telescopic inner tube 653. The overlap strip 656 is made of soft magnetic plastic material, that is, a flexible rubber strip mixed with metal powder, which can be magnetized by the end 655. Because the opening of the hanging packaging 8 is larger than the outer diameter of the hanging rod 7 and the support rod 65, there will be a gap at the bottom of the opening of the hanging packaging 8. The flexible overlap is on the lower side of the hanging rod 7, which further increases the contact area of ​​the overlap position without affecting the hanging packaging 8, ensuring that the end 655 is stably attached to the end of the hanging rod 7.

[0037] In a further embodiment, refer to Figure 5Support plate 1 (63) has a vertical section and a horizontal section. Support plate 1 (63) and support plate 2 (64) adopt a "┛" shape. The vertical section can compress the vertical side wall of the goods to clamp the boxed goods. The vertical and horizontal sections intersect perpendicularly to form a 90-degree angle. Support plate 1 (63) and support plate 2 (64) are mirror symmetrical. A toothed rack 66 is installed on the opposite side of the vertical outer wall of the vertical section of support plate 1 (63) and support plate 2 (64). For bottled goods, the free ends of the horizontal sections of support plate 1 (63) and support plate 2 (64) are close to each other to form a gap in the middle. The bottle mouth can be clamped in the gap to pick up the goods. The annular protrusion at the bottle mouth position is used to hold the upper surface of the horizontal section to prevent the vertical section from being unable to clamp the cylindrical shape smoothly. For bottled goods, the rack 66 increases the surface roughness of the vertical section, improving the stability of clamping boxed and bottled goods. Since hanging packages 8 are mostly soft packages with narrow vertical sidewalls, the stability of vertical section compression clamping is poor. The horizontal section can overlap the lower part of the hanging package 8 to ensure smooth retrieval. The rack 66 can limit the hanging package 8, so that the hanging package 8 can remain basically perpendicular to the support rod 65 and will not be excessively twisted due to vertical section compression. This allows the hanging rod 7 and the support rod 65 to be smoothly aligned with the opening at the top of the hanging package 8, thus facilitating a smooth transition between the hanging rod 7 and the support rod 65.

[0038] In a further embodiment, a specific configuration of the robotic arm 5 is disclosed, referring to... Figure 4 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 is fixedly connected to the upper limb segment 3, which drives the remaining joints below to swing back and forth. 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, changing the vertical position relationship between the support rod 65 and the support plate 1 63 and support plate 2 64. The fourth joint 54 is fixedly connected to the base 61, and the fourth joint 54 can drive the robotic arm 6 to swing up and down, ultimately realizing the horizontal clamping and moving replenishment of goods.

[0039] In a further embodiment, to adapt to replenishment scenarios, refer to Figure 2 and Figure 3The upper limb segment 3 has a built-in fan-powered cooling device, preferably a cooling fan. An air outlet 31, connected to the air outlet of the fan-powered cooling device, is located on the side of the upper limb segment 3 facing the robotic arm 6. After cooling, the air is concentrated at the air outlet 31. During replenishment, the old goods are brought close to the air outlet 31 during the time between picking up and shelving new goods. The fan-powered cooling device uses the tail current generated by cooling the back of the old goods to blow away surface dust. The lower limb segment 2 has an air vent 21 on the side facing the robotic arm 6. The chassis 1 has a built-in dust collection device 16. The dust collection device 16 includes a housing with a filter screen. The negative pressure suction device built into the housing generates a negative pressure suction force. The negative pressure suction device is preferably a diaphragm pump. The negative pressure suction device is connected to the air intake hole 21 through the air intake head 22. During the downward movement of floating dust, the negative pressure generated by the negative pressure suction device built into the dust collection device 16 captures floating dust at the lower segment 2. The dust is gathered at the filter screen of the dust collection device 16 for subsequent processing, while the air is directly discharged from the housing. This achieves surface cleaning of old goods during the replenishment process and also avoids polluting the surrounding air.

[0040] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

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). 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). When replenishing goods in vertical packaging, the first robotic arm's support plates one and two are inserted into the upper part of the goods, then they move closer together to clamp the goods, clamp the goods from both sides and lift them a certain distance, and the support rods extend to support the bottom of the goods, forming a storage space. When replenishing goods in hanging packaging, the support rod rotates above support plate one and support plate two. Support plate one and support plate two are inserted into the lower part of the hanging packaging to clamp it. The support rod first shortens and overlaps at the end of the hanging rod. During the process, the support rod continues to extend and pulls the hanging packaging away from the hanging rod, so that the hanging packaging gradually transitions from the hanging rod to the outside of the support rod, completing the process of removing the old hanging packaging from the hanging rod and placing the hanging packaging stably in the storage space. When inflated, the telescopic inner tube is horizontal and straight, inserted into the opening at the top of the hanging package to constrain the position of the old hanging package. When deflated, the telescopic inner tube shortens, releasing space.

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) also includes a protective sleeve (652), which is fixedly installed at the connection between the air pump (651) and the telescopic inner tube (653).

6. The dual-arm wheeled humanoid robot according to claim 1, 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).

7. 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.

8. 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).

9. 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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