Integrated parallel universal damping wheeled humanoid robot

Abstract

The integrated parallel universal damping wheeled humanoid robot comprises a machine chassis and a humanoid robot body arranged on the machine chassis, the humanoid robot body is connected with the machine chassis through a parallel mechanism, and a top table is driven to rotate through the parallel mechanism; therefore, the humanoid robot main body mounted on the top table is driven to rotate together, and the posture of the humanoid robot main body is adjusted; a universal wheel mechanism and a damping mechanism are arranged at the bottom of the machine chassis, the universal wheel mechanism comprises two universal wheel assemblies installed on the left side and the right side of the bottom of the machine chassis, and the damping mechanism comprises a plurality of damping assemblies arranged at the bottom of the machine chassis. Compared with the prior art, the robot has the following advantages that the posture of the humanoid robot can be flexibly adjusted within the 360-degree range, the energy consumption and the maintenance cost are greatly reduced by adopting the integrated design, and the operation efficiency and the economical efficiency are both considered.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an integrated parallel omnidirectional shock-absorbing wheeled humanoid robot. Background Technology

[0002] Humanoid robots, with their humanoid form and versatility, have shown broad application prospects in many fields such as industry, service, and medicine. However, traditional humanoid robots have many problems when in use. They consume a lot of power when walking and need to mobilize many joints to maintain balance and center of gravity, resulting in low walking efficiency and poor battery life.

[0003] To address these issues, wheeled robots have emerged. Currently, wheeled robots are mainly customized and integrated designs by humanoid robot manufacturers, and manufactured as complete units, making their design quite challenging.

[0004] Most current wheeled robot base structures are based on AGVs (Automated Guided Vehicles) with the addition of a three-coordinate measuring machine (CCM). This CCM connects to the humanoid robot's waist, extending the functionality of the upper body and achieving energy savings and flexibility. However, this structure typically involves three independent systems: the humanoid robot's upper body, the CCM, and the AGV. Redundant interfaces between these systems increase overall structural complexity and weight, and can lead to communication delays, affecting the robot's response efficiency and collaborative control accuracy. Existing technologies also use two-link structures to replace the CCM. While this reduces size, it results in poor load-bearing capacity, failing to meet the weight requirements of the humanoid robot's upper body. Furthermore, neither of these structural forms allows for 360-degree posture adjustment of the humanoid robot. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated parallel omnidirectional shock-absorbing wheeled humanoid robot to achieve flexible adjustment of the humanoid robot's posture within a 360-degree range. The integrated design significantly reduces energy consumption and maintenance costs, while taking into account both operational efficiency and economy.

[0006] This invention is achieved through the following technical solution: The integrated parallel omnidirectional shock-absorbing wheeled humanoid robot includes a chassis and a humanoid robot body mounted on the chassis. The humanoid robot body is connected to the machine chassis through a parallel mechanism. The parallel mechanism drives the top platform to rotate, thereby causing the humanoid robot body mounted on the top platform to rotate as well, thus achieving adjustment of the humanoid robot body's posture. The machine chassis is equipped with a caster wheel mechanism and a shock absorption mechanism at its bottom. The caster wheel mechanism includes two sets of caster wheel assemblies installed on the left and right sides of the bottom of the machine chassis, and the shock absorption mechanism includes several sets of shock absorption components installed at the bottom of the machine chassis.

[0007] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the parallel mechanism includes a mounting platform fixed to the machine chassis. A vertical mounting shaft is fixed on the mounting platform. An inner sleeve, a middle sleeve, and an outer sleeve are coaxially and rotatably mounted on the vertical mounting shaft from the inside out. The part of the top of the middle sleeve extending upward above the top of the outer sleeve is the middle extension section. The part of the top of the inner sleeve extending upward above the top of the middle sleeve is the inner extension section. Connecting blocks are respectively provided on the top of the outer sleeve, the middle extension section, and the inner extension section. Each connecting block is provided with a mounting section. The mounting section is an inclined section that extends radially upward along the vertical mounting shaft. The mounting sections of the three connecting blocks are located at the same height and are distributed circumferentially along the vertical mounting shaft. The mounting sections of the three connecting blocks are respectively connected to the top platform through three parallel rods. The two ends of each parallel rod are hinged to the mounting section and the top platform through a first hinge shaft and a second hinge shaft, respectively. The first hinge shaft and the second hinge shaft at both ends of each parallel rod are perpendicular to each other.

[0008] As a preferred solution for the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the inner sleeve, intermediate sleeve, and outer sleeve are driven to rotate independently through a parallel drive structure.

[0009] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the parallel drive structure includes three sets of drive components mounted on a mounting platform. Each set of drive components includes a first motor, a bevel gear pair, and a spur gear pair. The output shaft of the first motor extends horizontally and is connected to the input shaft of the bevel gear pair. The output shaft of the bevel gear pair extends vertically and serves as the driving shaft of the spur gear pair. The driven gear of the spur gear pair serves as the output gear of the drive component. An inner transmission gear, a middle transmission gear, and an outer transmission gear are respectively fixed on the inner sleeve, the middle sleeve, and the outer sleeve. The inner transmission gear, the middle transmission gear, and the outer transmission gear are arranged alternately from bottom to top, and the three transmission gears mesh with the output gears of the three sets of drive components.

[0010] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the second hinge shafts at the top of the three parallel rods are evenly distributed along the circumference of the top platform, and the axis of the second hinge shafts extends radially along the top platform.

[0011] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the shock-absorbing component includes shock-absorbing wheels that can elastically extend and retract vertically, with the shock-absorbing wheels exposed from below the machine chassis.

[0012] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the shock-absorbing assembly further includes a first support platform fixed to the machine chassis. The shock-absorbing wheel is rotatably mounted at the bottom of the shock-absorbing base. The top of the shock-absorbing base is suspended below the first support platform via a central column. The central column slides into the central through-hole of the first support platform and is connected to the first support platform via a limiting nut on the upper section of the central column. A shock-absorbing spring is fitted on the lower section of the central column. The upper and lower ends of the shock-absorbing spring elastically press against the first support platform and the shock-absorbing base, respectively. The top of the shock-absorbing base is also provided with several sliding rods, which slide into a corresponding linear bearing on the first support platform.

[0013] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the omnidirectional wheel assembly includes a second support platform fixed to the machine chassis. The top of the omnidirectional bracket is rotatably mounted on the second support platform via a vertical column. The vertical column at the top of the omnidirectional bracket extends upward through the second support platform and is fixedly mounted on a first gear. A second motor is mounted on the machine chassis, and the output shaft of the second motor extends vertically and is fixedly mounted on a second gear, which meshes with the first gear. An omnidirectional wheel is rotatably mounted at the bottom of the omnidirectional bracket and is exposed from below the machine chassis. A third motor is provided on the side of the omnidirectional bracket, and the output shaft of the third motor is fixedly connected to the axle of the omnidirectional wheel.

[0014] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the machine chassis is equipped with a battery, and visual sensors are respectively installed on the front and rear sides of the machine chassis.

[0015] As a preferred embodiment of the aforementioned integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, the shock-absorbing mechanism includes four sets of shock-absorbing components, which are located at the four corners of the bottom of the machine chassis, and two sets of omnidirectional wheel components are located at the middle of the left and right sides of the bottom of the machine chassis.

[0016] The present invention has the following advantages over the prior art: This invention provides an integrated parallel omnidirectional shock-absorbing wheeled humanoid robot. The robot's main body is connected to the machine chassis via a parallel mechanism. This mechanism allows for precise multi-posture adjustment of the robot's main body, meeting the dynamic balance requirements during operation. The parallel mechanism, built into the chassis, effectively lowers the overall center of gravity to enhance stability, reduces structural space, and improves movement flexibility and response speed. Simultaneously, the omnidirectional wheel mechanism enables 360° directional switching, ensuring smooth, high-speed movement and precise trajectory control, adapting to path planning needs in various indoor and outdoor work scenarios. Furthermore, the shock-absorbing mechanism efficiently absorbs vibrations from uneven ground, effectively reducing the impact of vibrations on the machine chassis and the robot's main body, significantly improving the stability of the robot's operation and ensuring precision in operations. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention.

[0018] Figure 2 This is a perspective view of the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of the machine chassis of the present invention.

[0020] Figure 4 This is a perspective view of the parallel mechanism of the present invention.

[0021] Figure 5 This is a perspective view of the parallel mechanism of the present invention.

[0022] Figure 6 This is a perspective view of the parallel mechanism of the present invention after removing the three parallel rods.

[0023] Figure 7 This is a longitudinal sectional view of the parallel mechanism of the present invention.

[0024] Figure 8 This is a perspective view of the universal wheel assembly of the present invention.

[0025] Figure 9 This is a perspective view of the shock-absorbing component of the present invention.

[0026] Numbered in the diagram: 1. Robot chassis; 2. Humanoid robot body; 3. Battery; 4. Vision sensor; 5. Parallel mechanism; 6. Top platform; 7. Mounting platform; 8. Vertical mounting shaft; 9. Inner sleeve; 10. Intermediate sleeve; 11. Outer sleeve; 12. Bearing; 13. Intermediate extension section; 14. Inner extension section; 15. Connecting block; 16. Mounting section; 17. Parallel rod; 18. First hinge shaft; 19. Second hinge shaft; 20. First motor; 21. Bevel gearbox; 22. Spur gear pair; 23. Output gear; 24. Internal transmission gear; 25. Intermediate transmission gear; 26. External transmission gear; 27. Universal wheel assembly; 28. Shock absorption assembly; 29. ​​Shock absorption wheel; 30. First support platform; 31. Shock absorption base; 32. Central column; 33. Limit nut; 34. Shock absorption spring; 35. Sliding rod; 36. Linear bearing; 37. Second support platform; 38. Universal bracket; 39. First gear; 40. Second motor; 41. Second gear; 42. Universal wheel; 43. Third motor. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0028] See Figures 1 to 9 This embodiment discloses an integrated parallel universal shock-absorbing wheeled humanoid robot, including a machine chassis 1 and a humanoid robot body 2 mounted on the machine chassis 1. The machine chassis 1 is equipped with a rechargeable battery 3, a charging port, and vision sensors 4 on the front and rear sides of the machine chassis 1.

[0029] The humanoid robot body 2 is connected to the machine chassis 1 through a parallel mechanism 5. The parallel mechanism 5 drives the top platform 6 to rotate, thereby causing the humanoid robot body 2 installed on the top platform 6 to rotate together, thus realizing the adjustment of the posture of the humanoid robot body 2.

[0030] The specific structural form of parallel mechanism 5 is as follows: The parallel mechanism 5 includes a mounting platform 7 fixed to the machine chassis 1. A vertical mounting shaft 8 is fixed on the mounting platform 7. An inner sleeve 9, a middle sleeve 10, and an outer sleeve 11 are coaxially mounted on the vertical mounting shaft 8 from the inside out. Adjacent sleeves can be rotatably connected by bearings 12. The part of the top of the middle sleeve 10 that extends upward above the top of the outer sleeve 11 is the middle extension section 13. The part of the top of the inner sleeve 9 that extends upward above the top of the middle sleeve 10 is the inner extension section 14. Connecting blocks 15 are respectively provided on the top of the outer sleeve 11, the middle extension section 13, and the inner extension section 14. For ease of installation, the inner extension section 14 and the middle extension section 13 can be designed as a split structure, consisting of an extension section body connected by screws and an end cap located at the top of the extension section body. The corresponding connecting blocks 15 are set on the end cap and integrally formed with the end cap. A mounting plate can be integrally formed on the top of the outer sleeve 11, and the connecting blocks 15 are set on the mounting plate and integrally formed with the mounting plate. Each connecting block 15 is provided with a mounting section 16, which is an inclined section extending radially upward along the vertical mounting axis 8. The mounting sections 16 of the three connecting blocks 15 are located at the same height and are distributed circumferentially along the vertical mounting axis 8. The mounting sections 16 of the three connecting blocks 15 are connected to the top platform 6 by three parallel rods 17. The two ends of each parallel rod 17 are hinged to the mounting section 16 and the top platform 6 by a first hinge shaft 18 and a second hinge shaft 19, respectively. The first hinge shaft 18 and the second hinge shaft 19 at both ends of each parallel rod 17 are perpendicular to each other. The second hinge shafts 19 at the top of the three parallel rods 17 are evenly distributed along the circumference of the top platform 6, and the axis of the second hinge shaft 19 extends radially along the top platform 6. The inner sleeve 9, the intermediate sleeve 10, and the outer sleeve 11 are driven to rotate independently by a parallel drive structure. The main body of the parallel mechanism 5 is located in the inner cavity of the machine chassis 1, and three parallel rods 17 extend from the holes above the machine chassis 1.

[0031] The parallel drive structure includes three sets of drive components mounted on the mounting platform 7. Each set of drive components includes a first motor 20, a bevel gear pair, and a spur gear pair 22. The bevel gear pair is installed in the bevel gear box 21. The output shaft of the first motor 20 extends horizontally and is connected to the input shaft of the bevel gear pair. The output shaft of the bevel gear pair extends vertically and serves as the driving shaft of the spur gear pair 22. The driven gear of the spur gear pair 22 serves as the output gear 23 of the drive component. An inner transmission gear 24, an intermediate transmission gear 25, and an outer transmission gear 26 are fixed on the inner sleeve 9, the intermediate sleeve 10, and the outer sleeve 11, respectively. The inner transmission gear 24, the intermediate transmission gear 25, and the outer transmission gear 26 are arranged sequentially from bottom to top at intervals. The three transmission gears mesh with the output gears 23 of the three sets of drive components, respectively. The inner drive gear 24 is located at the bottom of the inner sleeve 9 and the two are fixedly connected by screws; the middle drive gear 25 has a mounting groove at the top center for the bottom of the middle sleeve 10 to be embedded, and the two are fixedly connected by screws; the outer drive gear 26 can be integrally formed with the outer sleeve 11 to form a single piece.

[0032] The working principle of parallel mechanism 5 is as follows: In each drive assembly, the first motor 20 is activated, converting its horizontal motion into vertical motion via a bevel gear pair. This drives the spur gear pair 22, which in turn rotates the output gear 23. The output gear 23 then rotates the transmission gear meshing with it, which in turn rotates the corresponding sleeve and connecting block 15. This, in turn, moves the parallel rod 17 hinged to the connecting block 15, thereby moving the top platform 6. The three first motors 20 in the three drive assemblies are independently controlled, enabling the top platform 6 and the humanoid robot body 2 mounted on it to rotate within a 360-degree range in space. This allows the humanoid robot body 2 to adjust its posture within a 360-degree range, meeting the robot's requirements for center of gravity adjustment and posture adaptation during operation. Simultaneously, the main body of the parallel mechanism 5 is located within the machine chassis 1, effectively reducing the overall size of the robot, improving its mobility and response speed, and enhancing its stability while lowering the center of gravity.

[0033] The bottom of the machine chassis 1 is equipped with a caster mechanism and a shock absorption mechanism. The two sets of caster wheel assemblies 27 of the caster mechanism are located in the middle of the left and right sides of the bottom of the machine chassis 1. The shock absorption mechanism includes four sets of shock absorption components 28, which are located at the four corners of the bottom of the machine chassis 1.

[0034] The shock absorption mechanism includes several sets of shock absorption components 28 disposed at the bottom of the machine chassis 1. Each shock absorption component 28 includes a shock-absorbing wheel 29 capable of vertical elastic extension and retraction, exposed below the machine chassis 1. The shock absorption component 28 also includes a first support platform 30 fixed to the machine chassis 1. The shock-absorbing wheel 29 is rotatably mounted on the bottom of a shock-absorbing base 31. The top of the shock-absorbing base 31 is suspended below the first support platform 30 via a central column 32. The central column 32 slides against the central through-hole of the first support platform 30 and is connected to the first support platform 30 via a limiting nut 33 on the upper section of the central column 32. A shock-absorbing spring 34 is fitted onto the lower section of the central column 32, with its upper and lower ends elastically pressing against the first support platform 30 and the shock-absorbing base 31, respectively. The top of the shock-absorbing base 31 is also provided with several sliding rods 35, which slide in a corresponding manner with several linear bearings 36 disposed on the first support platform 30, guiding the vertical movement of the shock-absorbing base 31.

[0035] When the robot moves, the vibrations caused by the uneven ground are transmitted to the shock-absorbing base 31 through the shock-absorbing wheels 29. The vibration causes the shock-absorbing base 31 to move up and down, compressing or stretching the shock-absorbing spring 34. The shock-absorbing spring 34 absorbs part of the vibration energy through elastic deformation, improving the shock absorption effect. When the shock-absorbing base 31 moves up and down, the sliding rod 35 slides along the inner hole of the linear bearing 36, providing precise guidance for the movement of the shock-absorbing base 31 and preventing the shock-absorbing base 31 from shifting and causing shock absorption failure. The central column 32 passes through the first support platform 30 and is limited at the top by the limiting nut 33, limiting the maximum displacement of the shock-absorbing base 31 and preventing the shock-absorbing spring 34 from deforming excessively. Through the synergistic effect of the shock-absorbing spring 34 buffering and the linear bearing 36 guiding, the impact of vibration on the machine chassis 1 and the top humanoid robot body 2 is effectively reduced, ensuring the stability and operational accuracy of the robot's upper body operation.

[0036] The caster mechanism includes two sets of caster wheel assemblies 27 installed on the left and right sides of the bottom of the machine chassis 1. The caster wheel assembly 27 includes a second support platform 37 fixed on the machine chassis 1. The top of the caster bracket 38 is rotatably mounted on the second support platform 37 via a vertical column. The vertical column at the top of the caster bracket 38 extends upward through the second support platform 37 and is fixedly mounted on a first gear 39. A second motor 40 is installed on the machine chassis 1. The output shaft of the second motor 40 extends vertically and is fixedly mounted on a second gear 41. The second gear 41 meshes with the first gear 39. A caster wheel 42 is rotatably mounted on the bottom of the caster bracket 38. The caster wheel 42 is exposed from below the machine chassis 1. A third motor 43 is provided on the side of the caster bracket 38. The output shaft of the third motor 43 is fixedly connected to the axle of the caster wheel 42.

[0037] In the omnidirectional wheel mechanism, the omnidirectional wheel 42 is driven to rotate by the third motor 43, and the robot's movement speed can be controlled by adjusting the speed of the third motor 43. When it is necessary to change the direction of movement, the second motor 40 is activated, which drives the second gear 41 to rotate. The second gear 41 drives the first gear 39 to rotate, which in turn drives the omnidirectional support 38 to rotate. When the omnidirectional support 38 rotates, the omnidirectional wheel 42 at its bottom changes its orientation synchronously with the omnidirectional support 38, thereby realizing 360° arbitrary switching of the robot's movement direction. Combined with the linear drive function of the third motor 43, the robot finally has omnidirectional movement capability and can adapt to complex terrain and changing work scenarios.

[0038] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated parallel omnidirectional shock-absorbing wheeled humanoid robot, comprising a machine chassis (1) and a humanoid robot body (2) mounted on the machine chassis (1), characterized in that: The humanoid robot body (2) is connected to the machine chassis (1) through a parallel mechanism (5). The parallel mechanism (5) drives the top platform (6) to rotate, thereby driving the humanoid robot body (2) installed on the top platform (6) to rotate together, thereby realizing the adjustment of the posture of the humanoid robot body (2); The bottom of the machine chassis (1) is provided with a caster mechanism and a shock absorption mechanism. The caster mechanism includes two sets of caster assemblies (27) installed on the left and right sides of the bottom of the machine chassis (1). The shock absorption mechanism includes several sets of shock absorption components (28) installed on the bottom of the machine chassis (1).

2. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 1, characterized in that: The parallel mechanism (5) includes a mounting platform (7) fixed to the machine chassis (1). A vertical mounting shaft (8) is fixed on the mounting platform (7). An inner sleeve (9), a middle sleeve (10), and an outer sleeve (11) are coaxially mounted on the vertical mounting shaft (8) from the inside to the outside. The part of the middle sleeve (10) that extends upward above the top of the outer sleeve (11) is the middle extension section (13). The part of the inner sleeve (9) that extends upward above the top of the middle sleeve (10) is the inner extension section (14). A connecting block (15) is provided on the top of the outer sleeve (11), the middle extension section (13), and the inner extension section (14). Each connecting block (15) has a connecting block (15). The upper part is provided with an installation section (16), which is an inclined section that extends radially upward along the vertical installation axis (8) at its outer end. The installation sections (16) of the three connecting blocks (15) are located at the same height and are distributed circumferentially along the vertical installation axis (8). The installation sections (16) of the three connecting blocks (15) are connected to the top platform (6) through three parallel rods (17). The two ends of each parallel rod (17) are hinged to the installation section (16) and the top platform (6) through the first hinge shaft (18) and the second hinge shaft (19) respectively. The first hinge shaft (18) and the second hinge shaft (19) at both ends of each parallel rod (17) are perpendicular to each other.

3. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 2, characterized in that: The inner sleeve (9), the intermediate sleeve (10), and the outer sleeve (11) are driven to rotate independently by a parallel drive structure.

4. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 3, characterized in that: The parallel drive structure includes three sets of drive components mounted on the mounting platform (7). Each set of drive components includes a first motor (20), a bevel gear pair, and a spur gear pair (22). The output shaft of the first motor (20) extends horizontally and is connected to the input shaft of the bevel gear pair. The output shaft of the bevel gear pair extends vertically and serves as the driving shaft of the spur gear pair (22). The driven gear of the spur gear pair (22) serves as the output gear (23) of the drive component. An inner transmission gear (24), an intermediate transmission gear (25), and an outer transmission gear (26) are fixed on the inner sleeve (9), the middle sleeve (10), and the outer sleeve (11), respectively. The inner transmission gear (24), the middle transmission gear (25), and the outer transmission gear (26) are arranged alternately from bottom to top. The three transmission gears mesh with the output gears (23) of the three sets of drive components, respectively.

5. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 2, characterized in that: The second hinge shaft (19) at the top of the three parallel rods (17) is evenly distributed along the circumference of the top platform (6), and the axis of the second hinge shaft (19) extends radially along the top platform (6).

6. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 1, characterized in that: The shock-absorbing assembly (28) includes a shock-absorbing wheel (29) that can elastically extend and retract vertically, and the shock-absorbing wheel (29) is exposed from below the machine chassis (1).

7. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 6, characterized in that: The shock-absorbing assembly (28) also includes a first support platform (30) fixed on the machine chassis (1), a shock-absorbing wheel (29) rotatably mounted on the bottom of the shock-absorbing base (31), the top of the shock-absorbing base (31) is suspended below the first support platform (30) by a central column (32), the central column (32) slides with the central through hole of the first support platform (30), and is hung on the first support platform (30) by a limiting nut (33) on the upper section of the central column (32), the lower section of the central column (32) is fitted with a shock-absorbing spring (34), the upper and lower ends of the shock-absorbing spring (34) elastically press against the first support platform (30) and the shock-absorbing base (31) respectively, and the top of the shock-absorbing base (31) is also provided with several sliding rods (35), and the several sliding rods (35) slide with several linear bearings (36) provided on the first support platform (30) in a one-to-one correspondence.

8. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 1, characterized in that: The universal wheel assembly (27) includes a second support platform (37) fixed on the machine chassis (1), a universal bracket (38) is rotatably mounted on the second support platform (37) via a vertical column, the vertical column at the top of the universal bracket (38) extends upward through the second support platform (37) and is fixedly mounted on a first gear (39), a second motor (40) is mounted on the machine chassis (1), the output shaft of the second motor (40) extends vertically and is fixedly mounted on a second gear (41), the second gear (41) meshes with the first gear (39); a universal wheel (42) is rotatably mounted on the bottom of the universal bracket (38), the universal wheel (42) is exposed from below the machine chassis (1), a third motor (43) is provided on the side of the universal bracket (38), and the output shaft of the third motor (43) is fixedly connected to the wheel axle of the universal wheel (42).

9. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 1, characterized in that: The machine chassis (1) is equipped with a battery (3) inside, and vision sensors (4) are provided on the front and rear sides of the machine chassis (1).

10. The wheeled humanoid robot with integrated parallel omnidirectional shock absorption as described in claim 1, characterized in that: The shock absorption mechanism includes four sets of shock absorption components (28), which are located at the four corners of the bottom of the machine chassis (1), and two sets of universal wheel assemblies (27), which are located at the middle of the left and right sides of the bottom of the machine chassis (1).

Images