Double-arm wheel type humanoid intelligent robot with body

Abstract

The invention relates to the technical field of bodywork robots, and discloses a double-arm wheel type humanoid bodywork intelligent robot which adopts a wheel type movable supporting structure, an auxiliary crawler belt is arranged in the middle of the bottom side of a chassis support, and when the robot passes through obstacles such as a doorsill and a low step, the auxiliary crawler belt is arranged on the bottom side of the chassis support; the robot can quickly cross obstacles through driving assistance of the auxiliary crawler belt, the terrain passing capacity of the robot is greatly improved, working transmission of moving wheels is completed through cooperation of a transmission belt wheel and a transmission toothed belt, and the situation that a moving driving motor occupies the lower space of a chassis support and collides with ground protrusions can be avoided; the robot body is installed on the upper portion of the chassis support in a matched and supported mode through the first hinge arm and the second hinge arm, the first hinge arm and the second hinge arm are driven through the hinge servo driving base, and flexible adjustment of the supporting height and the working inclination angle of the robot body can be achieved through overturning supporting. The problems that a traditional wheeled robot is difficult to take articles at high positions, and work limitation is high are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of embodied robot technology, in particular to a double-arm wheel type humanoid embodied intelligent robot. BACKGROUND

[0002] With the rapid development of artificial intelligence, robotics, materials science and sensor technology, service robots have gradually moved from the laboratory to practical application. Traditional industrial robots mainly focus on repetitive and high-precision tasks, such as welding and assembly in automobile manufacturing. Their working environment is relatively fixed, and their action mode is relatively single. However, in many complex real-world scenarios, such as home service, medical care, emergency rescue and flexible operation in complex industrial environments, robots need to have higher flexibility, adaptability and intelligent interaction capabilities. Embodied intelligent robots belong to a kind of robots, which imitate human body characteristics, have flexible joints and hand structures similar to the human body, can flexibly perform various actions to meet different types of work demands, and have great application potential in medical rehabilitation, education and entertainment, household service, public service and even industrial production.

[0003] In terms of structure, in order to adapt to the working scene and improve the moving speed of the robot, the existing embodied robots mostly adopt wheel type moving support structure. However, due to the limitation of the wheel type chassis structure, it cannot lift and lower the whole body like a double-leg chassis, which makes the operation very inconvenient when picking up objects of different heights, greatly limiting the work of the robot. Moreover, although the wheel type is fast and flexible in moving, it is easy to cause wheel slip and chassis jam when passing through ground protrusions such as doorsteps and low steps, and the terrain passing ability is not good. Therefore, a double-arm wheel type humanoid embodied intelligent robot is proposed. SUMMARY

[0004] The purpose of the present application is to provide a double-arm wheel type humanoid embodied intelligent robot to solve the problems raised in the background art.

[0005] To achieve the above purpose, the present application provides the following technical solution: a double-arm wheel type humanoid embodied intelligent robot, comprising a robot main body, a support arm mechanism and a chassis mechanism, wherein the robot main body is supported and installed on the upper part of the chassis mechanism through a support mechanism; The chassis mechanism is used for the moving support of the robot main body, and comprises a chassis support, a wheel support, a moving wheel, a moving drive motor, a track mounting seat, a track drive motor and an auxiliary track. The moving wheel is supported by the wheel support and driven by the moving drive motor and installed on the lower side of the chassis support. After installation, the moving drive motor is hidden inside the chassis support. The auxiliary track is supported by the track mounting seat and driven by the track drive motor and installed on the bottom side of the chassis support. The support arm mechanism is used for mounting support of a robot body, and comprises a support servo drive base, a first hinge arm, a second hinge arm and a hinge servo drive base. The second hinge arm is hingedly supported on the upper portion of a chassis support base. The first hinge arm and the second hinge arm are hingedly mounted to each other. The hinge servo drive base is mounted on the hinge side of the first hinge arm and the second hinge arm. The robot body is driven to overturn and is mounted on the upper portion of the first hinge arm through the support servo drive base.

[0006] As a preferred, the wheel support is provided with a plurality of positioning grooves, and the upper portion of the wheel support is fixedly and fittingly mounted in the positioning grooves through bolt fastening.

[0007] As a preferred, the moving drive motor is fixedly mounted on the inner side of the upper portion of the wheel support through bolt fastening, and the inner side of the positioning groove is provided with a motor mounting groove. The moving drive motor is fittingly mounted in the inner side of the motor mounting groove.

[0008] As a preferred, the moving wheel is rotatably mounted on the outer side of the lower portion of the wheel support through a rotating shaft. The moving drive motor and the rotating shaft end of the moving wheel are respectively fixedly mounted with a drive pulley and a transmission pulley. The upper portion of the drive pulley and the transmission pulley is provided with a transmission toothed belt. After mounting, the drive pulley, the transmission pulley and the transmission toothed belt are located in the inner cavity side of the wheel support.

[0009] As a preferred, the bottom side of the chassis support base is provided with a track mounting groove in the middle portion. The track mounting base is fixedly and fittingly mounted in the track mounting groove through bolt fastening.

[0010] As a preferred, the mounting groove cavity provided in the middle portion of the track mounting base is rotatably mounted with a track drive wheel through a rotating shaft. The track drive wheel is provided with a plurality of track drive wheels. The plurality of track drive wheels are evenly distributed and mounted on the inner side of the mounting groove cavity in equidistant manner. The auxiliary track is supported and mounted on the upper portion of the track drive wheel.

[0011] As a preferred, the drive side of the track drive motor is provided with a speed reducer. The track drive motor is fixedly mounted on the inner side of the chassis support base through a support. The drive rotating shaft end of the track drive motor is fixedly mounted with the drive input rotating shaft end of the speed reducer. The drive output rotating shaft end of the speed reducer is fixedly mounted with the rotating shaft end of the foremost track drive wheel. The chassis support base is provided with a detection radar on the front side and the rear side. The rear side of the chassis support base is provided with a storage basket on the upper portion.

[0012] Preferably, a hinge arm mounting seat is fixedly installed on the upper part of the chassis support, and hinge supports are fixedly installed on both sides of the upper part of the hinge arm mounting seat by bolts. The lower part of the second hinge arm is hingedly supported and installed with the hinge supports, and the lower part of the first hinge arm is hingedly installed with the upper part of the second hinge arm.

[0013] Preferably, the articulated servo drive seats are arranged in pairs, with one set of articulated servo drive seats installed on the lower part of the second hinge arm and the other set of articulated servo drive seats installed on the lower part of the first hinge arm, and the supporting servo drive seat is hinged to the upper part of the first hinge arm.

[0014] Preferably, the robot body includes a torso, a multi-axis robotic arm, a head, and a robotic hand. The torso is mounted on the upper part of a supporting servo drive base, the head is mounted on the upper part of the torso, the multi-axis robotic arms are arranged in pairs, with two sets of multi-axis robotic arms respectively mounted on the left and right sides of the torso, and the robotic hand is mounted on the end of the multi-axis robotic arm. Servo drivers are provided at the docking sides and joints of the supporting servo drive base, torso, multi-axis robotic arm, head, and robotic hand.

[0015] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects: 1. This robot adopts a wheeled mobile support structure, which allows for fast movement and flexible maneuverability. An auxiliary track is set in the middle of the bottom side of the chassis support. With the support of the auxiliary track, when the robot passes through obstacles such as thresholds or low steps that cause the moving wheels to lose power, the robot can quickly cross the obstacle by driving through the auxiliary track. This avoids the robot's movement obstacles caused by chassis jamming and greatly improves the robot's terrain traversal ability.

[0016] 2. The mobile wheels are supported by wheel supports, and transmission pulleys and toothed belts are installed inside the wheel supports. The working transmission of the mobile wheels is completed by the cooperation of the transmission pulleys and toothed belts. The mobile drive motor can be mounted on the top and can be hidden inside the chassis support. Compared with the traditional coaxial drive structure, it has better transmission stability and component protection. It can also avoid the mobile drive motor occupying the space under the chassis support and colliding with ground protrusions, which is beneficial to improving the robot's terrain traversal ability.

[0017] 3. The robot adopts a flip-hinged arm support structure. The main body of the robot is supported and installed on the upper part of the chassis support through the cooperation of the first and second hinge arms. The first and second hinge arms are driven by the hinged servo drive seat. The flip support can realize the flexible adjustment of the support height and working tilt angle of the robot body. The structure is simple and reliable. It solves the problems of traditional wheeled robots that have difficulty in picking up high objects and have high work restrictions, greatly improving the robot's working flexibility and scene adaptability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall front-side structure of the present invention. Figure 2 This is a schematic diagram of the overall rear structure of the present invention; Figure 3 This is a schematic diagram of the lower structure of the chassis support of the present invention; Figure 4 This is a schematic diagram of the working installation structure of the mobile wheel of the present invention; Figure 5 This is a schematic diagram of the mobile wheel drive mounting structure of the present invention; Figure 6 This is a schematic diagram of the auxiliary track working installation structure of the present invention; Figure 7 This is a schematic diagram of the outrigger mechanism of the present invention in its deployed state. Figure 8 This is a schematic diagram of the support arm mechanism and the main structure of the robot according to the present invention.

[0020] Explanation of reference numerals in the attached drawings: 1. Chassis support; 2. Wheel support; 3. Moving wheel; 4. Moving drive motor; 5. Track mounting base; 6. Track drive motor; 7. Auxiliary track; 8. Transmission pulley; 9. Transmission toothed belt; 10. Track drive wheel; 11. Detection radar; 12. Hinge arm mounting base; 13. Support servo drive base; 14. First hinge arm; 15. Second hinge arm; 16. Hinge servo drive base; 17. Hinge support; 18. Torso; 19. Multi-axis robotic arm; 20. Head; 21. Robotic arm; 22. Storage basket. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0023] Example Please see Figures 1-8 This invention provides a technical solution: a dual-arm wheeled humanoid intelligent robot, comprising a robot body, a support arm mechanism, and a chassis mechanism. The robot body is supported and mounted on the upper part of the chassis mechanism by a support mechanism. Specifically: Chassis Mechanism: Used for the movement support of the robot body. The chassis mechanism includes a chassis support 1, wheel supports 2, moving wheels 3, moving drive motor 4, track mounting base 5, track drive motor 6, and auxiliary tracks 7. The moving wheels 3 are supported by the wheel supports 2 and driven by the moving drive motor 4, and are mounted on the lower side of the chassis support 1. See attached diagram for details. Figure 3 As shown, six wheel supports 2 are provided. To facilitate the connection and installation of the wheel supports 2, positioning grooves are provided on both sides of the chassis support 1. The positioning grooves are adapted to the wheel supports 2. The upper part of the wheel supports 2 is fixedly fitted and installed with the positioning grooves by bolts. The moving drive motor 4 is used for the working drive of moving the wheels 3, as shown in the attached figure. Figure 4 As shown, the mobile drive motor 4 is fixedly installed to the upper inner side of the wheel support 2 by bolts. In order to achieve the hidden installation of the mobile drive motor 4, a motor mounting groove is provided on the inner side of the positioning groove. The mobile drive motor 4 is fitted into the inner side of the motor mounting groove. After installation, the mobile drive motor 4 is hidden inside the chassis support 1. The wheel-type mobile support structure allows for fast movement and flexible operation. The mobile wheel 3 is supported by the wheel support 2, and a transmission pulley 8 and a transmission toothed belt 9 are set inside the wheel support 2. The working transmission of the mobile wheel 3 is completed by the cooperation of the transmission pulley 8 and the transmission toothed belt 9, which can realize the upper installation of the mobile drive motor 4. The mobile drive motor 4 can be hidden inside the chassis support 1. Compared with the traditional coaxial drive structure, it has better transmission stability and component protection, and can avoid the mobile drive motor 4 occupying the lower space of the chassis support 1 and colliding with ground protrusions, which is beneficial to improving the robot's terrain passage ability.

[0024] The movable wheel 3 is rotatably mounted on the lower outer side of the wheel support 2 via a pivot shaft. To achieve the working transmission of the movable wheel 3, as shown in the attached diagram... Figure 5As shown, a drive pulley and a transmission pulley 8 are fixedly installed on the shaft ends of the mobile drive motor 4 and the mobile wheel 3, respectively. A transmission toothed belt 9 is installed on the upper part of the drive pulley and the transmission pulley 8. After installation, the drive pulley, the transmission pulley 8 and the transmission toothed belt 9 are all located on the inner cavity side of the wheel support 2, which can realize the working protection of the transmission structure.

[0025] The auxiliary track 7 is supported by the track mounting base 5 and driven by the track drive motor 6, and is mounted on the bottom center of the chassis support 1. Specifically, see attached... Figure 3 As shown, to facilitate the connection and installation of the track mounting base 5, a track mounting groove is provided in the middle of the bottom side of the chassis support 1. The track mounting base 5 is fixedly fitted into the track mounting groove by bolts. To facilitate the installation of the auxiliary track 7, as shown in the attached figure... Figure 6 As shown, a mounting slot is provided in the middle of the track mounting base 5. Track drive wheels 10 are rotatably mounted on the inner side of the mounting slot via a rotating shaft. Multiple track drive wheels 10 are provided, and several track drive wheels 10 are evenly distributed in an equidistant manner on the inner side of the mounting slot. An auxiliary track 7 is supported and mounted on the upper part of the track drive wheels 10. In order to improve the driving stability of the auxiliary track 7, a reducer is provided on the driving side of the track drive motor 6. The track drive motor 6 is fixedly mounted on the inner side of the chassis support 1 by a bracket. The driving shaft end of the track drive motor 6 is fixedly mounted to the driving input shaft end of the reducer, and the driving output shaft end of the reducer is fixedly mounted to the shaft end of the foremost track drive wheel 10. With the support and assistance of the auxiliary track 7, when the robot passes through obstacles such as thresholds and low steps, causing the moving wheels 3 to become suspended and lose power, the robot can quickly cross the obstacle by driving the auxiliary track 7, avoiding the robot's movement obstacles caused by chassis jamming, and greatly improving the robot's terrain crossing ability.

[0026] Support arm mechanism: Used for mounting and supporting the robot body. The support arm mechanism includes a supporting servo drive base 13, a first hinged arm 14, a second hinged arm 15, and a hinged servo drive base 16, as shown in the attached diagram. Figure 1 As shown, to facilitate the support and installation of the outrigger mechanism, a hinge arm mounting base 12 is fixedly installed on the upper part of the chassis support 1. Hinged supports 17 are bolted to both sides of the upper part of the hinge arm mounting base 12. The lower part of the second hinge arm 15 is hingedly supported and installed with the hinged supports 17, as shown in the attached diagram. Figure 8As shown, the lower part of the first hinge arm 14 is hinged to the upper part of the second hinge arm 15. The hinge servo drive seat 16 is a cylindrical seat type, and a servo drive unit is provided inside the hinge servo drive seat 16. The hinge servo drive seat 16 is installed on the hinge side of the first hinge arm 14 and the second hinge arm 15. Specifically, the hinge servo drive seats 16 are arranged in pairs. One set of hinge servo drive seats 16 is installed on the lower part of the second hinge arm 15, and the other set of hinge servo drive seats 16 is installed on the lower part of the first hinge arm 14, supporting the servo drive seat 13 and the first hinge arm 15. The upper hinge of 4 adopts a flip-hinged arm type body support structure. The robot body is supported and installed on the upper part of the chassis support 1 through the cooperation of the first hinge arm 14 and the second hinge arm 15. The first hinge arm 14 and the second hinge arm 15 are driven by the hinged servo drive seat 16. The flip support can realize the flexible adjustment of the support height and working tilt angle of the robot body. The structure is simple and the operation is reliable. It solves the problems of traditional wheeled robots that are difficult to pick up high objects and have high work restrictions, and greatly improves the robot's working flexibility and scene adaptability.

[0027] The robot body is mounted on the upper part of the first hinged arm 14 by a servo drive base 13, which drives it to rotate. See attached diagram for details. Figure 8 As shown, the robot body is a humanoid handling robot in the prior art. The robot body includes a torso 18, a multi-axis robotic arm 19, a head 20, and a robotic hand 21. To achieve motion actuation, servo drives are provided on the docking sides and joints of the supporting servo drive base 13, the torso 18, the multi-axis robotic arm 19, the head 20, and the robotic hand 21. Specifically, the torso 18 is mounted on the upper part of the supporting servo drive base 13, serving as the mounting support structure for the robot's multi-axis robotic arm 19 and head 20. The supporting servo drive base 13 has a servo drive unit inside, which supports the servo drive... The working drive of seat 13 enables the overall pitch and tilt adjustment of torso 18. Head 20 is mounted on the upper part of torso 18 and is equipped with an LCD screen for facial expression display, a camera for facial recognition, and an infrared sensor. Multi-axis robotic arms 19 are arranged in pairs, and each joint of the multi-axis robotic arms 19 is equipped with a servo driver. The two sets of multi-axis robotic arms 19 are respectively mounted on the left and right sides of torso 18, enabling multi-dimensional motion drive of robotic hand 21. To mimic the structure of a human hand, robotic hand 21 is mounted at the end of multi-axis robotic arm 19 and can be used for picking up and grasping objects. (See attached image) Figure 7 As shown, in order to realize obstacle detection on the front and rear moving sides, detection radars 11 are installed on both the front and rear sides of the chassis support 1. In order to facilitate the temporary storage of items, a storage basket 22 is installed on the upper rear side of the chassis support 1.

[0028] Working principle or structural principle: Mobile operation: During operation, the mobile drive motor 4, hidden in the chassis support 1, provides independent working drive for the six sets of mobile wheels 3. This avoids the mobile drive motor 4 occupying the space under the chassis support 1 and colliding with the ground protrusion. When moving, the mobile drive motor 4 works through the transmission pulley 8 and the transmission toothed belt 9 to drive the mobile wheels 3. When working synchronously, it can drive the robot to move forward and backward. When the mobile wheels 3 on both sides work synchronously in opposite directions, it can enable the robot to turn quickly. The robot moves quickly and moves flexibly. When the robot crosses the threshold and the mobile wheels 3 become suspended and lose power, the track drive motor 6 drives the auxiliary track 7 to work. The contact support between the auxiliary track 7 and the threshold propels the robot to quickly cross the threshold, avoiding the robot's movement obstacles caused by chassis jamming. This greatly improves the robot's terrain crossing ability. Item retrieval: When retrieving items at the same height, the robot moves to the item storage area. With the assistance of a camera, the multi-axis robotic arm 19 and the robotic hand 21 grasp the item to complete the retrieval operation. Afterwards, the robot rotates its body 18 axially to change its orientation and place the item into the storage basket 22 at the rear. When retrieving items from higher or lower positions, two sets of hinged servo drive seats 16 drive the first hinge arm 14 and the second hinge arm 15 to rotate axially. The robot body is then driven by the support servo drive seat 13 to adjust its pitch. This allows for flexible adjustment of the robot body's support height and working angle. The robot body is adjusted to a suitable height and retrieval angle. Then, with the assistance of a camera, the multi-axis robotic arm 19 and the robotic hand 21 grasp the item to complete the retrieval and storage operation. After completing the item retrieval, the robot moves the item to a designated area, then rotates its orientation to retrieve the item from the storage basket 22 and completes the item's movement and storage.

[0029] In summary, this android adopts a wheeled mobile support structure, enabling rapid and flexible movement. An auxiliary track 7 is installed at the bottom center of the chassis support 1. With the support of the auxiliary track 7, when the robot encounters obstacles such as thresholds or low steps that cause the mobile wheels 3 to become suspended and lose power, the auxiliary track 7 provides driving assistance, allowing the robot to quickly overcome obstacles and avoiding movement hindrance caused by chassis jamming. This significantly improves the robot's terrain-crossing ability. The mobile wheels 3 are mounted and supported by wheel supports 2, and a transmission pulley 8 and a transmission toothed belt 9 are installed inside the wheel supports 2. The transmission pulley 8 and the transmission toothed belt 9 work together to complete the working transmission of the mobile wheels 3, allowing the mobile drive motor 4 to be mounted on top and hidden within the chassis. Compared to traditional coaxial drive structures, the internal structure of support 1 offers better transmission stability and component protection. It also prevents the mobile drive motor 4 from occupying the lower space of the chassis support 1 and colliding with ground protrusions, thus improving the robot's terrain-crossing ability. The robot adopts a flip-hinged arm-type body support structure. The robot body is supported and installed on the upper part of the chassis support 1 through the cooperation of the first hinge arm 14 and the second hinge arm 15. The first hinge arm 14 and the second hinge arm 15 are driven by the hinged servo drive seat 16. The flip support allows for flexible adjustment of the robot body's support height and working tilt angle. The structure is simple and the operation is reliable. It solves the problems of traditional wheeled robots having difficulty in picking up high objects and having high work restrictions, greatly improving the robot's working flexibility and scene adaptability.

[0030] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

Claims

1. A dual-arm, wheeled, humanoid, embodied intelligent robot, comprising a robot body, a support arm mechanism, and a chassis mechanism, characterized in that, The robot body is supported and mounted on the upper part of the chassis mechanism by a support mechanism; The chassis mechanism is used for the movement support of the robot body. The chassis mechanism includes a chassis support (1), a wheel support (2), a moving wheel (3), a moving drive motor (4), a track mounting seat (5), a track drive motor (6), and an auxiliary track (7). The moving wheel (3) is supported by the wheel support (2) and driven by the moving drive motor (4) and installed on the lower side of the chassis support (1). After installation, the moving drive motor (4) is hidden inside the chassis support (1). The auxiliary track (7) is supported by the track mounting seat (5) and driven by the track drive motor (6) and installed in the middle of the bottom side of the chassis support (1). The arm mechanism is used for the installation support of the robot body. The arm mechanism includes a support servo drive seat (13), a first hinge arm (14), a second hinge arm (15), and a hinge servo drive seat (16). The second hinge arm (15) is hingedly supported and installed on the upper part of the chassis support (1). The first hinge arm (14) and the second hinge arm (15) are hinged to each other. The hinge servo drive seat (16) is installed on the hinge side of the first hinge arm (14) and the second hinge arm (15). The robot body is driven to flip and install on the upper part of the first hinge arm (14) by the support servo drive seat (13).

2. The dual-arm wheeled humanoid intelligent robot according to claim 1, characterized in that, Multiple wheel supports (2) are provided. The chassis support (1) has positioning grooves on both sides. The positioning grooves are adapted to the wheel supports (2). The upper part of the wheel supports (2) is fixedly fitted and installed with the positioning grooves by bolts.

3. The dual-arm wheeled humanoid intelligent robot according to claim 2, characterized in that, The mobile drive motor (4) is fixedly installed on the upper inner side of the wheel support (2) by bolts. The inner side of the positioning groove is provided with a motor mounting groove, and the mobile drive motor (4) is fitted into the inner side of the motor mounting groove.

4. A dual-armed wheeled humanoid intelligent robot according to claim 3, characterized in that, The movable wheel (3) is rotatably mounted on the lower outer side of the wheel support (2) by means of a rotating shaft. The movable drive motor (4) and the rotating shaft end of the movable wheel (3) are respectively fixedly mounted with a drive pulley and a transmission pulley (8). A transmission toothed belt (9) is installed on the upper part of the drive pulley and the transmission pulley (8). After installation, the drive pulley, the transmission pulley (8) and the transmission toothed belt (9) are all located on the inner cavity side of the wheel support (2).

5. A dual-arm wheeled humanoid intelligent robot according to claim 4, characterized in that, The bottom side of the chassis support (1) is provided with a track mounting groove, and the track mounting seat (5) is fixedly fitted and installed with the track mounting groove by bolts.

6. A dual-arm wheeled humanoid intelligent robot according to claim 5, characterized in that, The track mounting base (5) has a mounting groove in the middle. The track drive wheel (10) is rotatably mounted on the inner side of the mounting groove by a rotating shaft. There are multiple track drive wheels (10). Several track drive wheels (10) are evenly distributed in an equidistant manner on the inner side of the mounting groove. The auxiliary track (7) is supported and mounted on the upper part of the track drive wheel (10).

7. A dual-arm, wheeled, humanoid, embodied intelligent robot according to claim 6, characterized in that, The drive side of the track drive motor (6) is provided with a reducer. The track drive motor (6) is fixedly installed on the inner side of the chassis support (1) by a bracket. The drive shaft end of the track drive motor (6) is fixedly installed with the drive input shaft end of the reducer. The drive output shaft end of the reducer is fixedly installed with the shaft end of the foremost track drive wheel (10). Detection radars (11) are provided on both the front and rear sides of the chassis support (1). A storage basket (22) is installed on the upper rear side of the chassis support (1).

8. A dual-arm wheeled humanoid intelligent robot according to claim 1, characterized in that, The upper part of the chassis support (1) is fixedly installed with a hinge arm mounting seat (12). Both sides of the upper part of the hinge arm mounting seat (12) are fixedly installed with hinge supports (17) by bolts. The lower part of the second hinge arm (15) is hingedly supported and installed with the hinge support (17). The lower part of the first hinge arm (14) is hingedly installed with the upper part of the second hinge arm (15).

9. A dual-armed wheeled humanoid intelligent robot according to claim 8, characterized in that, The articulated servo drive bases (16) are arranged in pairs. One set of articulated servo drive bases (16) is installed on the lower part of the second hinge arm (15), and the other set of articulated servo drive bases (16) is installed on the lower part of the first hinge arm (14). The supporting servo drive base (13) is hinged to the upper part of the first hinge arm (14).

10. A dual-armed wheeled humanoid intelligent robot according to claim 9, characterized in that, The robot body includes a torso (18), a multi-axis robotic arm (19), a head (20), and a robotic hand (21). The torso (18) is mounted on the upper part of a supporting servo drive base (13), and the head (20) is mounted on the upper part of the torso (18). The multi-axis robotic arms (19) are arranged in pairs, with two sets of multi-axis robotic arms (19) respectively mounted on the left and right sides of the torso (18). The robotic hand (21) is mounted on the end of the multi-axis robotic arm (19). Servo drives are provided at the docking sides and joints of the supporting servo drive base (13), torso (18), multi-axis robotic arm (19), head (20), and robotic hand (21).

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