Two-wheel self-balancing wet carton transfer robot with gravity center self-adaptive adjusting function

Abstract

The invention discloses a two-wheel self-balancing wet carton transfer robot with a gravity center self-adaptive adjusting function, and belongs to the technical field of intelligent warehouse logistics and industrial robots. A gravity center self-adaptive adjusting system; a material grabbing mechanism; an anti-skid power system; a path avoidance control system; by arranging the two-wheel self-balancing vehicle body structure, the gravity center self-adaptive adjusting system, the material grabbing mechanism, the anti-skid power system, the path avoiding control system and the main controller, cooperative linkage of all the systems is achieved, and the wet carton loading change, the vehicle body posture change and the working environment change are dynamically adapted; the technical defects of existing transfer equipment are effectively overcome, the material loss and the equipment fault probability in the transfer process are reduced, the automation level and the operation efficiency of transfer operation are improved, and the efficient transfer requirements of wet cartons in the scenes of storage, logistics and the like are met.

Description

A two-wheeled self-balancing wet cardboard box transport robot with adaptive center of gravity adjustment function Technical Field

[0001] This invention belongs to the field of intelligent warehousing and logistics and industrial robot technology, specifically referring to a two-wheeled self-balancing wet carton transfer robot with adaptive center of gravity adjustment function. Background Technology

[0002] In industries such as warehousing, logistics, and waste recycling, the transfer of wet cardboard boxes is a common and important operation. Because wet cardboard boxes absorb moisture, they have characteristics such as uneven weight distribution, reduced strength, easy breakage, and easy slippage, which bring many inconveniences to the transfer operation.

[0003] However, existing two-wheeled self-balancing wet carton transport robots with adaptive center of gravity adjustment still have certain shortcomings. The poor coordination and linkage of various systems in the existing technology makes it impossible to dynamically adapt to changes in wet carton load, vehicle posture, and operating environment. This results in high material loss rate, frequent equipment failures, low automation level, and low operating efficiency during the transport process, making it difficult to meet the high-efficiency transport needs of wet cartons in warehousing, logistics, and other scenarios. The design of its adaptive center of gravity adjustment system is imperfect. It either lacks accurate posture and load detection capabilities, which cannot provide reliable data support for center of gravity adjustment, or the accuracy of center of gravity calculation is insufficient, and the adjustment response is lagging. The adjustment drive mechanism cannot quickly and accurately compensate for the center of gravity offset. Furthermore, it does not use a control torque gyroscope or its application is unreasonable, making it difficult to provide stable adjustment torque. As a result, the robot has poor self-balancing stability when the wet carton load changes or the vehicle posture fluctuates, and is prone to problems such as imbalance and tipping. This further affects the safety and continuity of the transport operation. Therefore, a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a two-wheeled self-balancing wet carton transfer robot with adaptive center of gravity adjustment function to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function, comprising a two-wheeled self-balancing vehicle structure; an adaptive center of gravity adjustment system; a material gripping mechanism; an anti-slip force system; a path avoidance control system; and a main controller; the main controller is communicatively connected to the adaptive center of gravity adjustment system, the material gripping mechanism, the anti-slip force system, and the path avoidance control system, and is used to coordinately control each system according to the handling task; the adaptive center of gravity adjustment system is used to dynamically adjust the overall center of gravity of the robot according to changes in vehicle posture and load, so as to maintain the self-balancing state of the two wheels.

[0006] Preferably, the two-wheeled self-balancing vehicle structure includes: longitudinally arranged drive wheels at the front and rear; a frame body; and a load-bearing platform.

[0007] Preferably, the load-bearing platform is movably connected to the main body of the vehicle frame and is drivenly connected to the actuator of the center of gravity adaptive adjustment system.

[0008] Preferably, the center of gravity adaptive adjustment system includes: a control torque gyroscope; an attitude detection module; a center of gravity calculation unit; and an adjustment drive module.

[0009] Preferably, the attitude detection module is used to acquire vehicle attitude information and load status information in real time; the center of gravity calculation unit calculates the center of gravity offset based on the vehicle attitude information and load status information; and the adjustment drive module drives the control torque gyroscope to adjust the overall center of gravity position of the robot based on the center of gravity offset.

[0010] Preferably, the material gripping mechanism includes: a lifting arm; a clamping assembly; the lifting arm is used to lift the waste cardboard box to the load-bearing platform; the clamping assembly is used to fix the lifted waste cardboard box to prevent slippage during transportation.

[0011] Preferably, the anti-slip system includes: a drive motor; an electronic differential; and high-grip wheels; the high-grip wheels are made of a rubber and polyurethane composite material.

[0012] Preferably, the path avoidance control system includes: an obstacle recognition module; a trajectory prediction module; and a path planning module.

[0013] Preferably, when the distance between the robot and the working equipment is less than a preset safe distance, the control system triggers a deceleration or stop action.

[0014] Preferably, the main controller dynamically adjusts the control parameters of the center of gravity adjustment system, anti-slip force system, and path avoidance control system based on changes in robot posture, load, and environmental information.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention, by setting up a two-wheeled self-balancing vehicle structure, a center of gravity adaptive adjustment system, a material gripping mechanism, an anti-slip force system, a path avoidance control system, and a main controller, realizes the coordinated linkage of various systems, dynamically adapts to changes in wet carton load, vehicle posture, and operating environment, effectively overcomes the technical defects of existing transfer equipment, reduces material loss and equipment failure probability during transfer, improves the automation level and efficiency of transfer operations, and adapts to the high-efficiency transfer needs of wet cartons in warehousing, logistics, and other scenarios; 2. The present invention, through an adaptive adjustment system consisting of a control torque gyroscope, an attitude detection module, and a weight... The system consists of a center of gravity calculation unit and an adjustment drive module. The attitude detection module can capture the vehicle's attitude changes and load status in real time, providing accurate data support for center of gravity adjustment. The center of gravity calculation unit quickly calculates the center of gravity offset based on the detected information, ensuring the accuracy of the adjustment command. The adjustment drive module drives the control torque gyroscope to precisely adjust the center of gravity position, resulting in higher adjustment accuracy and faster response speed. It can track changes in load and attitude in real time and dynamically compensate for center of gravity offset. The application of the control torque gyroscope can provide stable adjustment torque, further improving the stability of self-balancing and ensuring that the robot can maintain a stable self-balancing state under changes in load and attitude. Attached Figure Description

[0016] Figure 1 is a flowchart of the operation of a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function according to the present invention; Figure 2 is a flowchart of the operation of a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function according to the present invention; Figure 3 is a flowchart of the operation of a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function according to the present invention; Figure 4 is a flowchart of the operation of a two-wheeled self-balancing wet carton transport robot with adaptive center of gravity adjustment function according to the present invention. Detailed Implementation

[0017] 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.

[0018] Please refer to Figures 1-4 for the embodiment. The present invention provides a technical solution including a two-wheeled self-balancing vehicle structure; a center of gravity adaptive adjustment system; a material gripping mechanism; an anti-slip force system; a path avoidance control system; and a main controller. The main controller is communicatively connected to the center of gravity adaptive adjustment system, the material gripping mechanism, the anti-slip force system, and the path avoidance control system, and is used to coordinate the control of each system according to the handling task. The center of gravity adaptive adjustment system is used to dynamically adjust the overall center of gravity of the robot according to changes in vehicle posture and load to maintain the two-wheeled self-balancing state.

[0019] In this embodiment, the two-wheeled self-balancing vehicle structure includes: longitudinally arranged drive wheels; a frame body; and a load-bearing platform.

[0020] Specifically, the drive wheels are symmetrically arranged at the front and rear ends of the main frame, rigidly connected to the output end of the anti-slip force system to ensure the stability of power transmission. They can also be independently started / stopped and speed adjusted according to driving needs. The main frame adopts a lightweight, high-strength structure with a streamlined design, which reduces the robot's weight to improve endurance while enhancing structural rigidity to bear the load. The surface of the main frame is treated with anti-corrosion coating to adapt to the humid environment that may occur during the transport of wet cardboard boxes. The load-bearing platform surface is equipped with anti-slip textures to increase friction with the wet cardboard boxes. Limiting protrusions are set at the platform edges to further prevent the wet cardboard boxes from slipping during transport. The platform dimensions can be adapted to the standard specifications of wet cardboard boxes.

[0021] In this embodiment, the load-bearing platform is movably connected to the main body of the vehicle frame and is driven by the actuator of the center of gravity adaptive adjustment system.

[0022] Specifically, the movable connection adopts a sliding guide structure, which allows the load-bearing platform to move flexibly along the longitudinal and lateral sides of the frame without any jamming during movement, ensuring smooth center of gravity adjustment; the transmission connection adopts a precision gear transmission structure, which has high transmission efficiency and small transmission error, and can accurately transmit the power of the center of gravity adaptive adjustment system to the load-bearing platform, so that the platform's adjustment action is synchronized with the center of gravity adjustment command, and a buffer component is also set up.

[0023] In this embodiment, the center of gravity adaptive adjustment system includes: a control torque gyroscope; an attitude detection module; a center of gravity calculation unit; and an adjustment drive module.

[0024] The control torque gyroscope adopts a high-speed rotating structure, enabling rapid response to adjustment commands. By changing the rotation direction and speed, it generates different magnitudes of adjustment torque to adapt to varying degrees of center of gravity offset adjustment needs. Its outer shell is sealed to prevent damage to internal components from humid environments. The attitude detection module integrates multiple detection elements, capable of capturing all-around attitude changes such as vehicle tilt and sway, while simultaneously monitoring changes in load weight distribution in real time. The detection signal transmission is stable and interference-free. The center of gravity calculation unit has a built-in dedicated processing chip, which can quickly process various information transmitted by the attitude detection module and accurately determine the center of gravity offset. The adjustment drive module is connected to both the control torque gyroscope and the load support platform, enabling synchronous and coordinated adjustment of both according to the commands of the center of gravity calculation unit, ensuring the accuracy and efficiency of center of gravity adjustment.

[0025] In this embodiment, the attitude detection module is used to acquire vehicle attitude information and load status information in real time; the center of gravity calculation unit calculates the center of gravity offset based on the vehicle attitude information and load status information; and the adjustment drive module drives the control torque gyroscope to adjust the overall center of gravity position of the robot based on the center of gravity offset.

[0026] Specifically, the attitude detection module acquires vehicle attitude information including tilt angle, speed, and steering angle, while load status information includes the weight, placement position, and stacking height of the wet cardboard box. The detection process is continuous to ensure real-time and comprehensive information acquisition. When calculating the center of gravity offset, the center of gravity calculation unit combines the robot's own weight distribution to accurately compensate for the center of gravity offset caused by load changes, avoiding adjustment deviations caused by ignoring the robot's own center of gravity. When driving the control torque gyroscope, the adjustment drive module dynamically adjusts the driving force and speed according to the magnitude of the center of gravity offset, using a gentle adjustment method when the center of gravity offset is small.

[0027] In this embodiment, the material gripping mechanism includes: a lifting arm; a clamping assembly; the lifting arm is used to lift the waste cardboard box to the load support platform; the clamping assembly is used to fix the lifted waste cardboard box to prevent slippage during transportation.

[0028] Specifically, the lifting arm adopts a telescopic and foldable structure, which can flexibly adjust its length and angle according to the stacking height and position of the wet cartons. The end of the lifting arm is equipped with a flexible tray that fits against the surface of the wet cartons, which can increase the lifting area and avoid squeezing and damaging the wet cartons during the lifting process. The clamping assembly consists of two symmetrically arranged clamping arms that can move horizontally to accommodate wet cartons of different widths. The inner side of the clamping arms is equipped with a flexible anti-slip pad to enhance the friction during clamping and prevent excessive clamping force from damaging the wet cartons. The clamping force of the clamping assembly can be adaptively adjusted according to the hardness and humidity of the wet cartons.

[0029] In this embodiment, the anti-slip system includes: a drive motor; an electronic differential; and high-grip wheels; the high-grip wheels are made of a rubber and polyurethane composite material.

[0030] Specifically, the drive motor uses a DC servo motor, which features stable power output, fast start-stop response, and low energy consumption. It can precisely adjust the power output according to the instructions of the main controller to adapt to different driving speed requirements. The electronic differential establishes a communication connection with both the drive motor and the main controller, and can receive steering commands from the main controller in real time. It can quickly adjust the speed difference between the two drive wheels to ensure smooth robot steering, and also has an overload protection function to prevent motor damage due to excessive speed difference during steering. The high-grip wheels have irregular anti-slip patterns on their surface to further enhance friction with the ground. Shock-absorbing components are installed inside the wheels to mitigate the impact of ground bumps on the robot's posture during driving and extend the service life of the wheels.

[0031] In this embodiment, the path avoidance control system includes: an obstacle recognition module; a trajectory prediction module; and a path planning module.

[0032] Specifically, the obstacle recognition module combines visual recognition with distance detection to accurately identify obstacles of different sizes and types, while filtering out interference signals in the environment to ensure the accuracy of the recognition results. The recognition range can cover the entire area around the robot. The trajectory prediction module has built-in prediction capabilities, which can predict the movement trajectory of obstacles in the future based on the movement status of obstacles and the robot's driving plan, and predict collision risks in advance. The path planning module can plan the optimal driving path by combining the robot's self-balancing status, load conditions, and spatial constraints of the working area. The path planning process is fast and efficient, and it also has a dynamic adjustment function, which can replan the path in a timely manner when new obstacles appear in the environment.

[0033] In this embodiment, when the distance between the robot and the working equipment is less than a preset safe distance, the control system triggers a deceleration or stop action.

[0034] Specifically, the preset safety distance can be flexibly set according to the actual working environment to adapt to the safety requirements of different working scenarios; when the control system triggers the deceleration action, it will gradually reduce the driving speed according to the current driving speed and the distance between the working equipment to avoid sudden deceleration causing the wet cardboard box to slip or the robot to lose balance; after triggering the stop action, the robot will remain stationary and send a stop feedback signal to the main controller. After the danger is eliminated, the main controller will issue a command to resume driving, and the robot can continue to run. The center of gravity adaptive adjustment system still works in the stopped state.

[0035] In this embodiment, the main controller dynamically adjusts the control parameters of the center of gravity adjustment system, anti-slip force system, and path avoidance control system based on changes in robot posture, load, and environmental information.

[0036] Specifically, the main controller has built-in collaborative control, which can comprehensively analyze the feedback information transmitted by each system, determine the current working condition, and then adjust the control parameters of each system accordingly. For the center of gravity adjustment system, it will adjust the adjustment accuracy and response speed to adapt to different center of gravity offset situations. For the anti-slip force system, it will adjust the power output and speed to adapt to different ground conditions and driving requirements. For the path avoidance control system, it will adjust the obstacle recognition sensitivity and path planning priority to ensure the timeliness and safety of avoidance actions. The adjustment of parameters of each system is carried out synchronously to ensure the coordination and stability of the robot's overall operation.

[0037] Working Principle: After the robot starts, the main controller establishes real-time communication with the adaptive center of gravity adjustment system, material gripping mechanism, anti-slip force system, and path avoidance control system. Based on preset handling task instructions, it sends coordinated control signals to each system. The adaptive center of gravity adjustment system continuously monitors changes in the robot's posture and load, dynamically adjusting the robot's overall center of gravity to ensure it maintains self-balancing on both wheels, providing a fundamental guarantee for the transfer operation. The material gripping mechanism grips and secures the wet cardboard box according to instructions, the anti-slip force system provides stable power and prevents slippage during movement, and the path avoidance control system avoids obstacles in the working environment in real time. All systems cooperate and work together to complete the entire process of transporting the wet cardboard box. The transfer task involves the main controller establishing real-time communication with the adaptive center of gravity adjustment system, material gripping mechanism, anti-slip force system, and path avoidance control system after the robot starts. Based on preset handling task instructions, it sends coordinated control signals to each system. The adaptive center of gravity adjustment system continuously monitors changes in the robot's posture and load, dynamically adjusting the robot's overall center of gravity to ensure it maintains self-balancing on both wheels, providing a fundamental guarantee for the transfer operation. The material gripping mechanism grips and secures the wet cardboard box according to instructions, the anti-slip force system provides stable power and prevents slippage during movement, and the path avoidance control system avoids obstacles in the working environment in real time. All systems cooperate and work together to complete the entire transfer of the wet cardboard box. The robot's load-bearing platform is connected to the main frame via a movable connection, breaking the limitations of fixed connections and allowing for flexible adjustment of its position and angle. This platform is connected to the actuator of the adaptive center-of-gravity adjustment system. When the system detects changes in the robot's posture or load distribution shift, it sends an adjustment command to the actuator. The actuator then uses a transmission structure to move the load-bearing platform synchronously, adjusting the position of the wet cardboard box on the platform and thus changing the robot's overall center-of-gravity distribution. This, combined with other components of the adaptive center-of-gravity adjustment system, achieves dynamic balance of the robot's center of gravity. Through the coordinated work of all modules, the robot's center of gravity is adaptively adjusted. The posture detection module captures the robot's posture in real time. The robot's posture and load status information are collected and transmitted in real time to the center of gravity calculation unit. The center of gravity calculation unit analyzes and processes the received information, calculates the robot's current center of gravity offset, and transmits the calculation result to the adjustment drive module. The adjustment drive module issues drive commands based on the center of gravity offset to control the torque gyroscope. By controlling the rotation of the torque gyroscope, it generates adjustment torque to adjust the robot's overall center of gravity position. The posture detection module runs continuously, acquiring posture information such as the tilt angle and driving status of the robot body in real time. At the same time, it captures load status information such as the weight distribution and placement position of the wet cardboard box, ensuring comprehensive monitoring of the robot's operating status and load conditions, and providing accurate data support for center of gravity adjustment.The center of gravity calculation unit receives various information transmitted by the attitude detection module. Through a preset logic algorithm, it analyzes and calculates the direction and degree of center of gravity offset, determines the required adjustment amount, and provides a scientific basis for adjustment actions. The adjustment drive module receives adjustment commands from the center of gravity calculation unit, drives the control torque gyroscope to run in a specified direction and speed, generates corresponding adjustment torque, dynamically adjusts the robot's center of gravity position, counteracts the effects of center of gravity offset, and maintains the robot's two-wheel self-balancing state. The material gripping mechanism completes the gripping, lifting, and fixing of the wet cardboard box through the coordinated action of the lifting arm and the clamping component. When the robot reaches the wet cardboard box storage position, the lifting arm extends according to the command of the main controller and fits the wet cardboard box. The robot smoothly lifts the wet cardboard box from the bottom to a preset height, then slowly moves it above the load support platform and places it steadily on the platform. After the lifting action is completed, the clamping component activates, adjusting the clamping range according to the size and thickness of the wet cardboard box, clamping and securing it from both sides or all four sides to ensure the stability of the wet cardboard box on the support platform. This prevents the wet cardboard box from slipping or tipping over during robot movement, turning, or bumpy conditions, ensuring the integrity of the wet cardboard box transport. The anti-slip force system provides stable power for the robot's movement and effectively prevents slippage on wet surfaces. The drive motor, as the power source, receives power control commands from the main controller and outputs corresponding power to drive the robot. The rotating wheels enable the robot to move, start, stop, and adjust its speed. The electronic differential works in conjunction with the drive motor to adjust the speed difference between the two drive wheels in real time according to the robot's steering needs, allowing for flexible steering while preventing wheel slippage and sideslip, thus improving steering stability. Through the coordinated work of these three modules, real-time obstacle avoidance along the robot's path is achieved, ensuring operational safety. The obstacle recognition module continuously scans the robot's surrounding environment, capturing information on various obstacles, including stationary objects, moving personnel, and other equipment, and transmits this information in real time to the trajectory prediction and path planning modules. Based on the obstacle's moving speed and direction, as well as the robot's own speed and direction, the robot predicts the obstacle's trajectory, anticipates potential collision risks, and feeds the prediction results back to the path planning module. The path planning module, combining obstacle identification information, trajectory prediction information, and the robot's self-balancing state and load status, quickly plans a safe and efficient travel path and sends a path adjustment command to the main controller. The main controller then coordinates with the anti-slip force system to adjust the travel direction and speed, achieving path avoidance. During operation, the path avoidance control system continuously monitors the distance between the robot and surrounding equipment, comparing the detected actual distance with the preset safe distance in real time.When the distance between the robot and the working equipment is detected to be less than the preset safe distance, the system immediately sends a warning signal to the main controller. Upon receiving the signal, the main controller quickly triggers the anti-slip force system to decelerate or stop, reducing the robot's speed or stopping it altogether to prevent a collision. Once the working equipment has moved beyond the safe distance, or the robot has adjusted its position to achieve the safe distance, the main controller instructs the anti-slip force system to resume normal operation. As the core control hub of the robot, the main controller continuously receives real-time feedback information from various systems, including vehicle posture and center of gravity offset information from the adaptive center of gravity adjustment system, load fixation status information from the material handling mechanism, driving status information from the anti-slip force system, and environmental and obstacle information from the path avoidance control system. The main controller comprehensively analyzes this information and dynamically adjusts the adjustment parameters of the adaptive center of gravity adjustment system, the power output parameters of the anti-slip force system, and the avoidance strategy parameters of the path avoidance control system based on the robot's real-time posture changes, load changes, and changes in the working environment. This allows each system to flexibly adapt to the current working conditions and achieve coordinated operation.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their likenesses.

[0039] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A two-wheeled self-balancing wet cardboard box transport robot with adaptive center of gravity adjustment function, characterized in that, The system includes a two-wheeled self-balancing vehicle structure; a center of gravity adaptive adjustment system; a material gripping mechanism; an anti-slip force system; a path avoidance control system; and a main controller. The main controller is communicatively connected to the center of gravity adaptive adjustment system, the material gripping mechanism, the anti-slip force system, and the path avoidance control system, and is used to coordinate the control of each system according to the handling task. The center of gravity adaptive adjustment system is used to dynamically adjust the overall center of gravity of the robot according to changes in vehicle posture and load to maintain the two-wheeled self-balancing state.

2. The two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The two-wheeled self-balancing vehicle structure includes: longitudinally arranged drive wheels; a frame body; and a load-bearing platform.

3. The two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The load-bearing platform is movably connected to the main body of the vehicle frame and is driven by the actuator of the center of gravity adaptive adjustment system.

4. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 3, characterized in that: The adaptive center of gravity adjustment system includes: a control torque gyroscope; an attitude detection module; a center of gravity calculation unit; and an adjustment drive module.

5. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The attitude detection module is used to acquire vehicle attitude information and load status information in real time; the center of gravity calculation unit calculates the center of gravity offset based on the vehicle attitude information and load status information; the adjustment drive module drives the control torque gyroscope to adjust the overall center of gravity position of the robot based on the center of gravity offset.

6. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 5, characterized in that: The material gripping mechanism includes: a lifting arm; and a clamping assembly. The lifting arm is used to lift the waste cardboard box to the load-bearing platform; and the clamping assembly is used to fix the lifted waste cardboard box to prevent slippage during transportation.

7. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The anti-slip system includes: a drive motor; an electronic differential; and high-grip wheels; the high-grip wheels are made of a rubber and polyurethane composite material.

8. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The path avoidance control system includes: an obstacle recognition module; a trajectory prediction module; and a path planning module.

9. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 8, characterized in that: When the distance between the robot and the working equipment is less than the preset safe distance, the control system triggers a deceleration or stop action.

10. A two-wheeled self-balancing wet cardboard box transfer robot with adaptive center of gravity adjustment function according to claim 1, characterized in that: The main controller dynamically adjusts the control parameters of the center of gravity adjustment system, anti-slip force system, and path avoidance control system based on changes in robot posture, load, and environmental information.

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