Wheeled humanoid robot

Abstract

The invention relates to a wheeled humanoid robot. The wheeled humanoid robot comprises a movable chassis, a chest and a mechanical arm. The movable chassis is provided with a battery bin used for containing a battery. And the chest is connected with the movable chassis. The mechanical arm is connected with the chest cavity and can take out the battery from the battery bin and load the battery into the battery bin. When the wheeled humanoid robot is used and the electric quantity of the battery is smaller than a target value, the movable chassis can move to the battery replacing equipment, the battery with the lower electric quantity in the battery bin is taken out through the mechanical arm, and then the fully-charged battery is grabbed and loaded into the battery bin. Therefore, the battery can be automatically replaced, time and labor are saved, and extra large battery replacement equipment is not needed.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a wheeled humanoid robot. Background Technology

[0002] With the development of robotics technology, robots with various specific functions are widely used in warehousing, logistics, security and other fields, reducing the labor intensity of workers while greatly improving work efficiency and reliability. Existing robots are typically powered by rechargeable batteries. When the robot's battery is depleted or about to be depleted, the robot moves to a charging station to replace the battery or recharge it online.

[0003] Wheeled humanoid robots, as a type of robot, combine the high efficiency and stability of traditional wheeled mobile platforms with the flexible maneuverability of a humanoid upper body. They exhibit significant advantages at the current stage of technological development and are particularly suitable for performing complex tasks in structured environments.

[0004] In wheeled humanoid robots of this technology, the batteries are mostly large-capacity, single-pack batteries that are detachably housed in the robot's chassis. When the battery power is low, the wheeled humanoid robot moves to a charging station for online charging or to a battery swapping station for manual battery replacement. Because the batteries are heavy, manual battery replacement is inconvenient, time-consuming, and labor-intensive; while charging at a charging station requires waiting 1 to 2 hours, which is a relatively long wait. Summary of the Invention

[0005] Therefore, it is necessary to provide a wheeled humanoid robot that can autonomously replace batteries, saving time and effort, to address the shortcomings of existing technologies.

[0006] This application provides a wheeled humanoid robot, comprising:

[0007] A movable chassis, wherein the movable chassis is provided with a battery compartment for storing batteries;

[0008] Thoracic cavity, the thoracic cavity being connected to the movable chassis; and

[0009] A robotic arm connected to the chest cavity, the robotic arm being capable of removing the battery from the battery compartment and / or inserting the battery into the battery compartment.

[0010] In one embodiment, the battery compartment is provided in multiple locations; the battery compartment is provided with an inlet and outlet for taking out and placing the battery, and the inlet and outlet of all the battery compartments are located on at least one of the top surface and side surface of the movable chassis.

[0011] In one embodiment, the wheeled humanoid robot further includes an ejection mechanism disposed within the battery compartment for ejecting at least a portion of the battery from the battery compartment.

[0012] In one embodiment, the wheeled humanoid robot further includes a locking mechanism disposed on the movable chassis. The locking mechanism has a locked state and an unlocked state. When the locking mechanism is in the locked state, it locks the battery located in the battery compartment. When the locking mechanism is in the unlocked state, it releases the battery located in the battery compartment, and the ejection mechanism ejects at least a portion of the battery from the battery compartment.

[0013] In one embodiment, the locking mechanism includes a mounting base, a locking member, a first elastic member, and an electromagnetic coil. The mounting base is connected to the movable chassis, the locking member is movably disposed on the mounting base, the first elastic member is connected between the locking member and the mounting base, and the electromagnetic coil is wound around the mounting base. When the electromagnetic coil is energized, the mounting base generates a magnetic force that causes the locking member to move, thereby switching to the unlocked state, and the locking member causes the first elastic member to undergo elastic deformation. When the electromagnetic coil is de-energized, the first elastic member, under its own restoring force, causes the locking member to move in the opposite direction, thereby switching to the locked state.

[0014] In one embodiment, the wheeled humanoid robot further includes a manual unlocking component; the manual unlocking component is connected to the locking mechanism, the manual unlocking component extends at least partially beyond the movable chassis, and the manual unlocking component can drive the locking mechanism to move to the unlocked state.

[0015] In one embodiment, the wheeled humanoid robot further includes an adapter plate disposed within the battery compartment. The adapter plate is provided with a first connector and a second connector. The first connector is used for electrical connection with the output connector of the battery, and the second connector is used for electrical connection with the input connector of the battery. The ejection mechanism is connected to the adapter plate.

[0016] In one embodiment, the ejection mechanism includes a ejector pin and a second elastic element. The adapter plate has a through hole, and the ejector pin is movably inserted into the through hole. The ejector pin is connected to at least one of the movable chassis and the adapter plate through the second elastic element. The ejector pin also abuts against the back of the battery.

[0017] In one embodiment, there are multiple ejector pins, the second elastic element, and the through holes. Each ejector pin is correspondingly arranged with each of the through holes, and each ejector pin is also correspondingly arranged with each of the second elastic elements. The multiple through holes are arranged at intervals on the adapter plate.

[0018] In one embodiment, the ejection mechanism includes a multi-link assembly, a third elastic element, and a push plate. The multi-link assembly and the third elastic element are each connected between the push plate and the adapter plate. The push plate is used to abut against the back of the battery.

[0019] In one embodiment, there are two ejection mechanisms, which are respectively arranged at opposite ends of the adapter plate.

[0020] In one embodiment, the push plate is provided with a first magnetic attractor, which is used to magnetically engage with a second magnetic attractor on the battery.

[0021] In one embodiment, the ejection mechanism includes two strong magnets with opposite polarities, one of which is disposed on the adapter plate and the other is disposed on the back of the battery; or, the ejection mechanism includes an electric push rod connected to the adapter plate and also engaging with the battery.

[0022] In one embodiment, the wheeled humanoid robot further includes a first camera and a controller. The first camera is connected to the chest cavity, and the camera portion of the first camera is positioned opposite to the movable chassis. Both the first camera and the robotic arm are electrically connected to the controller.

[0023] In one embodiment, the wheeled humanoid robot also satisfies at least one of the following conditions:

[0024] (1) The wheeled humanoid robot also includes a second camera and a head, the head being connected to the top of the chest cavity, the second camera being connected to the head, and the second camera being electrically connected to the controller;

[0025] (2) The wheeled humanoid robot further includes a navigation system, which is connected to at least one of the movable chassis and the chest cavity, and is electrically connected to the controller;

[0026] (3) The wheeled humanoid robot also includes a multi-degree-of-freedom adjustable joint, which is connected between the chest cavity and the movable chassis.

[0027] The aforementioned wheeled humanoid robot, when in use, can move its movable chassis to the battery swapping device when the battery charge is below a target value. The robotic arm then retrieves the battery with the lower charge from the battery compartment and picks up a fully charged battery, placing it into the battery compartment. This demonstrates that it can autonomously replace batteries, saving time and effort, and eliminating the need for additional large battery swapping equipment. Attached Figure Description

[0028] Figure 1 This is a structural diagram of a wheeled humanoid robot moving to a battery swapping device according to an embodiment of this application.

[0029] Figure 2 This is a side view of a wheeled humanoid robot according to an embodiment of this application.

[0030] Figure 3 This is a side view of a wheeled humanoid robot according to another embodiment of this application.

[0031] Figure 4 This is a side view of a wheeled humanoid robot according to yet another embodiment of this application.

[0032] Figure 5 This is a side view of a wheeled humanoid robot according to another embodiment of this application.

[0033] Figure 6 This is a structural diagram of the movable chassis in a wheeled humanoid robot according to an embodiment of this application.

[0034] Figure 7 This is a structural diagram of a battery according to an embodiment of this application.

[0035] Figure 8 This is a structural diagram of the back side of a battery according to an embodiment of this application.

[0036] Figure 9 This is a structural diagram of the back of a battery according to another embodiment of this application.

[0037] Figure 10 This is a structural diagram of the locking mechanism in a wheeled humanoid robot according to an embodiment of this application.

[0038] Figure 11 for Figure 10 Side view of the locking mechanism shown.

[0039] Figure 12 This is a structural diagram of the ejection mechanism and adapter plate according to an embodiment of this application.

[0040] Figure 13 for Figure 12 The side view of the ejection mechanism and adapter plate shown.

[0041] Figure 14This is a structural diagram of the ejection mechanism and adapter plate according to another embodiment of this application.

[0042] Figure 15 for Figure 14 The side view of the ejection mechanism and adapter plate shown.

[0043] Figure 16 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0044] Figure 17 for Figure 16 The diagram shows the structure of the adapter plate.

[0045] Figure 18 for Figure 16 The side view of the adapter plate shown.

[0046] Figure 19 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0047] Figure 20 This is a structural diagram of a wheeled humanoid robot grasping a battery according to an embodiment of this application.

[0048] Figure 21 This is a structural diagram of a wheeled humanoid robot according to an embodiment of this application, showing the robot preparing to place a battery into a battery swapping device.

[0049] Figure 22 This is a structural diagram of a wheeled humanoid robot grasping a battery according to another embodiment of this application.

[0050] Figure 23 This is a structural diagram of a wheeled humanoid robot after removing the battery from the battery compartment, according to another embodiment of this application.

[0051] Figure 24 This is a structural diagram of a wheeled humanoid robot according to an embodiment of this application, showing the battery ejecting from the battery compartment.

[0052] Explanation of reference numerals in the attached figures:

[0053] 10. Movable chassis; 11. Casters; 12. Battery compartment; 121. Inlet / outlet; 20. Chest cavity; 30. Robotic arm; 31. Actuator; 40. Battery; 41. Function button; 42. Indicator light; 43. Handle; 44. Wear-resistant anti-slip plate; 45. Slide groove; 46. Locking mating part; 47. Output connector; 48. Input connector; 491. Positioning hole; 492. Abutment surface; 493. Second magnetic suction element; 50. Push-out mechanism; 51. Ejector pin; 52. Second elastic element; 53. Multi-link assembly; 54. Third elastic element; 55. Push plate; 551. First magnetic suction element; 56. Strong magnet; 57. Electric pusher 60. Rod; 61. Locking mechanism; 62. Mounting base; 62. Locking component; 621. Locking pin; 622. Guide slope; 623. Connecting part; 63. First elastic element; 64. Electromagnetic coil; 71. Manual unlocking component; 72. Transmission component; 80. Adapter plate; 81. First connector; 82. Second connector; 83. Through hole; 91. Navigation system; 911. LiDAR; 92. Multi-degree-of-freedom adjustable joint; 921. Lifting joint; 922. First rotary joint; 923. Second rotary joint; 93. First camera; 94. Second camera; 95. Head; 96. Battery swapping equipment; 961. Chamber; 97. Sensor. Detailed Implementation

[0054] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0055] As described in the background section, the batteries in wheeled humanoid robots in the related art are mostly large-capacity pack batteries, which are therefore heavy. Consequently, the wheeled humanoid robot itself cannot directly replace the batteries, and manual replacement is inconvenient, time-consuming, and labor-intensive.

[0056] It should be noted that, for ease of description and understanding, the terms "front," "rear," "up," "down," "left," and "right" in this embodiment refer to the normal operating state of the wheeled humanoid robot. The direction facing the user is "front," the direction away from the user is "rear," the vertical direction is "up and down," and the direction perpendicular to both the front-back and up-down directions is "left and right." For example... Figure 1 As shown.

[0057] For the reasons mentioned above, this application provides a wheeled humanoid robot that can autonomously replace batteries, saving time and effort.

[0058] The following will combine Figures 1 to 24 A detailed description of a wheeled humanoid robot according to an embodiment of this application is provided.

[0059] See Figure 1 , Figure 1 The diagram shows a structure of a wheeled humanoid robot moving to a battery swapping device 96 according to an embodiment of this application. The wheeled humanoid robot provided in this embodiment includes a movable chassis 10, a chest cavity 20, and a robotic arm 30.

[0060] The movable chassis 10 serves as the mobile platform for the wheeled humanoid robot, enabling it to flexibly move to the target location as needed. Specifically, when the battery 40 has a low charge, it can actively move to the battery swapping device 96 for battery swapping; or, according to instructions, it can move to the target workstation to perform various tasks.

[0061] For example, the movable chassis 10 includes a main body, a power mechanism, and rollers 11. The power mechanism is located within the main body and includes, but is not limited to, a motor. The power mechanism is connected to the rollers 11 and drives them to rotate. The rollers 11 are located at the bottom of the main body, and the number of rollers 11 includes, but is not limited to, one, two, three, four, six, or more. To enhance mobility, the rollers 11 are omnidirectional wheels. When the movable chassis 10 moves in the forward and backward direction, it correspondingly drives the thoracic cavity 20 and / or the robotic arm 30 to move in the forward and backward direction as a carrier.

[0062] For example, the movable chassis 10 is provided with a battery compartment 12 for housing a battery 40. The battery 40 provides power to various electrical components of the wheeled humanoid robot, such as the controller, power mechanism, and camera, enabling these components to operate normally.

[0063] For example, the thoracic cavity 20 is connected to the movable base 10. The movable base 10 serves to support the thoracic cavity 20 and can move the thoracic cavity 20 synchronously to adjust its position.

[0064] Optionally, the thoracic cavity 20 is connected to the movable chassis 10 via a rotating mechanism. This allows the thoracic cavity 20 to move via the rotating mechanism. Alternatively, the thoracic cavity 20 is connected to the movable chassis 10 via a lifting assembly. This allows the thoracic cavity 20 to be moved to different heights via the lifting assembly.

[0065] For example, the robotic arm 30 is connected to the chest cavity 20. The robotic arm 30 can remove the battery 40 from the battery compartment 12 and insert the battery 40 into the battery compartment 12. The number of robotic arms 30 can be one, two, three, four, or more, and is not limited here. In this embodiment, there are specifically two robotic arms 30, located on the left and right sides of the chest cavity 20 respectively. The two robotic arms 30 can work in coordination to easily perform the disassembly and assembly of the battery 40. Of course, the two robotic arms 30 can also perform other tasks according to actual needs, such as transporting parts, assembling parts, and processing parts.

[0066] In use, when the battery 40's charge level is lower than a target value, the movable chassis 10 can move to the battery swapping device 96. The robotic arm 30 then retrieves the battery 40 with the lower charge from the battery compartment 12 and picks up the fully charged battery 40, placing it into the battery compartment 12. Therefore, it can autonomously replace the battery 40, saving time and effort, and eliminating the need for an additional large battery swapping device 96.

[0067] The battery compartment 12 is not limited to one, but can be multiple, such as two, three, four, six, eight or more, without limitation, and can be flexibly adjusted and set according to actual needs. When there are multiple battery compartments 12, the movable chassis 10 can be equipped with multiple batteries 40 accordingly. When the number of batteries 40 increases, the total power of the batteries 40 can be guaranteed, and the endurance of the wheeled humanoid robot can meet the requirements. Furthermore, the energy storage capacity of a single battery 40 in this embodiment can be less than that of a single battery pack 40 used in the prior art, that is, a battery 40 with a relatively smaller size and weight can be used. This allows the battery 40 to be easily lifted and moved by the robotic arm 30, making the battery 40 loading and unloading operation stable and reliable.

[0068] Based on the aforementioned embodiments, the battery compartment 12 is provided with an inlet / outlet 121 for picking up and placing batteries 40. Through the inlet / outlet 121, the robotic arm 30 can remove batteries 40 from the battery compartment 12 and place batteries 40 into the battery compartment 12. Specifically, all the inlets / outlets 121 of the battery compartment 12 are located on at least one of the top surface and side surface of the movable chassis 10. That is, all the inlets / outlets 121 of the battery compartment 12 can be located on the top surface of the movable chassis 10, with the battery compartment 12 extending downwards from the top surface of the movable chassis 10. This allows the robotic arm 30 to grasp batteries 40 and move them vertically into or out of the battery compartment 12. Alternatively, all the inlets / outlets 121 of the battery compartment 12 can be located on the side surface of the movable chassis 10, with the battery compartment 12 extending laterally from the side surface into the movable chassis 10. This allows the robotic arm 30 to grasp batteries 40 and move them laterally into or out of the battery compartment 12. Of course, some of the inlet and outlet 121 of the battery compartment 12 can be located on the side of the movable chassis 10, while the remaining inlet and outlet 121 of the battery compartment 12 can be located on the top surface of the movable chassis 10.

[0069] To make the arrangement of the battery compartment 12 on the movable chassis 10 clearer, the following will combine... Figures 2 to 5 The humanoid robots of four different embodiments will be described in detail.

[0070] Please see Figure 2 , Figure 2 This is a side view of a wheeled humanoid robot according to one embodiment. For example, two battery compartments 12 may be provided, located on the left and right sides of the movable chassis 10, respectively. Furthermore, the two battery compartments 12 may be arranged overlapping, for example, along the left-right direction of the wheeled humanoid robot. The inlet and outlet 121 of both battery compartments 12 are formed on the top surface of the movable chassis 10. The battery compartments 12 extend downwards from the top surface of the movable chassis 10. When replacing the battery 40, the robotic arm 30 aligns with the battery 40 to be replaced, grasps the battery 40, moves upwards to remove the battery 40 from the battery compartment 12, and after the battery 40 is removed, it grasps a new battery 40 and moves downwards to insert the new battery 40 into the battery compartment 12 through the inlet and outlet 121.

[0071] Please see Figure 3 , Figure 3 This is a side view of a wheeled humanoid robot according to another embodiment. Figure 2 The main difference between the wheeled humanoid robots shown is the different placement of the inlet and outlet 121 of the battery compartment 12. Figure 3The inlet and outlet 121 of the battery compartment 12 shown are located on the side of the movable chassis 10, and the battery compartment 12 extends from the side of the movable chassis 10 in the left-right direction. Furthermore, the number of battery compartments 12 arranged on the side of the movable chassis 10 is not limited; for example, it can be two, three, four, or more, and can be adjusted according to the range requirements. Figure 3 The diagram shows three battery compartments 12. When replacing the battery 40, the robotic arm 30 can grasp the battery 40 and move it left and right to remove the battery 40 from the battery compartment 12, and then move the new battery 40 left and right and insert it into the battery compartment 12 through the inlet and outlet 121.

[0072] Of course, please see Figure 4 , Figure 4 This is a side view of yet another embodiment of a wheeled humanoid robot. Figure 3 The main difference of the wheeled humanoid robot shown is that the battery compartments 12 arranged on the left and right sides of the movable chassis 10 can each be only one.

[0073] Please see Figure 5 , Figure 5 This is a side view of yet another embodiment of a wheeled humanoid robot. Figures 2 to 4 The main difference of the wheeled humanoid robot shown is that, instead of arranging battery compartments 12 on the left and right sides of the movable chassis 10, one, two, or more battery compartments 12 can be arranged on the front and rear sides of the movable chassis 10. Figure 5 The diagram specifically illustrates that a battery compartment 12 is arranged on each of the front and rear sides of the movable chassis 10. Furthermore, the charging inlet / outlet 121 of the battery 40 can be located on the top surface of the movable chassis 10 or on the front or rear sides of the movable chassis 10, without any limitation.

[0074] Please see Figures 7 to 9 , Figure 7 A structural diagram of a battery 40 according to an embodiment of this application is shown. Figure 8 and Figure 9 The rear structural diagrams of the battery 40 according to two embodiments of this application are shown respectively. The outer contour of the battery 40 includes, but is not limited to, a cube, a cylinder, or other regular and irregular shapes, and is not limited here. In order to facilitate stable gripping and replacement of the battery 40, the battery 40 in this example is specifically unfolded as a cube. The shape of the battery compartment 12 is adapted to the shape of the battery 40, so that the battery 40 can be stably installed.

[0075] Please refer to the following: Figure 7 For example, the battery 40 is provided with a function button 41. The function button 41 is located on the front of the battery 40, and the function button 41 may be, for example, a power switch for controlling the battery 40 to be turned on or off, or for other functions, which are not limited here.

[0076] For example, the battery 40 also includes an indicator light 42 to display the battery level. To facilitate user observation of the battery level, the indicator light 42 is specifically positioned on the front of the battery 40, which is exposed through the inlet / outlet 121 of the battery compartment 12 for user observation. The number of indicator lights 42 is not limited to one; it can be two, three, five, or other numbers. In this embodiment, for instance... Figure 7 The indicator lights 42 shown are five in total, but this is not a limitation; the number of indicator lights 42 can be more or less. Indicator lights 42 are, for example, LEDs, with five LEDs used to display the SOC of battery 40. One indicator light 42 displays two colors (e.g., red and green), while the remaining indicator lights 42 display one color (e.g., single-color green). The remaining power of battery 40 is proportional to the number of indicator lights 42 lit. After battery 40 is powered on, the remaining power of battery 40 can be determined by the number of lit indicator lights 42. When the battery is low, all single-color indicator lights 42 are off, and the two-color indicator lights 42 display red light. Indicator lights 42 can also support flashing (at a frequency of, for example, 1Hz) to indicate the charging status.

[0077] To enhance the flexibility of battery 40 retrieval, the battery 40 can be replaced not only by the robotic arm 30 of the wheeled humanoid robot itself, but also manually by a person. For example, the battery 40 is also equipped with a handle 43. The handle 43 is located on the front of the battery 40 and is exposed through the inlet / outlet 121 of the battery compartment 12. The handle 43 facilitates manual removal or placement of the battery 40 from or into the battery compartment 12 by a person.

[0078] Please continue reading. Figure 7 For example, the side of the battery 40 is provided with wear-resistant anti-slip plates 44. Specifically, there are two wear-resistant anti-slip plates 44, which are located on opposite sides of the battery 40. When the robotic arm 30 contacts the wear-resistant anti-slip plates 44, the friction is large, which can realize stable picking and placing of the battery 40 and effectively prevent the battery 40 from accidentally falling or shifting.

[0079] For example, the side of the battery 40 is also provided with a sliding groove 45, and the number of sliding grooves 45 is one, two or more. The inner wall of the battery compartment 12 is provided with a guide. The guide and the sliding groove 45 are slidably engaged along the infeed direction of the battery 40. The guide includes, but is not limited to, guide blocks, guide ribs, etc. The sliding groove 45 and the wear-resistant anti-slip plate 44 can be arranged on the same side of the battery 40 or on two adjacent sides of the battery 40, without limitation. During the process of entering and exiting the battery compartment 12, the guide and the sliding groove 45 are slidably engaged, so that the battery 40 can smoothly and quickly enter and exit along the sliding direction of the sliding groove 45, which can avoid jamming defects.

[0080] For example, the side of the battery 40 is also provided with a locking engagement portion 46, which includes, but is not limited to, a groove or locking hole formed on the side of the battery 40. The locking engagement portion 46 cooperates with the locking mechanism 60 of the wheeled humanoid robot to lock and position the battery 40, so that the battery 40 is stably placed in the battery compartment 12. In addition, the battery 40 is also provided with a sensing engagement portion, which is correspondingly arranged with the locking engagement portion 46 and is specifically located, for example, within the locking engagement portion 46. The wheeled humanoid robot also includes a sensor 97, which is connected to the locking mechanism 60. The sensor 97 includes, but is not limited to, a Hall sensor 97 or a photoelectric sensor 97. The sensing engagement portion is set according to the sensor 97. Taking the sensor 97 as a Hall sensor 97 as an example, the sensing engagement portion is a magnetic component, specifically a magnet. When the locking mechanism 60 and the locking engagement part 46 are locked together, the sensor 97 and the sensing engagement part are close to each other, and the sensor can then sense the sensing engagement part. Conversely, when the locking mechanism 60 and the locking engagement part 46 are separated, the sensor 97 and the sensing engagement part are separated, and the sensor cannot sense the sensing engagement part. Therefore, it is possible to determine whether the locking mechanism 60 has locked the battery 40 based on the sensing signal of the sensor 97.

[0081] Please see Figure 8 or Figure 9 The battery 40 is equipped with an output connector 47 and an input connector 48. The output connector 47 is the interface for the battery 40 to supply power to external devices, and the input connector 48 is the interface for charging the battery 40. Both the output connector 47 and the input connector 48 are located on the back of the battery 40. When the battery 40 is inserted into the battery compartment 12, the output connector 47 and the input connector 48 are successfully connected. The battery 40 can supply power to various electrical components of the wheeled humanoid robot through the output connector 47. Specifically, the output connector 47 has two positive and two negative terminals, and the two positive terminals are as follows: Figure 8 As shown in P1 and P2, the two negative electrodes are as follows: Figure 8 As shown in P3 and P4. The output connector 47 also has multiple signal input sections, such as... Figure 8 The signals S1 to S6 are shown in the diagram. S1 and S2 correspond to the presence detection signals of battery 40, S3 and S4 correspond to the power-on trigger signals of battery 40, and S5 and S6 correspond to the communication signals of battery 40, which can be either RS485 or CAN communication signals. Furthermore, the input connector 48 provides a charging interface and a communication interface to battery 40, facilitating charging of battery 40.

[0082] Figure 8 and Figure 9 The specific differences mainly depend on the launch mechanism 50 of the wheeled humanoid robot. Specifically, Figure 8The reverse side of the battery 40 shown is specifically the same as Figure 12 and Figure 13 The ejection mechanism 50 shown is adapted to the configuration. Figure 9 The reverse side of the battery 40 shown is specifically the same as Figure 14 and Figure 15 The ejection mechanism 50 shown is adapted to the configuration. Figure 8 and Figure 9 The cooperation between each entity and the issuing organization 50 will be described in detail later.

[0083] Please see Figure 6 For example, the wheeled humanoid robot also includes a push-out mechanism 50. The push-out mechanism 50 is disposed within the battery compartment 12 and is used to push at least a portion of the battery 40 out of the battery compartment 12. Thus, before the robotic arm 30 grasps the battery 40 within the battery compartment 12, at least a portion of the battery 40 is pushed out of the battery compartment 12 by the push-out mechanism 50. This allows the robotic arm 30 to easily grasp the portion of the battery 40 pushed out of the battery compartment 12 and continue to completely remove the battery 40 from the battery compartment 12. Furthermore, under the action of the push-out mechanism 50, the battery 40 can be quickly ejected from the battery compartment 12, effectively avoiding arcing defects caused by slow breaking speed of the battery 40, thereby improving safety and increasing service life.

[0084] Please continue reading. Figure 6 Based on the aforementioned embodiments, the wheeled humanoid robot also includes a locking mechanism 60. The locking mechanism 60 is disposed on the movable chassis 10. Furthermore, the locking mechanism 60 has a locked state and an unlocked state. When the locking mechanism 60 is in the locked state, it locks the battery 40 located in the battery compartment 12, thus stably positioning the battery 40 within the battery compartment 12 and preventing it from being pushed outward by the ejection mechanism 50. Conversely, when the locking mechanism 60 is in the unlocked state, it releases the battery 40 from the battery compartment 12, and the ejection mechanism 50 pushes at least a portion of the battery 40 out of the battery compartment 12.

[0085] In this embodiment, the ejection mechanism 50 can eject the battery 40 from the battery compartment 12 based on elastic restoring force, or based on electric thrust, or in other ways. There are no restrictions here, and it can be flexibly adjusted and set according to actual needs.

[0086] In this embodiment, the locking mechanism 60 can be electrically controlled, manually controlled, or a combination of both. There are no restrictions here, as long as it can work in coordination with the ejection mechanism 50 to enable the replacement of the battery 40 and to insert it into the battery compartment 12 and lock it stably to prevent it from being accidentally ejected. The specific design can be flexibly adjusted and set according to actual needs, and there are no restrictions here.

[0087] For example, the locking mechanism 60 is an electromagnetic lock. After receiving an unlocking command from the wheeled humanoid robot, the electromagnetic lock switches to the unlocking state, thereby releasing the battery 40 in the battery compartment 12; after receiving a locking command from the wheeled humanoid robot, the electromagnetic lock switches to the locking state, thereby locking the battery 40 in the battery compartment 12.

[0088] Based on the aforementioned embodiments, the locking mechanism 60 includes a mounting base 61, a locking member 62, a first elastic member 63, and an electromagnetic coil 64. The mounting base 61 is connected to the movable chassis 10. The locking member 62 is movably disposed on the mounting base 61. The first elastic member 63 is connected between the locking member 62 and the mounting base 61, and the first elastic member 63 may include, but is not limited to, a spring. The electromagnetic coil 64 is wound around the mounting base 61. After receiving an unlocking command, the locking mechanism 60 energizes the electromagnetic coil 64, and the mounting base 61 generates a magnetic force that causes the locking member 62 to move, switching to the unlocked state, and the locking member 62 causes the first elastic member 63 to elastically deform; conversely, after receiving an unlocking command, the locking mechanism 60 de-energizes the electromagnetic coil 64, the magnetic force of the mounting base 61 disappears, and the first elastic member 63, under its own restoring force, causes the locking member 62 to move in the opposite direction, switching to the locked state. For details, please refer to... Figure 10 When the electromagnetic coil 64 is energized, the mounting base 61 generates a magnetic attraction force that causes the locking member 62 to move closer. The locking member 62 moves upward and switches to the unlocked state, and the first elastic member 63 is compressed accordingly. Conversely, when the electromagnetic coil 64 is de-energized, the magnetic attraction force of the mounting base 61 disappears, and the elastic force of the first elastic member 63 causes the locking member 62 to move away from the mounting base 61. The locking member 62 moves downward and switches to the locked state.

[0089] Based on the aforementioned embodiment, the locking member 62 includes a locking pin 621. Furthermore, a locking engagement portion 46 is provided on the side of the battery 40. The locking pin 621 engages with the locking engagement portion 46, thereby stably locking the battery 40 in the locked state. Additionally, the sensor 97 is specifically connected to the locking pin 621. When the locking pin 621 extends into the locking engagement part 46, the locking pin 621 locks into the locking engagement part 46, the battery 40 is locked and positioned in the battery compartment 12, and the sensor 97 extends into the locking engagement part 46 and can then sense the sensing engagement part. The sensor 97 transmits the locking signal to the controller of the wheeled humanoid robot. Conversely, when the locking pin 621 disengages from the locking engagement part 46, the locking pin 621 releases the locking engagement part 46, the battery 40 is in an unlocked state, and the sensor 97 disengages from the locking engagement part 46 and can no longer sense the sensing engagement part. The sensor 97 transmits the unlocking signal to the controller of the wheeled humanoid robot.

[0090] Please see Figure 10 and Figure 11 Optionally, the end of the locking pin 621 is provided with a guide slope 622, which is set at an angle to the insertion direction of the battery 40. The guide slope 622 is located on the side of the locking pin 621 facing the inlet and outlet 121 of the battery compartment 12. When the battery 40 is inserted into the battery compartment 12, when the battery 40 contacts the locking pin 621, it can abut against the guide slope 622 and cause the locking pin 621 to gradually retract, thereby unlocking. Until the battery 40 is fully inserted, the locking pin 621 enters the locking engagement part 46 under the elastic force of the first elastic member 63.

[0091] In some embodiments, the wheeled humanoid robot also includes a manual unlocking component 71. The manual unlocking component 71 is connected to the locking mechanism 60 and extends at least partially beyond the movable chassis 10. The manual unlocking component 71 can move the locking mechanism 60 to the unlocked state. Thus, when it is necessary to remove the battery 40 from the battery compartment 12, the battery 40 can be automatically retrieved and placed by the wheeled humanoid robot's robotic arm 30, or manually by a person. Especially when the wheeled humanoid robot is in a powered-off or malfunctioning state, the locking mechanism 60 cannot be automatically unlocked, but the battery 40 can be manually replaced by unlocking the locking mechanism 60 using the manual unlocking component 71. Specifically, a person uses the manual unlocking component 71 to move the locking mechanism 60 to the unlocked state, and then pulls the handle 43 to remove the battery 40 from the battery compartment 12; conversely, after a person places a fully charged battery 40 into the battery compartment 12, the manual unlocking component 71 is released, and the locking mechanism 60 locks the battery 40.

[0092] Please refer to the following: Figure 10 and Figure 11 , Figure 11 for Figure 10The side view of the locking mechanism 60 shown indicates that the manual unlocking component 71 is specifically connected to the locking component 62 in a transmission manner. The manual unlocking component 71 can drive the locking component 62 to move upward, causing the locking component 62 to switch from the locked state to the unlocked state. Figure 11 The dashed line M represents the surface of the movable chassis 10. The left side of the dashed line M represents the interior of the movable chassis 10, and the right side represents the exterior of the movable chassis 10. The manual unlocking component 71 extends beyond the movable chassis 10 for easy manual unlocking. The wheeled humanoid robot also includes a transmission component 72, through which the manual unlocking component 71 is connected to the unlocking component. The manual unlocking component 71 drives the transmission component 72, which in turn drives the unlocking component to move, thus unlocking the component. Optionally, the transmission component 72 is a transmission link, and the locking component 62 also includes a connecting part 623 connected to one end of the transmission link. Pressing down on the manual unlocking component 71 causes one end of the transmission link to move downwards, and the other end of the transmission link correspondingly drives the connecting part 623 to move upwards, thus switching the locking component 62 to the unlocked state. Of course, it is understandable that the transmission component 72 and the manual unlocking component 71 can also adopt a gear combination or other structure. That is, by rotating the manual unlocking component 71, the manual unlocking component 71 drives the transmission component 72 to rotate. When the transmission component 72 rotates, it drives the locking component 62 to move accordingly, thereby unlocking the locking mechanism 60.

[0093] Based on the aforementioned embodiments, the wheeled humanoid robot also includes an adapter plate 80. The adapter plate 80 is disposed within the battery compartment 12, located on the side of the battery compartment 12 opposite to the inlet / outlet 121. With the assistance of the adapter plate 80, the inserted battery 40 can be quickly and accurately connected to the wheeled humanoid robot's electrical and communication systems. After the battery 40 is installed in the battery compartment 12 and connected to the adapter plate 80, an electrical and communication connection is established with the wheeled humanoid robot. Specifically, the adapter plate 80 is provided with a first connector 81 and a second connector 82. The first connector 81 is used for electrical connection with the output connector 47 of the battery 40, and the second connector 82 is used for electrical connection with the input connector 48 of the battery 40. The ejection mechanism 50 is specifically connected to the adapter plate 80. The adapter plate 80 supports the ejection mechanism 50, allowing the ejection mechanism 50 to act on the back of the battery 40 and eject the battery 40 out of the battery compartment 12. Furthermore, if the disconnection speed between the battery 40 and the adapter plate 80 is slow, and due to the large current between the battery 40 and the adapter plate 80, a sudden current change during the disconnection process can cause arcing defects, making the first connector 81 and the second connector 82 of the battery 40, as well as the output connector 47 and the input connector 48 of the adapter plate 80, prone to damage. However, in this embodiment, the pushing force of the pushing mechanism 50 applied to the battery 40 enables rapid disconnection between the battery 40 and the adapter plate 80, reducing the contact time between them, thereby reducing the sudden current change and arcing defects during the disconnection process, and extending the service life of the battery 40 and the adapter plate 80.

[0094] Please see Figure 12 and Figure 13 , Figure 12 This diagram illustrates the structure of the ejection mechanism 50 and the adapter plate 80 according to one embodiment. Figure 13 for Figure 12 The diagram shows a side view of the ejection mechanism 50 and the adapter plate 80. Specifically, the ejection mechanism 50 includes a ejector pin 51 and a second elastic element 52. The adapter plate 80 has a through hole 83, through which the ejector pin 51 is movably inserted. The ejector pin 51 is connected to at least one of the movable base 10 and the adapter plate 80 via the second elastic element 52. Specifically, the second elastic element 52 includes, but is not limited to, a spring, which is sleeved on the ejector pin 51. The spring can be connected between the ejector pin 51 and the movable base 10, or between the ejector pin 51 and the adapter plate 80; this is not limited here. One end of the ejector pin 51 that extends into the battery compartment 12 also abuts against the back of the battery 40. Thus, before the locking mechanism 60 is unlocked, the second elastic element 52 is in a stretched or compressed state, and the ejector pin 51 is not ejected by the second elastic element 52; after the locking mechanism 60 is unlocked, the second elastic element 52 can drive the ejector pin 51 to pop out through its own elastic restoring force, and the ejector pin 51 acts on the back of the battery 40, so that the battery 40 is quickly pushed out of the battery compartment 12.

[0095] Based on the aforementioned embodiments, there are multiple ejector pins 51, second elastic elements 52, and through holes 83. Each ejector pin 51 is correspondingly arranged with each through hole 83, and each ejector pin 51 is also correspondingly arranged with each second elastic element 52. Multiple through holes 83 are arranged at intervals on the adapter plate 80. Specifically, the number of through holes 83 is not less than three, for example, four, five, six, eight, or more. The more through holes 83 there are, the more ejector pins 51 there are. After the locking mechanism 60 is unlocked, all ejector pins 51 simultaneously abut against the back of the battery 40, allowing the battery 40 to quickly pop outwards.

[0096] Please refer to the following: Figure 8 , Figure 12 and Figure 13 The back of the battery 40 is provided with positioning holes 491, which are correspondingly set with ejector pins 51. The number of positioning holes 491 is the same as the number of ejector pins 51. When the battery 40 is inserted into the battery compartment 12, each ejector pin 51 extends into its corresponding positioning hole 491. The ejector pins 51 provide better positioning for the battery 40 and enable the battery 40 to be ejected quickly and stably.

[0097] The outward ejection distance of the battery 40 is adaptively adjusted according to the length of the ejector pin 51. Therefore, the outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the ejector pin 51. After the battery 40 ejects from the battery compartment 12, the robotic arm 30 grabs the ejected battery 40, removes the battery 40 from the battery compartment 12, and places the battery 40 in the battery swapping device 96 for charging.

[0098] Of course, the number of institutions launching the program is not limited to 50. Figure 12 and Figure 13 The structure shown can also be flexibly adjusted and set to various other structural forms according to actual needs, which will be introduced in detail below.

[0099] Please see Figure 14 and Figure 15 , Figure 14 A structural diagram of the ejection mechanism 50 and the adapter plate 80 according to another embodiment of this application is shown. Figure 15 It shows Figure 14The side view of the ejection mechanism 50 and the adapter plate 80 is shown. In another embodiment, the ejection mechanism 50 includes a multi-link assembly 53, a third elastic element 54, and a push plate 55. The multi-link assembly 53 and the third elastic element 54 are each connected between the push plate 55 and the adapter plate 80. The push plate 55 is used to abut against the back of the battery 40. The multi-link assembly 53 includes, but is not limited to, a scissor lift assembly. The third elastic element 54 includes, but is not limited to, a spring or elastic strip. When the locking mechanism 60 is unlocked, the third elastic element 54 acts on the push plate 55 through its own elastic force, and the push plate 55 acts accordingly on the back of the battery 40, causing the battery 40 to be ejected outwards. During the action of the push plate 55, the multi-link assembly 53 adaptably moves and supports the push plate 55, which facilitates the smooth ejection of the battery 40 by the push plate 55. Compared to... Figure 12 and Figure 13 Regarding the launching mechanism 50 shown, Figure 14 and Figure 15 In the ejection mechanism 50 shown, the push plate 55 makes surface contact with the back of the battery 40. (See also...) Figure 9 The back of the battery 40 has an abutment surface 492, which abuts against the push plate 55. Therefore, the push plate 55 makes the battery 40 more stable when pushed outward, and there is no need to set up a dense array of ejector pins 51.

[0100] Based on the foregoing embodiments, the number of ejection mechanisms 50 is not limited to one, but may include, for example, two, three, four or more, without limitation. In this embodiment, two ejection mechanisms 50 are used as an example, with the two ejection mechanisms 50 respectively arranged at opposite ends of the adapter plate 80. Thus, after the locking mechanism 60 is unlocked, the two ejection mechanisms 50 act synchronously on the back of the battery 40, allowing the battery 40 to be stably ejected outward.

[0101] Based on the aforementioned embodiment, the push plate 55 is provided with a first magnetic suction member 551, and the back of the battery 40 is provided with a second magnetic suction member 493. The first magnetic suction member 551 and the second magnetic suction member 493 are magnetically attracted to each other. Optionally, at least one of the first magnetic suction member 551 and the second magnetic suction member 493 is a permanent magnet, and the other is a magnetic component that cooperates with the permanent magnet. In this way, under the magnetic attraction of the first magnetic suction member 551 and the second magnetic suction member 493, the battery 40 and the push plate 55 are always attracted together. Then, when the push plate 55 pushes the battery 40 outward, it can prevent the pushing force from being too large and causing the battery 40 to fly out of the battery compartment 12. That is, it can ensure that the battery 40 is pushed out of the battery compartment 12 according to the preset requirements, for example, so that part of the battery 40 is pushed out of the battery compartment 12, while the other part of the battery 40 is still in the battery compartment 12. This makes it easier for the robotic arm 30 to smoothly grasp the battery 40 that has been pushed out of the battery compartment 12.

[0102] Please see Figures 16 to 18 , Figure 16 A structural diagram of the battery 40, the ejection mechanism 50, and the adapter plate 80 according to another embodiment of this application is shown. Figure 17 It shows Figure 16 The diagram shows the structure of the adapter plate 80. Figure 18 It shows Figure 16 The diagram shows a side view of the adapter plate 80. For example, the ejection mechanism 50 includes two strong magnets 56 with opposite polarities. One strong magnet 56 is disposed on the adapter plate 80, and the other strong magnet 56 is disposed on the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the repulsive force between the two strong magnets 56 allows the battery 40 to be ejected from the battery compartment 12. There are two ejection mechanisms 50, located at opposite ends of the adapter plate 80. This ensures that the battery 40 experiences balanced force during ejection, allowing it to be ejected stably.

[0103] Please see Figure 19 , Figure 19 A structural diagram of a battery 40, an ejection mechanism 50, and an adapter plate 80 according to another embodiment of this application is shown. For example, the ejection mechanism 50 includes an electric push rod 57. The electric push rod 57 is connected to the adapter plate 80 and also abuts against the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the electric push rod 57 actuates to eject the battery 40 out of the battery compartment 12. The outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the electric push rod 57. Furthermore, to improve the stability of the outward ejection of the battery 40, for example, two electric push rods 57 are used, with each electric push rod 57 connected to opposite ends of the adapter plate 80.

[0104] Please refer to the following: Figure 1 and Figure 5 Based on the aforementioned embodiments, the wheeled humanoid robot also includes a navigation system 91. The navigation system 91 includes, but is not limited to, at least one of a lidar 911, an ultrasonic radar, etc. Taking the example where the navigation system 91 includes a lidar 911, the number of lidars 911 may be one, two, three, or more. The lidars 911 are connected to at least one of the movable chassis 10 and the chest cavity 20. In this embodiment, there are specifically two lidars 911, respectively arranged on opposite sides of the front and rear of the movable chassis 10. For example, the navigation system 91 is electrically connected to a controller. The navigation system 91 can obtain the nearest battery swapping device 96, and the controller controls the wheeled humanoid robot to move to the nearest battery swapping device 96 based on the navigation position information of the navigation system 91. Furthermore, under the navigation of the navigation system 91, it can perform obstacle avoidance.

[0105] Based on the aforementioned embodiments, safety contact mechanisms can be provided on the front and rear sides or around the perimeter of the movable chassis 10. When the safety contact mechanism touches an obstacle, it generates a sensing signal and transmits it to the controller. The controller then controls the movable chassis 10 to stop moving, thereby preventing collision damage.

[0106] Please refer to the following: Figure 1 In some embodiments, the wheeled humanoid robot further includes a multi-degree-of-freedom adjustable joint 92. The multi-degree-of-freedom adjustable joint 92 connects the thoracic cavity 20 to the movable chassis 10. Specifically, the multi-degree-of-freedom adjustable joint 92 includes at least one of a lifting joint 921, a first rotary joint 922, and a second rotary joint 923. The lifting joint 921 can raise or lower the thoracic cavity 20, allowing the thoracic cavity 20 to adjust its position relative to the movable chassis 10. The first rotary joint 922 can drive the thoracic cavity 20 to rotate around a first direction to adjust its position. The first direction includes, but is not limited to, the central axis of the wheeled humanoid robot, i.e., it allows the thoracic cavity 20 to rotate and adjust its position in the forward, backward, left, and right directions, which facilitates the removal of the battery 40 from the side of the movable chassis 10. The second rotary joint 923 can drive the thoracic cavity 20 to rotate around a second direction to adjust its position. The second direction is set at an angle to the first direction, specifically perpendicular to each other. When the first direction is vertical, the second direction is correspondingly a left-right or forward-backward direction, etc. That is, the second rotary joint 923 allows the thoracic cavity 20 to bend and adjust its angle. Under the action of the multi-degree-of-freedom adjustable joint 92, the thoracic cavity 20 can drive the robotic arm 30 to flexibly adjust its position as needed, thereby enabling the removal of batteries 40 from battery compartments 12 at different positions on the movable chassis 10, and also facilitating the loading of the grabbed batteries 40 into the battery swapping device 96 in confined spaces.

[0107] Please refer to the following: Figure 1 and Figure 20 In some embodiments, the end of the robotic arm 30 furthest from the chest cavity 20 is provided with an actuator 31. The actuator 31 is used to grasp the battery 40. The actuator 31 includes, but is not limited to, a robotic hand, etc., and can perform flexible grasping actions under the control of the controller. Thus, the robotic arm 30 can stably grasp the battery 40 under the action of the actuator 31.

[0108] The following will combine Figure 20 and Figure 21 An embodiment of this application will be described, showing a wheeled humanoid robot grasping a battery 40. Wherein, Figure 20 This invention provides a structural diagram of a wheeled humanoid robot grasping a battery 40 according to an embodiment of the present application. Figure 21This diagram illustrates the structure of a wheeled humanoid robot according to an embodiment of this application, preparing to place a grasped battery 40 into a battery swapping device 96. When the battery 40 of the wheeled humanoid robot has a charge level below a target value, the robot moves towards the battery swapping device 96 under the guidance of the navigation system 91. Upon reaching the battery swapping device 96, the robot retrieves the low-charge battery 40 and places it into the device; then, it grasps a fully charged battery 40 from the device and places it back into the battery compartment 12. Specifically, Figure 20 and Figure 21 The diagram shows that the inlet and outlet 121 of the battery compartment 12 is located on the side of the movable chassis 10. The wheeled humanoid robot adjusts its position by autonomous rotation and bending, and uses the robotic arm 30 to take the battery 40 out of the battery compartment 12 in the left and right direction.

[0109] Please see Figure 22 and Figure 23 , Figure 22 This invention provides a structural diagram of a wheeled humanoid robot grasping a battery 40 according to another embodiment of the present application. Figure 23 This diagram illustrates the structure of a wheeled humanoid robot according to another embodiment of this application after removing battery 40 from battery compartment 12. Compared to Figure 20 and Figure 21 In other words, the main difference is that Figure 20 and Figure 21 The diagram shows that the inlet and outlet 121 of the battery compartment 12 is located on the top surface of the movable chassis 10. The wheeled humanoid robot uses the robotic arm 30 to lift the battery 40 out of the battery compartment 12.

[0110] During the removal and installation of the battery 40 by the robotic arm 30, regardless of whether the battery 40 pops out from the side or the top of the movable chassis 10, the ejection mechanism 50 may age over time, causing a deviation between the ejected position and the initial set position. Consequently, if the actuator 31 of the robotic arm 30 does not grip the battery 40 accurately, the battery 40's position will remain inaccurate even after the robotic arm 30 rotates and adjusts its orientation. This makes it impossible to accurately install the gripped battery 40 into the battery swapping device 96. Even worse, if the ejected position of the battery 40 is significantly off-target, the actuator 31 of the robotic arm 30 may miss the target entirely.

[0111] Furthermore, after the robotic arm 30 places the battery 40 back into the battery compartment 12, part of the battery 40 is inside the battery compartment 12, while the other part protrudes outside. Therefore, the robotic arm 30 performs a pressing motion to completely press the battery 40 into the battery compartment 12. However, the part of the battery 40 protruding outside the battery compartment 12 deviates from the second preset position. Consequently, when the robotic arm 30 presses the battery 40 into the battery compartment 12, it is prone to various defects such as failing to press the battery 40 in, interference, and jamming, resulting in low reliability.

[0112] For the reasons mentioned above, in order to improve the gripping accuracy of battery 40 and the reliability of battery 40 installation, please refer to [link / reference needed]. Figure 24 , Figure 24 This diagram illustrates a structure in a wheeled humanoid robot according to an embodiment of this application, showing the battery 40 ejecting upwards from the battery compartment 12. For ease of description, it is illustrated using the example where the inlet / outlet 121 of the battery compartment 12 is located on the top surface of the movable chassis 10. Specifically, after the locking mechanism 60 is unlocked, the battery 40 inside the battery compartment 12 ejects upwards. When the robotic arm 30 inserts the battery 40 into the battery compartment 12 through the inlet / outlet 121, the battery 40 will enter the battery compartment 12 under its own gravity. For example, the wheeled humanoid robot also includes a first camera 93 and a controller. The first camera 93 is connected to the chest cavity 20 and is specifically located, for example, at the bottom of the chest cavity 20. The imaging portion of the first camera 93 is positioned opposite to the movable chassis 10, and both the first camera 93 and the robotic arm 30 are electrically connected to the controller.

[0113] When the thoracic cavity 20 rotates to the left or right side of the movable chassis 10 via the multi-degree-of-freedom adjustment mechanism, the imaging part of the first camera 93 is aligned with the battery 40 to be removed. The first camera 93 performs image recognition to determine the pixel information of the top surface of the movable chassis 10 corresponding to the inlet / outlet 121 of the battery 40. Then, the controller controls the locking mechanism 60 to switch to the unlocked state, and the battery 40 in the battery compartment 12 is pushed upward by the ejection mechanism 50. The battery 40 pops out to a certain height, such as... Figure 24 The height h shown is determined by the first camera 93 relative to the top surface of the battery 40. Once h is accurately acquired, the controller controls the robotic arm 30 to move accordingly. The actuator 31 of the robotic arm 30 moves to a position perpendicular to the top surface of the battery 40, moves downward to approach and clamp the battery 40, preventing any gaps in the grip. Furthermore, once the actuator 31 of the robotic arm 30 accurately clamps the battery 40, the robotic arm 30 moves the battery 40 upward, removing it from the battery compartment 12. Because the actuator 31's gripping position of the battery 40 is highly precise, the position of the battery 40 can be accurately controlled and adjusted, ensuring that the removed battery 40 is precisely placed into the battery swapping device 96.

[0114] Similarly, after the battery 40 is placed into the battery compartment 12, the first camera 93 can identify the height of the battery 40 protruding outside the battery compartment 12. Then, the controller can accurately calculate the downward pressure value of the battery 40 based on the protrusion height of the battery 40, and control the robotic arm 30 to accurately move to the vertical position of the top surface of the battery 40. After the robotic arm 30 contacts the top surface of the battery 40, it drives the battery 40 to move downward according to the downward pressure value, so that the battery 40 is completely inserted into the battery compartment 12. The installation of the battery 40 has high reliability.

[0115] Based on the aforementioned embodiments, the wheeled humanoid robot also includes a second camera 94 and a head 95. The head 95 is connected to the top of the chest cavity 20, and the second camera 94 is connected to the head 95 and electrically connected to the controller. The second camera 94 can acquire image information of the battery swapping device 96 and accurately identify the position of the chamber 961 of the battery swapping device 96. Subsequently, the robotic arm 30 can accurately insert the battery 40 into the chamber 961 of the battery swapping device 96. Furthermore, the robotic arm 30 can also accurately grasp the battery 40 ejected from the battery swapping device 96 and place the battery 40 back into the battery compartment 12.

[0116] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0118] It should be noted that if a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component. If a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A wheeled humanoid robot, characterized in that, include: A movable chassis, wherein the movable chassis is provided with a battery compartment for storing batteries; Thoracic cavity, which is connected to the movable chassis; and A robotic arm connected to the chest cavity, the robotic arm being capable of removing the battery from the battery compartment and / or inserting the battery into the battery compartment.

2. The wheeled humanoid robot according to claim 1, characterized in that, The battery compartment is provided in multiple locations; the battery compartment is provided with an inlet and outlet for taking out and putting in the battery, and the inlet and outlet of the battery compartment is located on at least one of the top surface and side surface of the movable chassis.

3. The wheeled humanoid robot according to claim 1, characterized in that, The wheeled humanoid robot also includes an ejection mechanism disposed within the battery compartment, the ejection mechanism being used to eject at least a portion of the battery from the battery compartment.

4. The wheeled humanoid robot according to claim 3, characterized in that, The wheeled humanoid robot also includes a locking mechanism, which is disposed on the movable chassis. The locking mechanism has a locked state and an unlocked state. When the locking mechanism is in the locked state, it locks the battery located in the battery compartment. When the locking mechanism is in the unlocked state, it releases the battery located in the battery compartment, and the ejection mechanism ejects at least a portion of the battery from the battery compartment.

5. The wheeled humanoid robot according to claim 4, characterized in that, The locking mechanism includes a mounting base, a locking member, a first elastic member, and an electromagnetic coil. The mounting base is connected to the movable chassis, the locking member is movably disposed on the mounting base, the first elastic member is connected between the locking member and the mounting base, and the electromagnetic coil is wound around the mounting base. When the electromagnetic coil is energized, the mounting base generates a magnetic force that causes the locking member to move, thereby switching to the unlocked state, and the locking member causes the first elastic member to undergo elastic deformation. When the electromagnetic coil is de-energized, the first elastic member, under its own restoring force, causes the locking member to move in the opposite direction, thereby switching to the locked state.

6. The wheeled humanoid robot according to claim 4, characterized in that, The wheeled humanoid robot also includes a manual unlocking component; the manual unlocking component is connected to the locking mechanism, and the manual unlocking component extends at least partially beyond the movable chassis, and the manual unlocking component can drive the locking mechanism to move to the unlocked state.

7. The wheeled humanoid robot according to claim 3, characterized in that, The wheeled humanoid robot also includes an adapter plate disposed within the battery compartment. The adapter plate is provided with a first connector and a second connector. The first connector is used to electrically connect to the output connector of the battery, and the second connector is used to electrically connect to the input connector of the battery. The ejection mechanism is connected to the adapter plate.

8. The wheeled humanoid robot according to claim 7, characterized in that, The ejection mechanism includes a ejector pin and a second elastic element. The adapter plate has a through hole, and the ejector pin is movably inserted into the through hole. The ejector pin is connected to at least one of the movable chassis and the adapter plate through the second elastic element. The ejector pin also abuts against the back of the battery.

9. The wheeled humanoid robot according to claim 8, characterized in that, There are multiple ejector pins, the second elastic element, and the through holes. Each ejector pin is correspondingly arranged with each of the through holes, and each ejector pin is also correspondingly arranged with each of the second elastic elements. The multiple through holes are arranged at intervals on the adapter plate.

10. The wheeled humanoid robot according to claim 7, characterized in that, The ejection mechanism includes a multi-link assembly, a third elastic element, and a push plate. The multi-link assembly and the third elastic element are each connected between the push plate and the adapter plate. The push plate is used to abut against the back of the battery.

11. The wheeled humanoid robot according to claim 10, characterized in that, There are two ejection mechanisms, which are respectively arranged at opposite ends of the adapter plate.

12. The wheeled humanoid robot according to claim 10, characterized in that, The push plate is provided with a first magnetic attractor, which is used to magnetically engage with a second magnetic attractor on the battery.

13. The wheeled humanoid robot according to claim 7, characterized in that, The ejection mechanism includes two strong magnets with opposite polarities, one of which is disposed on the adapter plate and the other is disposed on the back of the battery; or, the ejection mechanism includes an electric push rod connected to the adapter plate and also engaging with the battery.

14. The wheeled humanoid robot according to any one of claims 1 to 13, characterized in that, The wheeled humanoid robot also includes a first camera and a controller. The first camera is connected to the chest cavity, and the camera part of the first camera is positioned opposite to the movable chassis. Both the first camera and the robotic arm are electrically connected to the controller.

15. The wheeled humanoid robot according to claim 14, characterized in that, The wheeled humanoid robot also meets at least one of the following conditions: (1) The wheeled humanoid robot also includes a second camera and a head, the head being connected to the top of the chest cavity, the second camera being connected to the head, and the second camera being electrically connected to the controller; (2) The wheeled humanoid robot further includes a navigation system, which is connected to at least one of the movable chassis and the chest cavity, and is electrically connected to the controller; (3) The wheeled humanoid robot also includes a multi-degree-of-freedom adjustable joint, which is connected between the chest cavity and the movable chassis.

Images