Wheel type transfer robot

Abstract

The utility model discloses a wheel type transfer robot which comprises a chassis assembly. The inflexion knee joint assembly is movably arranged on the chassis assembly; the head recognition assembly is rotationally arranged above the knee joint inflection assembly; the two arm assemblies are movably arranged on the two opposite sides of the inflexion knee joint assembly respectively; the chassis assembly comprises a chassis main body; the four steering wheel mechanisms are symmetrically arranged at four corners of the chassis main body in a penetrating manner; the battery mechanism is fixedly arranged at the middle rear position of the chassis main body; the navigation radar mechanism is arranged above the chassis main body; the knee joint inflection assembly comprises a fixing base, a first telescopic arm mechanism, a joint driving motor, a second telescopic arm mechanism and an elastic supporting mechanism. The chassis assembly with high integration level is matched with the inflexion knee joint assembly with many movable joints, so that the problems that an existing wheel type transfer robot chassis is insufficient in stability and small in operation range are effectively solved.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and in particular to a wheeled material handling robot. Background Technology

[0002] In existing technologies, wheeled humanoid handling robots typically use a steering wheel mechanism for movement and steering. This mechanism includes a rotary motor assembly and a walking motor assembly. Currently, these components are usually arranged separately, with the motor, reducer, driver, and encoder arranged separately. This results in a complex structure that occupies a large amount of chassis space, leading to a relatively small support span within the limited chassis space. Due to the limited remaining chassis space, most wheeled humanoid robots place the power unit in the chest cavity of the superstructure, resulting in a high center of gravity. Combined with the small support span of the wheel system, this causes significant chassis swaying during object grasping, leading to poor stability and impacting work efficiency and accuracy. Furthermore, existing wheeled humanoid robots have limited lifting freedom, mostly consisting of only a vertical feed mechanism. This results in inflexible movement and a limited working range. Additionally, the joint modules provide relatively low torque, limiting the weight of objects that can be handled. Therefore, this paper proposes a wheeled handling robot to address these issues. Summary of the Invention

[0003] One of the objectives of this invention is to provide a wheeled transport robot to solve the problems of insufficient chassis stability and limited operating range of existing wheeled transport robots.

[0004] This utility model relates to a wheeled transport robot, which can be achieved through the following technical solutions:

[0005] This utility model discloses a wheeled transport robot, which includes a chassis assembly; a reverse knee joint assembly movably mounted on the chassis assembly; a head recognition assembly rotatably mounted above the reverse knee joint assembly; and two arm assemblies movably mounted on opposite sides of the reverse knee joint assembly.

[0006] The chassis assembly includes a chassis body, four steering wheel mechanisms, a battery mechanism, and a navigation radar mechanism. The chassis body is a hollow square cavity, and the reverse knee joint assembly is fixedly mounted on the chassis body. The four steering wheel mechanisms are symmetrically arranged through the four corners of the chassis body. The battery mechanism is fixedly mounted in the rear center of the chassis body. The navigation radar mechanism is located above the chassis body.

[0007] The reverse knee joint assembly includes a fixed base fixedly mounted on the chassis body; a first telescopic arm mechanism rotatably mounted on the fixed base; a joint drive motor mounted on the end of the first telescopic arm mechanism away from the fixed base; a second telescopic arm mechanism transmissionally mounted on the joint drive motor; an elastic support mechanism with one end fixedly mounted on the first telescopic arm mechanism and the other end movably mounted on the joint drive motor and connected to the second telescopic arm mechanism; when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

[0008] In one embodiment, the chassis assembly further includes a plurality of obstacle avoidance cameras, a plurality of bottom obstacle avoidance radars, and a charging port; the plurality of obstacle avoidance cameras are respectively disposed through the side wall of the chassis body; the plurality of bottom obstacle avoidance radars are respectively fixedly disposed at the bottom of the chassis body; and the charging port is fixedly disposed through the side wall of the chassis body.

[0009] In one embodiment, the steering wheel mechanism includes a fixed plate fixedly disposed in the chassis body; a rotary motor assembly fixedly disposed through the fixed plate; a connecting frame movably disposed below the fixed plate and drivingly connected to the rotary motor assembly; and a drive wheel assembly rotatably disposed on the connecting frame.

[0010] In one embodiment, the rotary motor assembly includes a motor mechanism; a bevel gear fixedly mounted on the rotating shaft of the motor mechanism; a connecting cavity, which is an L-shaped hollow cavity, with one end horizontally fixed on the side of the motor mechanism, the connecting cavity enclosing the bevel gear; and a transmission mechanism vertically mounted in the connecting cavity and respectively connected to the bevel gear and the drive wheel assembly.

[0011] In one embodiment, the motor mechanism includes a motor housing; a first stator assembly fixedly disposed in the motor housing; a first rotor assembly rotatably disposed in the motor housing and rotatably passing through the first stator assembly; a rotating shaft drivenly connected to the first rotor assembly and passing through the motor housing, wherein a bevel gear is fixedly disposed on the rotating shaft and is drivenly meshed with the transmission mechanism; a first driver fixedly disposed in the motor housing and electrically connected to the first rotor assembly; and a first encoder disposed on the rotating shaft and electrically connected to the first driver.

[0012] In one embodiment, the drive wheel assembly includes a fixed shaft with its two ends fixedly mounted on the connecting frame; a wheel body rotatably mounted on the fixed shaft; a second stator assembly fixedly mounted on the fixed shaft and disposed within the wheel body; a second rotor assembly fixedly mounted within the wheel body and movably mounted on the second stator assembly; a second driver fixedly mounted within the wheel body and electrically connected to the second rotor assembly; and a second encoder fixedly mounted on the second rotor assembly and electrically connected to the second driver.

[0013] In one embodiment, the anti-flexion knee joint assembly further includes a rotary support mechanism rotatably mounted on the second telescopic arm mechanism; the rotary support mechanism includes a third telescopic arm body that is drivenly connected to a second drive motor; a first rotary motor fixedly mounted on the third telescopic arm body; and a support frame movably mounted above the third telescopic arm body and drivenly connected to the first rotary motor.

[0014] In one embodiment, the elastic support mechanism includes a support plate fixedly mounted on the first telescopic arm mechanism; a connector movably mounted on the joint drive motor and connected to the second telescopic arm mechanism; and at least one gas spring connected at both ends to the support plate and the connector, wherein when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the gas spring is in a compressed state to provide support force to the second telescopic arm mechanism.

[0015] In one embodiment, the head recognition component includes a second rotary motor, which is vertically fixed on the reverse knee joint component; a first recognition mechanism movably disposed above the reverse knee joint component and driven by the second rotary motor, the second rotary motor driving the first recognition mechanism to perform a lateral angle rotation operation; a third rotary motor laterally fixed on the first recognition mechanism; and a second recognition mechanism movably disposed above the first recognition mechanism and driven by the third rotary motor, the third rotary motor driving the second recognition mechanism to perform a longitudinal angle rotation operation.

[0016] In one embodiment, the arm assembly includes a first rotating arm mechanism movably disposed on the reverse knee joint assembly; a second rotating arm mechanism and a third rotating arm mechanism movably connected in sequence to the first rotating arm mechanism; a clamping arm mechanism movably connected to the third rotating arm mechanism; and a third recognition camera fixedly disposed on the clamping arm mechanism, which is capable of recognizing the items to be moved.

[0017] Compared with the prior art, the beneficial effects of this utility model of a wheeled transport robot are as follows:

[0018] This utility model discloses a wheeled transport robot. By employing a highly integrated steering wheel mechanism, the space occupied by the steering wheel mechanism in the chassis body is reduced, making it easier to fix the battery mechanism in the middle and rear position of the chassis body. This allows the center of gravity of the robot body to be closer to the overall center during forward tilting, improving the anti-tipping ability. At the same time, the four steering wheel mechanisms are symmetrically arranged at the four corners of the chassis body, maximizing the wheel system span and significantly improving the stability of the chassis body in all directions, effectively solving the problem of insufficient chassis stability in existing wheeled humanoid robots. Furthermore, through the cooperation of a navigation radar mechanism, obstacle avoidance camera, and bottom obstacle avoidance radar, obstacle avoidance navigation operations of the chassis components are effectively realized.

[0019] This utility model discloses a wheeled handling robot that, when performing a reverse knee flexion operation, uses a compressed gas spring to provide support for the second telescopic arm mechanism. This significantly reduces the output torque of the joint drive motor to support the second telescopic arm mechanism, effectively solving the problem of the knee joint motor requiring large redundant power in existing humanoid handling robots. The first drive motor, joint drive motor, and second drive motor drive the first telescopic arm body, the second telescopic arm body, and the third telescopic arm body respectively to perform angle adjustment operations. At the same time, a rotary motor drives the support frame to rotate, thereby achieving multi-joint and multi-dimensional movement, which improves the flexibility of the humanoid robot to a certain extent.

[0020] This utility model discloses a wheeled transport robot that maximizes the robot's field of vision through two recognition mechanisms in the head recognition component; at the same time, combined with the recognition cameras on the two arm components, it greatly enhances the recognition accuracy of the objects to be transported. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram of a wheeled transport robot according to the present invention, including a chassis assembly, a reverse knee joint assembly, a head recognition assembly, and a first arm assembly;

[0023] Figure 2 yes Figure 1 The diagram shows the structural schematic of the chassis components.

[0024] Figure 3 yes Figure 1The exploded structural diagram of the chassis assembly shown includes the chassis body and the steering wheel mechanism;

[0025] Figure 4 yes Figure 3 The diagram shows the structural schematic of the chassis body.

[0026] Figure 5 yes Figure 3 The schematic diagram of the steering wheel mechanism shown includes a rotary motor assembly and a drive wheel assembly.

[0027] Figure 6 yes Figure 5 The exploded structural diagram of the rotary motor assembly shown includes the motor mechanism;

[0028] Figure 7 yes Figure 6 The exploded structural diagram of the motor mechanism shown;

[0029] Figure 8 yes Figure 5 A schematic diagram of the cross-sectional structure of the drive wheel assembly shown;

[0030] Figure 9 yes Figure 1 The diagram shows the structure of the reverse knee joint assembly.

[0031] Figure 10 yes Figure 9 The exploded structural diagram of the anti-flexion knee joint assembly shown includes a rotational support mechanism;

[0032] Figure 11 yes Figure 10 An exploded view of the rotating support mechanism shown.

[0033] Figure 12 yes Figure 1 The diagram shows the structure of the head recognition component.

[0034] Figure 13 yes Figure 1 The diagram shows the structure of the first arm assembly.

[0035] The diagram indicates the following: 10, chassis assembly; 11, chassis body; 111, mounting cavity; 112, receiving cavity; 113, mounting plate; 114, first through hole; 12, steering wheel mechanism; 121, fixing plate; 122, rotary motor assembly; 1221, motor mechanism; 12211, motor housing; 12212, first stator assembly; 12213, first rotor assembly; 12214, rotating shaft; 12215, first driver; 12216, first encoder; 1222, bevel pinion; 1223, connecting cavity; 1224, transmission mechanism; 123, connecting frame; 124, drive wheel assembly. 1241, Fixed axle; 1242, Wheel body; 1243, Second stator assembly; 1244, Second rotor assembly; 1245, Second driver; 1246, Second encoder; 13, Battery mechanism; 14, Navigation radar mechanism; 141, 3D radar; 142, Obstacle avoidance radar; 15, Obstacle avoidance camera; 16, Bottom obstacle avoidance radar; 17, Charging interface; 20, Reverse knee joint assembly; 21, Mounting base; 211, Mounting hole; 212, Second through hole; 22, First telescopic arm mechanism; 221, First drive motor; 222, First telescopic arm body; 23, Joint drive motor; 24, Second telescopic arm mechanism; 241, Second telescopic arm body; 242, Second drive motor; 25, Rotary support mechanism; 251 252, Third telescopic arm main body; 253, First rotary motor; 254, Support frame; 2555, Hollow cavity; 2555, Connecting plate; 26, Elastic support mechanism; 265, Support plate; 266, Connector; 267, Annular groove; 268, Gas spring; 30, Head recognition component; 31, Second rotary motor; 32, First recognition mechanism; 321, First transmission seat; 322, First recognition camera; 33, Third rotary motor; 34, Second recognition mechanism; 341, Second transmission seat; 342, Second recognition camera; 40, First arm assembly; 41, First rotating arm mechanism; 42, Second rotating arm mechanism; 43, Third rotating arm mechanism; 44, Clamping arm mechanism; 45, Third recognition camera; 50, Second arm assembly. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0038] Please see Figure 1 As shown, this utility model discloses a wheeled transport robot, which mainly includes a chassis assembly 10, a reverse knee joint assembly 20, a head recognition assembly 30, a first arm assembly 40, and a second arm assembly 50. The chassis assembly 10 is the main body for walking and turning. The reverse knee joint assembly 20 is movably mounted on the chassis assembly 10 and can perform lifting and rotating operations. The head recognition assembly 30 is rotatably mounted above the reverse knee joint assembly 20 and performs identification and scanning operations on the items to be transported. The first arm assembly 40 and the second arm assembly 50 are respectively movably mounted on opposite sides of the reverse knee joint assembly 20, and the two work together to clamp and transport the items to be transported. In this embodiment, the wheeled transport robot of the present invention also includes a control component (not shown). The control component (not shown) is fixedly mounted on the chassis assembly 10 or the reverse knee joint assembly 20, and is electrically connected to the chassis assembly 10, the reverse knee joint assembly 20, the head recognition assembly 30, the first arm assembly 40, and the second arm assembly 50, respectively. The control technology used is all existing technology, so the specific control process and model used will not be described in detail here, as long as it meets the requirements of this application.

[0039] Please see Figures 1-3As shown, in this embodiment, the chassis assembly 10 includes a chassis body 11, four steering wheel mechanisms 12, a battery mechanism 13, a navigation radar mechanism 14, multiple obstacle avoidance cameras 15, multiple bottom obstacle avoidance radars 16, and a charging interface 17. The chassis body 11 is a hollow square cavity, and the lower end of the reverse knee joint assembly 20 is fixedly mounted on the chassis body 11. The four steering wheel mechanisms 12 are respectively symmetrically arranged through the four corners of the chassis body 11. The movement and steering operation of the chassis assembly 10 are realized through the cooperation of the four steering wheel mechanisms, while maximizing the wheel system span and greatly improving the stability performance of the chassis body 11 in all directions. The battery mechanism 13 is fixedly mounted in the rear middle position of the chassis body 11, making... During the forward tilting motion, the robot body 20's center of gravity moves closer to the overall center, enhancing its anti-tipping ability. The navigation radar mechanism 14 is positioned above the chassis body 11, providing navigation for the chassis assembly 10. Multiple obstacle avoidance cameras 15 are respectively installed through the side walls of the chassis body 11, cooperating to monitor and avoid obstacles around the chassis body 11 in real time. Multiple bottom obstacle avoidance radars 16 are fixedly installed at the bottom of the chassis body 11, cooperating to monitor and avoid obstacles at the bottom of the chassis body 11 in real time. A charging interface 17 is fixedly installed through the side wall of the chassis body 11, charging the battery mechanism 13 via the charging interface 17. In this embodiment, four obstacle avoidance cameras 15 are respectively installed through the four side walls of the chassis body 11; four bottom obstacle avoidance radars 16 are respectively fixedly installed at the bottom of the chassis body 11. In other embodiments, the number of obstacle avoidance cameras 15 and bottom obstacle avoidance radars 16 can be two, three, five, or other multiples, depending on actual needs.

[0040] Please see Figure 3 and Figure 4 As shown, specifically, mounting cavities 111 are respectively provided through the four corners of the chassis body 11, and four steering wheel mechanisms 12 are respectively fixedly mounted on the chassis body 11 through the corresponding mounting cavities 111; a receiving cavity 112 is provided at the rear center of the chassis body 11, and the battery mechanism 13 is fixedly mounted in the receiving cavity 112, thereby increasing the weight of the chassis body 11 and enhancing its stability; a mounting plate 113 is provided at the center of the chassis body 11, and the lower end of the reverse knee joint assembly 20 is fixedly mounted on the mounting plate 113; first through holes 114 are respectively provided through the four side walls of the chassis body 11, and four obstacle avoidance cameras 15 are respectively provided through the corresponding first through holes 114 through the chassis body 11.

[0041] Please see Figure 3 and Figure 5As shown, in this embodiment, the steering wheel mechanism 12 includes a fixed plate 121, a rotary motor assembly 122, a connecting frame 123, and a drive wheel assembly 124. The fixed plate 121 is fixedly mounted on the mounting cavity 111. The rotary motor assembly 122 is fixedly mounted through the fixed plate 121. The connecting frame 123 is movably mounted below the fixed plate 121 and is connected to the rotary motor assembly 122 in a transmission manner. The rotary motor assembly 122 drives the connecting frame 123 to perform steering operations. The drive wheel assembly 124 is rotatably mounted on the connecting frame 123, and drives the chassis assembly 10 to move forward or backward.

[0042] Please see Figures 5-7 As shown, in this embodiment, the rotary motor assembly 122 includes a motor mechanism 1221, a bevel gear 1222, a connecting cavity 1223, and a transmission mechanism 1224. The motor mechanism 1221 is the main driving power source. The bevel gear 1222 is fixedly mounted on the rotating shaft of the motor mechanism 1221, and the motor mechanism 1221 drives the bevel gear 1222 to rotate. The connecting cavity 1223 is a hollow cavity with an L-shaped shape. One lateral end of the connecting cavity 1223 is fixedly mounted on the side of the motor mechanism 1221 and encloses the bevel gear 1222. The transmission mechanism 1224 is vertically mounted in the connecting cavity 1223 and is connected to the bevel gear 1222 and the drive wheel assembly 124 respectively. The bevel gear 1222 drives the transmission mechanism 1224 to drive the drive wheel assembly 124 to perform steering operations.

[0043] Please see Figure 6 and Figure 7As shown, in this embodiment, the motor mechanism 1221 includes a motor housing 12211, a first stator assembly 12212, a first rotor assembly 12213, a rotating shaft 12214, a first driver 12215, and a first encoder 12216; the motor housing 12211 is a hollow cavity; the first stator assembly 12212 is fixedly disposed in the motor housing 12211; the first rotor assembly 12213 is rotatably disposed in the motor housing 12211 and rotatably passes through the first stator assembly 12212; the rotating shaft 12214 and the first rotor assembly 12213 are connected... A bevel gear 1222 is fixedly mounted on the rotating shaft 12214 and meshes with the transmission mechanism 1224. A first driver 12215 is fixedly mounted in the motor housing 12211 and electrically connected to the first rotor assembly 12213, which drives the first rotor assembly 12213 to rotate relative to the first stator assembly 12212. A first encoder 12216 is mounted on the rotating shaft 12214 and electrically connected to the first driver 12215, which rotates along with the rotating shaft 12214. Specifically, the first stator assembly 12212 and the first rotor assembly 12213 both adopt existing technologies, so their specific structures and working processes will not be described in detail here, as long as they meet the requirements of this application; the transmission mechanism 1224 includes a transmission bevel gear and a transmission shaft; the transmission bevel gear is rotatably and vertically arranged in the connecting cavity 1223 and meshes with the bevel gear 1222 for transmission. The bevel gear 1222 and the transmission bevel gear form a deceleration and steering structure, which increases the output torque of the motor mechanism 1221 through their cooperation, and at the same time converts the lateral transmission force of the motor mechanism 1221 into the longitudinal transmission force; one end of the transmission shaft is connected to the transmission bevel gear for transmission, and the other end is connected to the drive wheel assembly 124 for transmission.

[0044] Please see Figure 5 and Figure 8As shown, the drive wheel assembly 124 includes a fixed shaft 1241, a wheel body 1242, a second stator assembly 1243, a second rotor assembly 1244, a second driver 1245, and a second encoder 1246. Both ends of the fixed shaft 1241 are fixedly mounted on the connecting frame 123. The wheel body 1242 is rotatably mounted through the fixed shaft 1241 and can rotate relative to the fixed shaft 1241. The second stator assembly 1243 is fixedly mounted through the fixed shaft 1241 and is disposed within the wheel body 1242. The second rotor assembly 1244 is fixedly mounted within the wheel body 1242 and movably mounted through the second stator assembly 1243. The second driver 1245 is fixedly mounted within the wheel body 1242 and electrically connected to the second rotor assembly 1244. The second encoder 1246 is fixedly mounted on the second rotor assembly 1244 and electrically connected to the second driver 1245, and rotates along with the rotation of the second rotor assembly 1244. Specifically, the second stator assembly 1243 and the second rotor assembly 1244 both adopt existing technologies, so their specific structures and working processes will not be described in detail here, as long as they meet the requirements of this application.

[0045] Please see Figure 2 and Figure 3 As shown, in this embodiment, the navigation radar mechanism 14 includes a 3D radar 141 and two obstacle avoidance radars 142. The 3D radar 141 is fixedly installed at the middle position of the front end of the chassis body 11. The two obstacle avoidance radars 142 are fixedly installed diagonally on the two corners of the chassis body 11. Through the cooperation of the 3D radar 141 and the two obstacle avoidance radars 142, a 360° field of view coverage is achieved.

[0046] Please see Figure 1 , Figure 9 and Figure 10As shown, in this embodiment, the reverse knee joint assembly 20 mainly includes a fixed base 21, a first telescopic arm mechanism 22, a joint drive motor 23, a second telescopic arm mechanism 24, a rotary support mechanism 25, and an elastic support mechanism 26. The fixed base 21 is fixedly mounted on the mounting plate 113. The first telescopic arm mechanism 22 is rotatably mounted on the fixed base 21 and can be angle-adjusted relative to the fixed base 21. The joint drive motor 23 is located at the end of the first telescopic arm mechanism 22 away from the fixed base 21. The second telescopic arm mechanism 24 is driven by the joint drive motor 23, and the joint drive motor 23 drives the second telescopic arm mechanism 24 to adjust its angle. Operation: The rotary support mechanism 25 is rotatably mounted on the second telescopic arm mechanism 24, and the second telescopic arm mechanism 24 drives the rotary support mechanism 25 to perform angle adjustment operations; one end of the elastic support mechanism 26 is fixedly mounted on the first telescopic arm mechanism 22, and the other end is movably mounted on the joint drive motor 23 and connected to the second telescopic arm mechanism 24. When the first telescopic arm mechanism 22 and the second telescopic arm mechanism 24 form an acute angle, that is, when the anti-flexion knee joint assembly 20 performs anti-flexion knee operation, the elastic support mechanism 26 provides support force to the second telescopic arm mechanism 24, thereby greatly reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24.

[0047] Please see Figure 9 and Figure 10 As shown, specifically, the fixed base 21 is provided with multiple fixing holes 211, and the fixed base 21 is fixedly installed on the chassis assembly of the humanoid robot through the multiple fixing holes 211; the fixed base 21 is also provided with a second through hole 212, and one end of the first telescopic arm mechanism 22 is disposed in the second through hole 212.

[0048] Please see Figure 9 and Figure 10 As shown, in this embodiment, the first telescopic arm mechanism 22 includes a first drive motor 221 and a first telescopic arm body 222; the first drive motor 221 is fixedly disposed in the second through hole 212; the first telescopic arm body 222 is driven by the first drive motor 221, and the first drive motor 221 drives the first telescopic arm body 222 to perform angle adjustment; the joint drive motor 23 is disposed on the other end of the first telescopic arm body 222 opposite to the first drive motor 221. The second telescopic arm mechanism 24 includes a second telescopic arm body 241 and a second drive motor 242; the second telescopic arm body 241 is driven by the joint drive motor 23, and the joint drive motor 23 drives the second telescopic arm body 241 to perform angle adjustment; the second drive motor 242 is disposed on the other end of the second telescopic arm body 241 opposite to the joint drive motor 23, and is driven by the rotary support mechanism 25, and the second drive motor 242 drives the rotary support mechanism 25 to perform angle adjustment.

[0049] Please see Figures 9-11As shown, in this embodiment, the rotating support mechanism 25 includes a third telescopic arm body 251, a first rotary motor 252, and a support frame 253. The third telescopic arm body 251 is connected to a second drive motor 242, which drives the third telescopic arm body 251 to adjust its angle. The first rotary motor 252 is fixedly mounted on the third telescopic arm body 251 and moves with the movement of the third telescopic arm body 251. The support frame 253 is movably mounted above the third telescopic arm body 251 and is connected to the first rotary motor 252, which drives the support frame 253 to rotate. Specifically, the support frame 253 has a hollow cavity 2531, which can be used to install the control components of the humanoid robot (not shown). Connecting plates 2532 are respectively provided on opposite sides of the support frame 253, and the first arm assembly 40 and the second arm assembly 50 are respectively mounted on the corresponding connecting plates 2532.

[0050] Please see Figure 9 and Figure 10 As shown, the elastic support mechanism 26 includes a support plate 261, a connector 262, and at least one gas spring 263. The support plate 261 is fixedly mounted on the first telescopic arm body 222. The connector 262 is movably mounted on the joint drive motor 23 and connected to the second telescopic arm body 241. One end of the at least one gas spring 263 is fixedly mounted on the support plate 261, and the other end is connected to the connector 262. When the first telescopic arm mechanism 22 and the second telescopic arm mechanism 24 form an acute angle, i.e., the knee flexion joint assembly 20 performs a knee flexion operation, the gas spring 263 is in a compressed state, providing support force to the second telescopic arm mechanism 24, thereby reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24. In this embodiment, two gas springs 263 are arranged side by side between the support plate 261 and the connector 262; in other embodiments, the number of gas springs 263 can be one, three, four, or other plurality, and the number can be set according to the actual situation. Specifically, the connector 262 is provided with at least one annular groove 1621, and one end of the gas spring 263 is movably disposed on the annular groove 1621.

[0051] Please see Figure 1 and Figure 12As shown, in this embodiment, the head recognition component 230 includes a second rotary motor 31, a first recognition mechanism 32, a third rotary motor 33, and a second recognition mechanism 34. The second rotary motor 31 is vertically fixed on the reverse knee joint component 20 and moves with the movement of the reverse knee joint component 20. The first recognition mechanism 32 is movably disposed above the reverse knee joint component 20 and is connected to the second rotary motor 31. The second rotary motor 31 drives the first recognition mechanism 32 to perform a lateral angle rotation operation. The third rotary motor 33 is horizontally fixed on the first recognition mechanism 32. The second recognition mechanism 34 is movably disposed above the first recognition mechanism 32 and is connected to the third rotary motor 33. The third rotary motor 33 drives the second recognition mechanism 34 to perform a longitudinal angle rotation operation.

[0052] Please see Figure 12 As shown, specifically, the first identification mechanism 32 includes a first transmission base 321 and a first identification camera 322. The first transmission base 321 is connected to a second rotary motor 31, which drives the first transmission base 321 to perform a lateral rotation operation. The first identification camera 322 is fixedly mounted on the first transmission base 321 and rotates along with the rotation of the first transmission base 321. The second identification mechanism 34 includes a second transmission base 341 and a second identification camera 342. The second transmission base 341 is connected to a third rotary motor 33, which drives the second transmission base 341 to perform a longitudinal rotation operation. The second identification camera 342 is fixedly mounted on the second transmission base 341 and rotates along with the rotation of the second transmission base 341.

[0053] Please see Figure 1 and Figure 13As shown, in this embodiment, the first arm assembly 40 includes a first rotating arm mechanism 41, a second rotating arm mechanism 42, a third rotating arm mechanism 43, a clamping arm mechanism 44, and a third recognition camera 45. The first rotating arm mechanism 41 is movably mounted on the reverse knee joint assembly 20. The second rotating arm mechanism 42 and the third rotating arm mechanism 43 are sequentially movably connected to the first rotating arm mechanism 41, thereby realizing the multi-joint movement of the first arm assembly 40. The clamping arm mechanism 44 is movably connected to the third rotating arm mechanism 43, and the operation of handling the object is performed through the clamping arm mechanism 44. The third recognition camera 45 is fixedly mounted on the clamping arm mechanism 44, and it can perform the recognition operation of the object to be handled. Specifically, the first rotating arm mechanism 41 includes an arm joint motor and a rotating arm body. The arm joint motor is mounted on the reverse knee joint assembly 20, and the rotating arm body is drivenly connected to the arm joint motor, which drives the rotating arm body to move. The second rotating arm mechanism 42 and the third rotating arm mechanism 43 have similar structures to the first rotating arm mechanism 41, so their specific structures will not be described in detail here. The clamping arm mechanism 44 also adopts existing technology, so its specific structure and working process will not be described in detail here, as long as it meets the requirements of this application. In this embodiment, the second arm assembly 50 is the same as the first arm assembly 40, so the specific structure of the second arm assembly 50 will not be described in detail here.

[0054] It should be noted that the specific working process of the wheeled transport robot of this utility model is as follows: the steering wheel mechanism 12 adopts a highly integrated rotary motor mechanism 122 and drive wheel mechanism 124, so that the steering wheel mechanism 12 occupies less space in the chassis body 11, which makes it easier to fix the battery mechanism 13 in the middle and rear position of the chassis body 11. This makes the center of gravity of the robot body 20 closer to the overall center during the forward tilting movement, thus improving the anti-tipping ability; the four steering wheel mechanisms 12 are symmetrically arranged on the four corners of the chassis body 11, so that the wheel system span is maximized, which greatly improves the stability of the chassis body 11 in all directions; and the obstacle avoidance navigation operation of the chassis component 10 is realized through the cooperation of the navigation radar mechanism 14, the obstacle avoidance camera 15 and the bottom obstacle avoidance radar 16.

[0055] The first drive motor 221, the joint drive motor 23, and the second drive motor 242 drive the first telescopic arm body 222, the second telescopic arm body 242, and the third telescopic arm body 251 to perform angle adjustment operations, thereby realizing multi-joint movement. When the first telescopic arm body 222 and the second telescopic arm body 242 form an acute angle, the anti-knee joint assembly 20 performs an anti-knee operation, and the gas spring 263 is in a compressed state to provide support force to the second telescopic arm mechanism 24, thereby greatly reducing the output torque of the joint drive motor 23 to support the second telescopic arm mechanism 24. At the same time, the head recognition assembly 30 can be driven to perform a large-angle rotation operation through the rotation support mechanism 25. Then, through the cooperation of the first recognition mechanism 32 and the second recognition mechanism 34 in the head recognition assembly 30 and the third recognition camera 45 respectively set on the first arm assembly 40 and the second arm assembly 50, it is convenient to identify the items to be moved.

[0056] 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 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.

[0057] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A wheeled transport robot, characterized in that, include: Chassis components; A reverse knee joint assembly, which is movably mounted on the chassis assembly; A head recognition component, which is rotatably positioned above the anti-flexion knee joint component; Two arm components are respectively movably mounted on opposite sides of the reverse knee joint component; The chassis assembly includes a chassis body, four steering wheel mechanisms, a battery mechanism, and a navigation radar mechanism. The chassis body is a hollow square cavity, and the reverse knee joint assembly is fixedly mounted on the chassis body. The four steering wheel mechanisms are symmetrically arranged through the four corners of the chassis body. The battery mechanism is fixedly mounted in the rear center of the chassis body. The navigation radar mechanism is located above the chassis body. The reverse knee joint assembly includes a fixed base fixedly mounted on the chassis body; a first telescopic arm mechanism rotatably mounted on the fixed base; a joint drive motor mounted on the end of the first telescopic arm mechanism away from the fixed base; a second telescopic arm mechanism transmissionally mounted on the joint drive motor; an elastic support mechanism with one end fixedly mounted on the first telescopic arm mechanism and the other end movably mounted on the joint drive motor and connected to the second telescopic arm mechanism; when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

2. The wheeled transport robot according to claim 1, characterized in that, The chassis assembly also includes multiple obstacle avoidance cameras, multiple bottom obstacle avoidance radars, and a charging port; the multiple obstacle avoidance cameras are respectively installed through the side wall of the chassis body; the multiple bottom obstacle avoidance radars are respectively fixedly installed at the bottom of the chassis body; and the charging port is fixedly installed through the side wall of the chassis body.

3. A wheeled transport robot according to claim 1, characterized in that, The steering wheel mechanism includes a fixed plate, which is fixedly disposed in the chassis body; a rotary motor assembly fixedly disposed through the fixed plate; and a connecting frame movably disposed below the fixed plate and drivingly connected to the rotary motor assembly. Rotate the drive wheel assembly mounted on the connecting frame.

4. A wheeled transport robot according to claim 3, characterized in that, The rotary motor assembly includes a motor mechanism; a bevel gear fixedly mounted on the rotating shaft of the motor mechanism; a connecting cavity, which is an L-shaped hollow cavity, with one end horizontally fixed on the side of the motor mechanism, the connecting cavity enclosing the bevel gear; and a transmission mechanism vertically mounted in the connecting cavity and respectively connected to the bevel gear and the drive wheel assembly.

5. A wheeled transport robot according to claim 4, characterized in that, The motor mechanism includes a motor housing; a first stator assembly fixedly disposed in the motor housing; a first rotor assembly rotatably disposed in the motor housing and rotatably passing through the first stator assembly; a rotating shaft that is drively connected to the first rotor assembly and passes through the motor housing, wherein a bevel gear is fixedly disposed on the rotating shaft and is drively meshed with the transmission mechanism; a first driver fixedly disposed in the motor housing and electrically connected to the first rotor assembly; and a first encoder disposed on the rotating shaft and electrically connected to the first driver.

6. A wheeled transport robot according to claim 5, characterized in that, The drive wheel assembly includes a fixed shaft with its two ends fixedly mounted on the connecting frame; a wheel body rotatably mounted on the fixed shaft; a second stator assembly fixedly mounted on the fixed shaft and disposed within the wheel body; a second rotor assembly fixedly mounted within the wheel body and movably mounted on the second stator assembly; a second driver fixedly mounted within the wheel body and electrically connected to the second rotor assembly; and a second encoder fixedly mounted on the second rotor assembly and electrically connected to the second driver.

7. A wheeled transport robot according to claim 1, characterized in that, The reverse knee joint assembly further includes a rotary support mechanism, which is rotatably mounted on the second telescopic arm mechanism; the rotary support mechanism includes a third telescopic arm body, which is drivenly connected to a second drive motor; a first rotary motor fixedly mounted on the third telescopic arm body; and a support frame movably mounted above the third telescopic arm body and drivenly connected to the first rotary motor.

8. A wheeled transport robot according to claim 1, characterized in that, The elastic support mechanism includes a support plate, which is fixedly mounted on the first telescopic arm mechanism; and a connector that is movably mounted on the joint drive motor and connected to the second telescopic arm mechanism. At least one gas spring is connected to the support plate and the connector at both ends respectively. When the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the gas spring is in a compressed state to provide support force to the second telescopic arm mechanism.

9. A wheeled transport robot according to any one of claims 1-8, characterized in that, The head recognition component includes a second rotary motor, which is vertically fixed on the reverse knee joint component; a first recognition mechanism movably disposed above the reverse knee joint component and driven by the second rotary motor, the second rotary motor driving the first recognition mechanism to perform a lateral angle rotation operation; a third rotary motor laterally fixed on the first recognition mechanism; and a second recognition mechanism movably disposed above the first recognition mechanism and driven by the third rotary motor, the third rotary motor driving the second recognition mechanism to perform a longitudinal angle rotation operation.

10. A wheeled transport robot according to any one of claims 1-8, characterized in that, The arm assembly includes a first rotating arm mechanism movably mounted on the reverse knee joint assembly; a second rotating arm mechanism and a third rotating arm mechanism movably connected sequentially to the first rotating arm mechanism; a clamping arm mechanism movably connected to the third rotating arm mechanism; and a third recognition camera fixedly mounted on the clamping arm mechanism, which is capable of recognizing the items to be moved.

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