Omnidirectional wheel chassis of robot

Abstract

The utility model discloses an omnidirectional wheel chassis of a robot, which comprises a chassis part used for bearing a robot body; the three horizontal steering wheels are located on the bottom face of the chassis part, and connecting lines of the three horizontal steering wheels form a triangle; wherein each horizontal steering wheel has a first rotational degree of freedom for changing the orientation of the horizontal steering wheel and further comprises a second rotational degree of freedom for driving the chassis part to move, a rotating shaft of the first rotational degree of freedom is a vertical first rotating shaft, and a rotating shaft of the second rotational degree of freedom is a horizontal second rotating shaft. Based on the triangular horizontal steering wheel layout, omni-directional movement and zero-radius steering can be achieved, dynamic and static stability can be guaranteed through three-point supporting, the anti-overturning capacity is enhanced through the low-gravity-center design, and the upper space can be saved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to an omnidirectional wheel chassis for a robot. Background Technology

[0002] Traditional industrial robotic arms are multi-jointed automated actuators based on a fixed base, typically driven by servo motors, and perform repetitive tasks such as welding and material handling through pre-programmed trajectories. Their core advantages lie in high precision, high load capacity, and reliability in structured environments. Humanoid robots, on the other hand, mimic the bipedal locomotion of humans, integrating a torso, arms, and bipedal motion platforms. They possess the ability to autonomously navigate and operate in unstructured environments, adapting to complex terrain and human-robot collaboration scenarios.

[0003] Traditional industrial robotic arms and humanoid robots can also be called serial dual-arm humanoid robots. Serial dual-arm humanoid robots have the following technical drawbacks: limited load capacity, as torque is transmitted sequentially in a serial structure, and the load on the end effector is limited by the weakest joint, making it prone to overloading during collaborative handling. Insufficient dynamic performance, as the single-chain structure has high inertia, resulting in significant vibration during high-speed movement and difficulty in achieving rapid start-stop or high-frequency interaction, such as striking or throwing. Low energy efficiency, as the motors need to continuously output torque to maintain posture, leading to cumulative energy consumption during collaborative operation. Collision vulnerability, as rigid collisions easily cause joint damage, and there is a lack of multi-path force dispersion mechanisms.

[0004] Traditional robotic arms are limited by their fixed workspace location, making it difficult to dynamically adjust the work area. When dealing with large-scale or multi-station tasks, additional guide rails or redundant robotic arms are required, leading to a surge in system costs, high space occupancy, and low flexibility. Furthermore, the rigidity of the base makes it unable to adapt to changes in terrain or the needs of mobile operations.

[0005] While the bipedal structure of humanoid robots provides terrain adaptability, it suffers from two major bottlenecks: poor stability and high energy consumption. Dynamic balance control relies on complex algorithms and real-time sensor feedback; any delay can lead to tipping over. Simultaneously, joint actuation must continuously counteract gravity, resulting in energy efficiency far lower than wheeled or tracked platforms. Furthermore, the high complexity of the leg's mechanical structure leads to increased manufacturing costs and reliability risks.

[0006] Therefore, there is an urgent need for a new robot architecture that integrates the operational capabilities of industrial robotic arms with the flexibility of mobile platforms, overcoming spatial limitations while maintaining high efficiency and stability. This is particularly true for the construction of the robot's bottom mobile platform. Utility Model Content

[0007] The problem to be solved by this utility model is to provide an omnidirectional wheel chassis for a robot.

[0008] To solve the above problems, this utility model provides an omnidirectional wheel chassis for a robot. To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problems is as follows:

[0009] An omnidirectional wheel chassis for a robot includes: a chassis component for supporting the robot body; three horizontal steering wheels located on the bottom surface of the chassis component, the lines connecting the three horizontal steering wheels forming a triangle; wherein each horizontal steering wheel has a first rotational degree of freedom to change the orientation of the horizontal steering wheel, and also includes a second rotational degree of freedom to drive the chassis component to move, the rotation axis of the first rotational degree of freedom is a vertical first rotation axis, and the rotation axis of the second rotational degree of freedom is a horizontal second rotation axis.

[0010] As a further improvement of this utility model, the horizontal steering wheel includes a roller that can contact the ground, an external toothed rotary gear is provided directly above the roller, the external toothed rotary gear is assembled with the bottom surface of the chassis component, and a drive gear meshes with the external toothed rotary gear; the external toothed rotary gear has a first degree of rotational freedom, the roller has a second degree of rotational freedom, and the drive gear drives the external toothed rotary gear to rotate.

[0011] As a further improvement of this utility model, the external gear rotary gear includes an external gear ring and an inner gear component arranged coaxially, with a bearing installed between the external gear ring and the inner gear component, and the external gear ring and the inner gear component having a degree of freedom of relative rotation; the external gear ring is fixed to the bottom surface of the chassis component, and the inner gear component and the roller are synchronized around the first degree of freedom of rotation.

[0012] As a further improvement of this utility model, the roller is driven by a first rotary motor on the same axis, and the drive gear is driven by a second rotary motor. The axes of the first rotary motor and the second rotary motor are both horizontal, and the drive gear and the second rotary motor are connected by an orthogonal gear mechanism.

[0013] As a further improvement of this utility model, a steering mounting plate is assembled between the roller and the external rotary gear. The steering mounting plate includes a first mounting opening and a second mounting opening that are not connected to each other. The external rotary gear is arranged coaxially with the first mounting opening, and the drive gear is arranged coaxially with the second mounting opening. The orthogonal gear mechanism and the inner ring are assembled and fixed with the steering mounting plate.

[0014] As a further improvement of this utility model, a hub support is provided between the steering mounting plate and the roller, and a U-shaped part is fixed to the hub support. The hub support and the U-shaped part surround and fix the second rotary motor.

[0015] As a further improvement of this utility model, the wheel hub support also has an avoidance opening through which a roller passes.

[0016] As a further improvement of this utility model, a vertical load-bearing column is connected between the upper top surface of the inner wall of the chassis component and the lower bottom surface of the inner wall.

[0017] As a further improvement of this utility model, an aviation plug is provided on one side of the chassis component.

[0018] As a further improvement of this utility model, the chassis component includes a vehicle floor and a housing, the vehicle floor and housing surrounding a cavity in which a battery can be placed; the top view of the chassis component is an equilateral triangle or a hexagon.

[0019] The beneficial effects of the omnidirectional wheel chassis of the robot in this application are:

[0020] First, the triangular distribution of three horizontal steering wheels forms a stable tripod support structure, ensuring that the chassis can maintain three-point contact on any terrain, significantly improving the static and dynamic stability of the mobile platform.

[0021] Secondly, each steering wheel has an independent steering axis, i.e., a vertical axis, as well as a drive axis, i.e., a horizontal axis. This dual mechanical degree of freedom characteristic enables the chassis to achieve omnidirectional translation, zero-radius steering, and arbitrary trajectory movement, breaking through the movement limitations of traditional wheeled chassis in narrow spaces.

[0022] Finally, the compact layout of the horizontal steering wheel effectively reduces the overall height and center of gravity of the chassis, enhances the robot's anti-tipping ability, and saves installation space for the upper mechanism. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a perspective view of one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0025] Figure 2 This is a perspective view of one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0026] Figure 3 This is a perspective view of one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0027] Figure 4 This is a perspective view of one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0028] Figure 5 This is a perspective view of a horizontal steering wheel, representing one embodiment of the omnidirectional wheel chassis of the robot of this utility model.

[0029] Figure 6 This is a perspective view of a horizontal steering wheel, representing one embodiment of the omnidirectional wheel chassis of the robot of this utility model.

[0030] Figure 7 This is a bottom view of a horizontal steering wheel in one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0031] Figure 8 This is a cross-sectional view (AA) of one embodiment of the omnidirectional wheel chassis of the robot of this utility model;

[0032] Figure 9 This is an exploded view of a horizontal steering wheel, representing one embodiment of the omnidirectional wheel chassis of the robot of this utility model.

[0033] Figure 10 This is a perspective view of one embodiment of a robot equipped with a parallel waist and lightweight neck mechanism;

[0034] Figure 11 This is a perspective view of one embodiment of the parallel waist mechanism of a robot equipped with a parallel waist and a lightweight neck mechanism.

[0035] Figure 12 This is a perspective view of one embodiment of the static platform of the waist of a robot equipped with a parallel waist and a lightweight neck mechanism.

[0036] Figure 13 This is a perspective view of one embodiment of the waist motion platform of a robot equipped with a parallel waist and a lightweight neck mechanism.

[0037] Figure 14 This is a perspective view of one embodiment of the lumbar support legs of a robot equipped with a parallel waist and lightweight neck mechanism.

[0038] Figure 15 This is a perspective view of one embodiment of the neck parallel mechanism of a robot equipped with a parallel waist and a lightweight neck mechanism.

[0039] Figure 16 This is a perspective view of one embodiment of a parallel neck branch of a robot having a parallel waist and a lightweight neck mechanism.

[0040] Figure 17 This is a perspective view of one implementation of a two-armed humanoid robot;

[0041] Figure 18 This is a perspective view of one implementation of a two-armed humanoid robot;

[0042] Figure 19 This is a perspective view of one implementation of a two-armed humanoid robot;

[0043] Figure 20 This is a perspective view of one implementation of the arm unit of a dual-armed humanoid robot;

[0044] Figure 21 This is a perspective view of one implementation of the humanoid hand unit of a dual-arm humanoid robot;

[0045] Figure 22 This is a perspective view of one embodiment of the gripper hand unit of a dual-arm humanoid robot.

[0046] 1-Head unit; 101-Humanoid lower jaw assembly; 102-Humanoid binoculars assembly; 103-Humanoid left ear assembly; 104-Humanoid right ear assembly; 105-Humanoid tegmentum assembly; 106-Humanoid occipital bone assembly; 2-Neck parallel mechanism; 201-Neck stationary platform; 202-Neck support rod; 2021-Neck ball joint bearing; 2022-Neck ball joint fork-shaped bearing; 2023-Neck linear cylinder; 3-Chest unit; 301-Shoulder structure assembly; 3011-Upper arm mounting hole; 3012-Pre-installed mounting hole 302 - Front chest shell; 303 - Back shell; 304 - Lower hem; 305 - Upper body frame; 306 - Radar; 307 - Controller mounting plate; 4 - Arm unit; 401 - First arm segment; 402 - Second arm segment; 403 - Third arm segment; 404 - Fourth arm segment; 405 - Fifth arm segment; 406 - Sixth arm segment; 5 - Humanoid hand unit; 501 - Palm component; 502 - Thumb component; 503 - Index finger component; 504 - Middle finger component; 505 - Ring finger component; 506 - Small finger component; 6-Finger component; 6-Clamping hand unit; 601-Finger clamping component; 602-Clamping electric cylinder; 7-Waist parallel mechanism; 701-Waist moving platform; 7011-Waist ball joint seat; 702-Waist stationary platform; 703-Waist support leg; 7031-Waist upper ball joint; 7032-Waist linear cylinder; 7033-Waist lower hinge seat; 704-Butterfly component; 705-Lower crossbeam hinge seat; 7051-Waist bearing seat; 7052-Waist pin; 8-Chassis component; 801-Casing; 802- Vehicle floor; 803-Bearing column; 804-Aviation plug; 9-Horizontal steering wheel; 901-External rotary gear; 9011-External gear ring; 9012-Inner ring component; 902-Drive gear; 903-First rotary motor; 904-Steering mounting plate; 9041-First assembly opening; 9042-Second assembly opening; 905-Wheel hub support component; 9051-Avoidance opening; 906-Roller; 907-Second rotary motor; 908-Orthogonal gear mechanism; 909-U-shaped component. Detailed Implementation

[0047] The present invention will be further described in detail below with reference to specific embodiments:

[0048] In order to achieve the purpose of this utility model, such as Figures 1 to 9 As shown, an omnidirectional wheel chassis for a robot includes: a chassis component 8 for supporting the robot body; three horizontal steering wheels 9 located on the bottom surface of the chassis component 8, the lines connecting the three horizontal steering wheels 9 forming a triangle. Each horizontal steering wheel 9 has a first rotational degree of freedom to change its orientation, and also includes a second rotational degree of freedom to drive the chassis component 8 to move. The first rotational degree of freedom has a vertical first rotational axis, and the second rotational degree of freedom has a horizontal second rotational axis.

[0049] To clearly express the structure, Figure 1 It's a slanted perspective looking up from below. Figure 2 It is a downward, angled perspective.

[0050] To clearly express the internal structure, Figure 3 Part of the enclosure 801 was hidden. Figure 4 Is Figure 3 On the basis of this, all the shells are hidden (801).

[0051] In some other embodiments of this utility model, the horizontal steering wheel 9 includes a roller 906 capable of contacting the ground. An external gear 901 is positioned directly above the roller 906. The external gear 901 is assembled to the bottom surface of the chassis component 8, and a drive gear 902 meshes externally with the external gear 901. The external gear 901 has a first degree of rotational freedom, the roller 906 has a second degree of rotational freedom, and the drive gear 902 drives the external gear 901 to rotate.

[0052] In addition, the pitch circle diameter of the driving gear 902 is smaller than that of the external rotary gear 901. The centroid of the roller 906 coincides with the centroid of the external rotary gear 901 on the same vertical line.

[0053] The beneficial effects of adopting the above technical solution are: the meshing transmission between the external rotary gear 901 and the drive gear 902 ensures that the steering power is accurately transmitted to the roller 906, such as avoiding slippage when making right-angle turns in narrow passages. It also simplifies the internal power chain of the steering wheel and reduces the risk of transmission failure.

[0054] like Figure 5 , Figure 8 As shown, in some other embodiments of this utility model, the external gear rotary gear 901 includes an external gear ring 9011 and an inner ring member 9012 arranged coaxially. A bearing, or simply ball bearings, is installed between the external gear ring 9011 and the inner ring member 9012. The external gear ring 9011 and the inner ring member 9012 have relative rotational degrees of freedom. The external gear ring 9011 is fixed to the bottom surface of the chassis member 8, and the inner ring member 9012 is synchronized with the roller 906 about a first rotational degree of freedom.

[0055] The beneficial effects of adopting the above technical solution are: the outer gear ring 9011 is fixed to the chassis component 8 to provide a rigid reference, and the inner ring component 9012 rotates synchronously with the roller 906 through the bearing, which can cope with the situation of sharp turning during high-speed translation, realize the complete decoupling of steering and driving action, and eliminate motion interference. During actual steering, the position of the drive gear 902 also changes dynamically.

[0056] In some other embodiments of this utility model, the roller 906 is driven by a coaxial first rotary motor 903, and the drive gear 902 is driven by a second rotary motor 907. The axes of the first rotary motor 903 and the second rotary motor 907 are both horizontal, and the drive gear 902 and the second rotary motor 907 are connected by an orthogonal gear mechanism.

[0057] The beneficial effects of adopting the above technical solution are: the first rotary motor 903 coaxially drives the roller 906 to ensure zero-loss output of driving force. The orthogonal gear mechanism 908 converts the horizontal torque of the second rotary motor 907 into a vertical drive gear 902, which is suitable for the low chassis space. Since the axial dimension of the motor is generally larger than the radial dimension, the motor can be placed horizontally, which solves the transmission direction conflict of the horizontal motor layout.

[0058] like Figure 6 , Figure 9 As shown, in some other embodiments of this utility model, a steering mounting plate 904 is assembled between the roller 906 and the external rotary gear 901. The steering mounting plate 904 includes a first mounting opening 9041 and a second mounting opening 9042 that are not connected to each other. The external rotary gear 901 is coaxially arranged with the first mounting opening 9041, and the drive gear 902 is coaxially arranged with the second mounting opening 9042. The orthogonal gear mechanism, the inner ring component, and the steering mounting plate are assembled and fixed.

[0059] The beneficial effects of adopting the above technical solution are: the first mounting opening 9041 of the steering mounting plate 904 provides coaxial positioning for the external rotary gear 901, and the second mounting opening 9042 constrains the position of the drive gear 902, ensuring long-term meshing accuracy and reducing cumulative assembly errors. The steering mounting plate 904 also serves as an assembly transition piece.

[0060] In some other embodiments of this utility model, a hub support 905 is also provided between the steering mounting plate 904 and the roller 906, and a U-shaped part 909 is fixed to the hub support 905. The hub support 905 and the U-shaped part 909 surround and fix the second rotary motor 907.

[0061] The beneficial effects of adopting the above technical solution are: the hub support 905 and the U-shaped part 909 form a frame to cover the second rotary motor 907, which can suppress motor swaying, for example, when driving on bumpy roads. This enhances the motor's vibration resistance and provides lateral support stiffness for the roller 906.

[0062] like Figure 9 As shown, in some other embodiments of the present invention, the hub support 905 also has a clearance opening 9051 through which the roller 906 passes.

[0063] The beneficial effects of adopting the above technical solution are: the clearance opening 9051 allows the roller 906 to pass through the hub support 905 without obstruction, eliminates the interference of the hub structure on the roller's degree of freedom of movement, makes the vertical of the entire horizontal steering wheel 9 more compact, and thus makes the entire omnidirectional wheel chassis lower and more stable.

[0064] like Figure 3 As shown, in some other embodiments of this utility model, a vertical load-bearing column 803 is connected between the upper top surface of the inner wall and the lower bottom surface of the inner wall of the chassis component 8.

[0065] In addition, the load-bearing column 803 can be a steel square tube structure.

[0066] The beneficial effects of adopting the above technical solution are: the vertical load-bearing column 803 is directly connected to the upper and lower inner walls of the chassis component 8, which improves the longitudinal bending stiffness of the chassis, prevents the vehicle floor 802 from deforming, and has a strong vertical load-bearing capacity.

[0067] like Figure 1 As shown, in some other embodiments of this utility model, an aviation plug 804 is provided on one side of the chassis component 8.

[0068] The beneficial effects of adopting the above technical solution are: the aviation plug 804 is integrated into the side wall of the chassis component 8, realizing a quick and sealed connection of power and signal lines, and adapting to oily and dusty environments.

[0069] like Figures 1 to 3 As shown, in some other embodiments of this utility model, the chassis component 8 includes a vehicle floor 802 and a housing 801, which enclose a cavity in which a battery can be placed. The top view of the chassis component 8 is an equilateral triangle or a hexagon.

[0070] In addition, the lines connecting the three horizontal steering wheels 9 in sequence form an equilateral triangle.

[0071] The beneficial effects of adopting the above technical solution are: the battery compartment surrounded by the vehicle floor 802 and the enclosure 801 lowers the vehicle's center of gravity, preventing tipping when the robotic arm extends. The equilateral triangular profile provides symmetrical support torque during high-speed lateral movements, such as obstacle avoidance on a production line, enhancing dynamic stability.

[0072] A robot with a parallel waist and lightweight neck mechanism, such as Figure 10 As shown, the system includes: a head unit 1; a neck unit, which is a neck parallel mechanism 2, comprising several neck support rods 202; a chest unit 3; and a waist unit, which is a waist parallel mechanism 7, comprising several waist support legs 703. The head unit 1, neck unit, chest unit 3, and waist unit are arranged sequentially from top to bottom. The two ends of the neck unit form a moving platform and a stationary platform, and the two ends of the waist unit also form a moving platform and a stationary platform. Adjacent neck support rods 202 are arranged at a non-perpendicular angle, and adjacent waist support legs 703 are also arranged at a non-perpendicular angle.

[0073] In some other embodiments of this utility model, both the neck parallel mechanism 2 and the waist parallel mechanism 7 are six-degree-of-freedom platforms. The neck parallel mechanism 2 includes six neck support rods 202, and the waist parallel mechanism 7 includes six waist support legs 703. The six neck support rods 202 of the neck parallel mechanism 2 form three pairs of support rods, which are arranged in a circular array. The six waist support legs 703 of the waist parallel mechanism 7 form three pairs of support legs, which are arranged in a circular array.

[0074] The beneficial effects of adopting the above technical solution are as follows: by setting the six neck support rods 202 of the neck parallel mechanism 2 and the six waist support legs 703 of the waist parallel mechanism 7 into a three-group paired ring array, the dynamic and static stability of the mechanism is significantly enhanced. This layout forms a closed force system, making the stress distribution of the neck static platform 201 and the waist dynamic platform 701 uniform under multi-directional loads, effectively suppressing platform vibration during high-speed movement.

[0075] like Figure 10 As shown, in some other embodiments of this utility model, the mass of the neck parallel mechanism 2 is less than the mass of the waist parallel mechanism 7. The volume of the neck parallel mechanism 2 is less than the volume of the waist parallel mechanism 7. The axial dimension of the neck parallel mechanism 2 is less than the axial dimension of the waist parallel mechanism 7. The radial dimension of the neck parallel mechanism 2 is less than the radial dimension of the waist parallel mechanism 7.

[0076] The beneficial effects of adopting the above technical solution are: the neck parallel mechanism 2 is smaller than the waist parallel mechanism 7 in terms of mass, volume, axial dimension, and radial dimension, achieving synergistic optimization of neck lightweighting and waist high rigidity. The compact design of the neck mechanism 2 reduces the motion inertia of the head unit 1 and improves the posture response speed; the larger size of the waist mechanism 7 ensures the load-bearing capacity of the chest unit 3.

[0077] like Figure 10As shown, in some other embodiments of this utility model, the radial dimension of the neck parallel mechanism 2 gradually decreases from top to bottom, while the radial dimension of the waist parallel mechanism 7 gradually increases from top to bottom. For example... Figure 15 As shown, a neck stationary platform 201 is movably assembled at the same top end of several neck support rods 202, and a double shoulder structure 301 is movably assembled at the same bottom end of several neck support rods 202. A waist moving platform 701 is movably assembled at the same top end of several waist support legs 703, and a waist stationary platform 702 is movably assembled at the same bottom end of several waist support legs 703.

[0078] In addition, the shoulder structure 301 is located inside the upper half of the chest unit 3, and the two ends of the shoulder structure 30 have upper arm mounting holes 3011 for fixing the arm unit 4.

[0079] The beneficial effects of adopting the above technical solution are as follows: The neck parallel mechanism 2 adopts a radially tapering configuration that is larger at the top and smaller at the bottom, matching the center of gravity distribution of the head unit 1 and reducing the risk of tipping over during pitching motion. The waist parallel mechanism 7 adopts a radially expanding configuration that is smaller at the top and larger at the bottom, expanding the bottom support surface to enhance torsional stiffness. At the same time, the two ends of the neck support rod 202 are respectively assembled to the neck static platform 201 and the double shoulder structural member 301, and the two ends of the waist support leg 703 are respectively assembled to the waist moving platform 701 and the waist static platform 702, clearly defining the interface relationship and facilitating modular integration.

[0080] like Figures 10 to 12 As shown, in some other embodiments of this utility model, the waist static platform 702 includes three lower crossbeam hinge seats 705 arranged in an equilateral triangle. Waist bearing seats 7051 are movably mounted at both ends of each lower crossbeam hinge seat 705, and two waist pins 7052 are mounted at the non-end locations of each lower crossbeam hinge seat 705. The axis of the waist bearing seat 7051 is parallel to the length direction of the lower crossbeam hinge seat 705, and the axis of the waist pins 7051 is perpendicular to the length direction of the lower crossbeam hinge seat 705. Each lower crossbeam hinge seat 705 is movably mounted with two waist support legs 703 via the two waist pins 7052.

[0081] The beneficial effects of adopting the above technical solution are as follows: The waist static platform 702 is equipped with three equilateral triangularly arranged lower crossbeam hinge seats 705. Each lower crossbeam hinge seat 705 is connected to two legs 703 through a waist bearing seat 7051 and two waist pins 7052. The triangular layout improves the platform's resistance to deformation; the axis of the waist bearing seat 7051 is parallel to the length direction of the lower crossbeam hinge seat 705, and together with the vertical waist pins 7052, it forms an orthogonal constraint node to resist lateral moments.

[0082] like Figure 13As shown, in some other embodiments of the present invention, the waist moving platform 701 has a waist ball joint seat 7011 movably assembled with one end of the waist support leg 703. The waist ball joint seat 7011 includes a butterfly-shaped member 704, and each butterfly-shaped member 704 is movably assembled with two waist support legs 703.

[0083] In addition, the butterfly-shaped component 704 is also key-shaped, and its two symmetrical ear-shaped parts are movably assembled with one end of the waist support leg 703. The butterfly-shaped component 704 also has a shaft into which a radial bearing is inserted, thus forming the waist ball joint seat 7011. Therefore, the waist moving platform 701 is equipped with three butterfly-shaped components 704.

[0084] The beneficial effects of adopting the above technical solution are as follows: the waist moving platform 701 is equipped with a butterfly-shaped component 704 to form a waist ball joint seat 7011, and a single butterfly-shaped component 704 simultaneously connects the waist upper ball joints 7031 of the two waist support legs 703. This design reduces the number of hinge points by half, avoids the risk of motion interference, and enhances the local structural rigidity through the butterfly-shaped component 704 shared by the two support legs 703.

[0085] like Figure 16 As shown, in some other embodiments of this utility model, each end of the neck support 202 has two rotational degrees of freedom.

[0086] In addition, the axes corresponding to the two rotational degrees of freedom at the same end of the neck support 202 are perpendicular to each other. Each end of the neck support 202 is equipped with a neck ball joint fork seat 2022 and a neck ball joint shaft seat 2021.

[0087] The beneficial effects of adopting the above technical solution are: the neck support rod 202 is equipped with dual rotational freedom hinges at both ends, such as the neck ball joint bearing 2021 and the neck ball joint fork bearing 2022, so that the head unit 1 can perform a composite motion of pitch and yaw, breaking through the attitude limitation of a single degree of freedom joint.

[0088] like Figure 14 As shown, in some other embodiments of this utility model, each end of the waist support leg 703 has a rotational degree of freedom.

[0089] In addition, the axes corresponding to the rotational degrees of freedom at both ends of the waist support leg 703 are parallel to each other. The two ends of the waist support leg 703 are the upper waist ball joint 7031 and the lower waist hinge seat 7033, respectively.

[0090] The beneficial effects of adopting the above technical solution are as follows: the two ends of the waist support leg 703 are hinged with a single rotational degree of freedom, such as the upper ball joint 7031 and the lower hinge seat 7033. This simplifies the joint structure and reduces clearance error, and, in conjunction with the pure axial extension and retraction motion of the waist linear cylinder 7032, enhances transmission rigidity and control reliability.

[0091] In other embodiments of this utility model, such as Figure 14 As shown, the neck support 202 includes a neck linear cylinder 2023, such as Figure 16 As shown, the lumbar support leg 703 includes a lumbar linear cylinder 7032, a neck linear cylinder 2023, and a lumbar linear cylinder 7032, both of which have a linear nested telescopic structure. Both the neck linear cylinder 2023 and the lumbar linear cylinder 7032 are linear electric cylinders.

[0092] The beneficial effects of adopting the above technical solution are as follows: the neck support rod 202 has a built-in neck linear cylinder 2023, and the waist support leg 703 has a built-in waist linear cylinder 7032, both of which are linear electric cylinders. The servo drive of the electric cylinders achieves millimeter-level precision displacement control, and the linear nested structure reduces the radial space occupation and eliminates the hysteresis and contamination risks of hydraulic and pneumatic systems.

[0093] like Figure 14 As shown, in some other embodiments of this utility model, the waist support leg 703 includes a power component that drives the waist linear cylinder 7032 to extend and retract, and the power component is arranged parallel to one side of the waist linear cylinder 7032.

[0094] The beneficial effects of adopting the above technical solution are: the waist support leg 703 is equipped with a power component parallel to the waist linear cylinder 7032, such as a servo motor. The parallel layout shortens the transmission path to improve energy efficiency, and the split design facilitates independent maintenance of the power component and the linear cylinder 7032, reducing maintenance complexity.

[0095] like Figures 17 to 22 As shown, a dual-armed humanoid robot includes: a head unit 1, a chest unit 3, arm units 4 (multi-joint robotic arms), a hand unit, and a chassis component 8 equipped with several omnidirectional wheels. The head unit 1, chest unit 3, and chassis component 8 are arranged sequentially from top to bottom. Arm units 4 are connected to both sides of the chest unit 3. The hand units are assembled to the ends of the arm units 4 opposite to the chest unit 3, and the mechanical structures of the hand units of the two arm units 4 are different.

[0096] like Figure 17 As shown, in some other embodiments of the present invention, the head unit 1 and the chest unit 3 are connected by a neck unit, i.e., a neck parallel mechanism 2, and the chest unit 3 and the chassis component 8 are connected by a waist unit, i.e., a waist parallel mechanism 7. Both the neck unit and the waist unit are multi-bar parallel mechanisms.

[0097] In addition, the center of gravity of the dual-armed humanoid robot is located in the chassis component 8 or the waist unit.

[0098] The neck parallel mechanism 2 creates a flexible neck. It adopts an ultra-lightweight micro parallel mechanism, weighing less than 1kg, with a maximum load of 6kg, and can achieve six degrees of freedom of flexible movement within a cylindrical space of Ø110*30mm.

[0099] The lumbar parallel mechanism 7 constructs a robust lumbar body. It adopts a high-rigidity over-constraint parallel mechanism, weighs about 15kg, has a maximum load of 50kg, and can achieve six degrees of freedom of flexible movement within a cylindrical space of Ø200*60mm.

[0100] The beneficial effects of adopting the above technical solution are: by using a multi-bar parallel mechanism between the neck unit and the waist unit, the movement stability and vibration resistance of the head and torso are significantly improved. For example, during equipment handling, the parallel waist unit 7 effectively absorbs the vibration transmitted from the chassis 8, preventing the end-effector of the robotic arm from shifting; while the parallel neck unit 2 maintains the stability of the sensors in the head unit 1, ensuring that visual monitoring is not blurred during movement.

[0101] like Figure 20 As shown, in some other embodiments of the present invention, the arm unit 4 is a six-axis robotic arm, and the two hand units are a humanoid hand unit 5 and a clamping hand unit 6.

[0102] In addition, such as Figure 20 As shown, from the chest unit 3 to the hand unit, the arm unit 4 includes the first arm segment 401, the second arm segment 402, the third arm segment 403, the fourth arm segment 404, the fifth arm segment 405, and the sixth arm segment 406 in sequence.

[0103] like Figure 21 As shown, the humanoid hand unit 5 includes a palm component 501, a thumb component 502, an index finger component 503, a middle finger component 504, a ring finger component 505, and a little finger component 506.

[0104] like Figure 22 As shown, the clamping hand unit 6 includes a pair of openable clamping fingers 601, which are driven by clamping electric cylinders 602 on adjacent sides. Multiple connecting rods amplify the torque of each clamping finger 601 are connected to its rear.

[0105] Arm Unit 4, as a collaborative arm, is an ultralight humanoid robotic arm, weighing approximately 7kg and rated for a load of up to 5kg. Its end effector can be equipped with an electric gripper or a dexterous hand, enabling direct interaction, safe collaboration, and human-machine integration with humans in a shared workspace.

[0106] The beneficial effects of adopting the above technical solution are: by defining arm unit 4 as a six-axis robotic arm and configuring humanoid hand unit 5 and gripper hand unit 6, a single robot can simultaneously possess both precise operation and powerful grasping capabilities. A typical scenario is an electronic product assembly line, where humanoid hand unit 5 can precisely tighten micro screws, while gripper hand unit 6 simultaneously transports metal casings, and the dual-task collaboration improves production line efficiency.

[0107] like Figure 19 As shown, in some other embodiments of the invention, the chest unit 3 has a forward-facing radar 306.

[0108] The beneficial effects of adopting the above technical solution are: A forward-facing radar 306 is installed in the chest unit 3, giving the robot real-time environmental perception capabilities. In a warehousing scenario, this radar 306 can detect shelves and obstacles in front, providing obstacle avoidance data for the omnidirectional wheel chassis 8, preventing collisions with stacks of goods that could cause material collapse.

[0109] In some other embodiments of the invention, the head unit 1 includes a camera.

[0110] In addition, the outer shell of the head unit 1 includes a humanoid mandible 101, a humanoid binocular eye 102, a humanoid left ear 103, a humanoid right ear 104, a humanoid tibial bone 105, and a humanoid occipital bone 106. The humanoid left ear 103 and the humanoid right ear 104 are symmetrically arranged on both sides of the head unit.

[0111] The beneficial effects of adopting the above technical solution are: the high-positioning of the camera added to the head unit 1 expands the field of view for environmental monitoring. When the robot travels through the shelf aisle, the camera can identify the sorting marker at the end of the aisle in advance, guiding the robot to slow down and turn in advance, reducing mechanical damage caused by sudden stops.

[0112] In some other embodiments of the invention, radar 306 is a lidar located in the lower half of the chest unit 3. The lidar is capable of constructing a point cloud map for localization and path planning of the dual-arm humanoid robot.

[0113] A LiDAR sensor is installed at the navel to create a high-density point cloud map for robot localization and fine path planning.

[0114] The beneficial effects of adopting the above technical solution are: limiting radar 306 to a lidar and placing it in the lower half of the chest unit 3 ensures the accuracy of point cloud map construction while reducing the risk of equipment damage. For example, when operating in low-ceilinged spaces, high-position sensors are prone to colliding with pipes, while the low-position lidar 306 can safely scan the terrain under the equipment and accurately plan obstacle-crossing paths.

[0115] In other embodiments of the present invention, the camera is a depth camera capable of dynamically identifying and tracking target objects.

[0116] A depth camera is installed inside the head to enable dynamic recognition and tracking of target objects, guiding the robot to perform complex and precise operations on the target objects.

[0117] The beneficial effects of adopting the above technical solution are: the camera of the head unit 1 is defined as a depth camera, and its three-dimensional perception capability directly supports the precise operation of the robotic arm. On the assembly line, the camera can dynamically identify the three-dimensional posture of the parts on the conveyor belt, guiding the robotic arm to grasp curved workpieces with high precision.

[0118] like Figure 19 As shown, in some other embodiments of the present invention, the chest unit 3 has an upper body frame 305 inside, the top of the upper body frame 305 is a double shoulder structure 301, the bottom of the neck unit is assembled with the double shoulder structure 301, and the bottom of the upper body frame 305 has a controller mounting plate 307.

[0119] In addition, a circuit board is mounted on the controller mounting plate 307.

[0120] The beneficial effects of adopting the above technical solution are as follows: The upper body frame 305 inside the chest unit 3 integrates shoulder structural components 301 and a controller mounting plate 307, achieving optimized mechanical load-bearing capacity and electrical layout. When the robotic arm lifts a load, the shoulder structural components 301 evenly distribute stress to the frame, avoiding localized deformation. Centralized controller installation shortens the wire length and allows for convenient connection to the lidar.

[0121] In some other embodiments of the present invention, the front of the shoulder structure 301 is provided with a reserved mounting hole 3012 that can accommodate the radar 306.

[0122] The beneficial effects of adopting the above technical solution are: the double-shoulder structural component 301 has a pre-drilled mounting hole 3012 at the front, providing an assembly interface for the radar 306 without modification. During equipment upgrades, the lidar 306 can be directly embedded into the pre-drilled hole 3012, saving installation time and ensuring an unobstructed radar field of view.

[0123] like Figure 17 , Figure 18 As shown, in some other embodiments of the present invention, the chest unit 3 includes a front chest shell 302 covering the front of the upper body frame 305, and a back shell 303 covering the rear of the upper body frame 305. The radar 306 passes through the front chest shell 302, and a lower hem 304 is fixedly attached to the bottom of the front chest shell 302.

[0124] The beneficial effects of adopting the above technical solution are: the protective design of the front chest shell 302 and the rear back shell 303, combined with the optimized center of gravity of the lower swing component 304, simultaneously improves the safety and stability of the equipment. This avoids damage to the chest unit 3 from impacts by external objects or the movement of the arm unit 4.

[0125] To clearly express the internal structure, Figure 19 compared to Figure 17 , Figure 19 The front chest shell 302, the lower part 304, and the humanoid binoculars 102 are concealed. Figure 20 Only one arm unit 4 is shown.

[0126] Figure 1 Two-armed humanoid robot and Figure 10 The assembly of a two-armed humanoid robot can form a structure like... Figure 17 The two-armed humanoid robot shown.

[0127] The dual-armed humanoid parallel robot is a high-end robot system that integrates humanoid form and parallel mechanism mechanics.

[0128] The background technology for manufacturing dual-arm humanoid parallel robots integrates two major technological directions: parallel mechanisms and biomimetic robots. Its core lies in using parallel mechanisms as the joint drive system, which offers higher rigidity, precision, and dynamic response capabilities compared to traditional serial structures.

[0129] In terms of mechanical design, compact joint modules are achieved through parallel branch configurations with three to six degrees of freedom, while lightweight materials such as carbon fiber reduce motion inertia. The control system employs kinematic algorithms based on Lie group theory to solve the forward and inverse kinematics problems of parallel mechanisms and introduces impedance control to achieve compliant operation. The sensing system integrates a six-dimensional force sensor and binocular vision, working in conjunction with adaptive control algorithms to achieve high-precision operation. This technology is particularly suitable for industrial scenarios requiring high stiffness and precision, such as precision assembly and minimally invasive surgery. Current main challenges include limited workspace, singular configuration avoidance, and multi-degree-of-freedom collaborative control. Future development focuses on intelligent control algorithm optimization and modular joint design.

[0130] The hardware design fully adheres to the principles of "human-like engineering," featuring a bionic architecture with 37 degrees of freedom throughout the body, covering 6DOF in the neck, 6DOF in the waist, 6DOF in the single arm, 6DOF in the dexterous hand, 1DOF in the gripper, and 6DOF in the chassis. DOF stands for Degree of Freedom. This highly redundant degree of freedom layout fully covers the robot's entire range of motion.

[0131] Structurally, the neck unit employs an ultra-lightweight micro-parallel mechanism, weighing less than 1kg. It can achieve ±30° pitch and yaw within a 110mm × 30mm space and can carry sensing devices with a 6kg load, such as industrial cameras and gyroscopes. The waist unit uses an innovative over-constraint parallel mechanism, composed of six sets of aerospace aluminum alloy branches, with a maximum load of 200kg, exhibiting excellent structural stability and high load capacity.

[0132] This application employs a hybrid configuration design, optimizing motion performance through a near-end parallel and far-end serial architecture. The waist and neck utilize a six-degree-of-freedom parallel mechanism, providing high rigidity support and dynamic load capacity. The upper arm has a serial structure, including rotation and pitch joints, ensuring a wide range of flexible movement. The end effector is an adaptive serial hand, achieving stable grasping. Overall, this configuration ensures workspace through serial chains and improves rigidity and accuracy through parallel nodes.

[0133] The operation of the parallel-parallel dual-arm humanoid robot begins with the active adjustment of its six-DOF parallel waist and neck mechanisms. These mechanisms provide stable support and a flexible motion reference for the arms by adjusting the platform's posture in real time. When performing a task, the six-DOF serial arms work in coordination with the parallel base. The waist unit achieves pitch, yaw, and elevation of the torso through the coordinated movement of three sets of telescopic branches, while the parallel neck mechanism drives the vision system to actively track the target. The serial arms, based on the stable base, complete a wide range of spatial movements, and their end effectors achieve millimeter-level operational precision through the combined control of the waist, neck, and arms. The entire system works collaboratively through the dynamic stability compensation of the parallel mechanisms and the trajectory tracking control of the serial arms, completing complex tasks while maintaining overall posture stability. Typical applications include precision assembly, dynamic grasping, and human-machine interaction.

[0134] The robot described in this application has significant advantages over traditional serial configurations: its parallel waist section, through multi-branch collaborative load-bearing, increases the overall load capacity by 2 to 3 times, while the increased base stiffness allows for end-effector positioning accuracy of ±0.1 mm. The active compensation mechanism of the six-DOF parallel neck section improves visual stability by 80%, and in conjunction with the serial robotic arm, expands the workspace by 40% while enhancing its anti-disturbance capabilities. In terms of dynamic response, the force-sealing characteristics of the parallel structure improve the impact load dispersion efficiency by 60% and reduce energy consumption by 35%. This configuration is particularly suitable for multi-task scenarios requiring high precision (such as minimally invasive surgery), large loads (such as industrial assembly), and dynamic stability (such as mobile operation), achieving a breakthrough performance improvement through parallel nodes while maintaining the flexibility of serial mechanisms.

[0135] The key innovations of this invention, a parallel-parallel dual-arm humanoid robot, are as follows: First, it innovatively proposes a hybrid configuration of "parallel waist and neck and serial arms," ​​achieving active disturbance rejection and dynamic balance of the torso through a six-DOF parallel waist platform, while expanding the workspace in conjunction with the six-DOF serial robotic arms. Second, it designs a reconfigurable modular joint interface. The core elements include: the hybrid configuration's topology design, the multi-DOF motion coupling control method, and the modular joint's rapid assembly and disassembly structure, demonstrating particular ingenuity in fields such as service robots and precision manufacturing.

[0136] The robot described in this application also possesses the following characteristics: Hybrid configuration dynamics optimization: The design incorporates parallel waist, neck, and shoulder sections to distribute the inertial load of the serial arms, and a rigid-flexible coupling dynamic model is developed to balance speed and accuracy. Variable stiffness actuation: Parallel variable stiffness modules are embedded in key joints, allowing for rapid switching between high-explosive forces such as hammering and compliant assembly operations by adjusting the stiffness of the support branches. Distributed force control: Based on the force redundancy characteristics of the parallel structure, a dual-arm collaborative impedance control algorithm is constructed to achieve active absorption and redistribution of collision forces. Energy management: Utilizing the passive self-locking capabilities of parallel mechanisms, such as the locking shoulder joint, motor power consumption is reduced during static object holding, improving endurance. The core challenge lies in the unified kinematic modeling and real-time control of the serial-parallel structure, requiring a combination of topology optimization and biomimetic control strategies to balance high dynamics and high load requirements.

[0137] The application scenarios of the robots in this application include: First, material sorting and packing: replacing manual labor to complete high-precision sorting and flexible packing of irregularly shaped and small materials, solving the problems of mis-dispensing and efficiency bottlenecks in mixed-line production. Second, flexible assembly and operation: automating processes such as parts installation, circuit board insertion, and bolt tightening, breaking through the cycle time limits of manual operation and reducing product quality risks caused by human factors. Third, flexible production line operation: supporting multi-process mixed-line production and rapid changeover, solving the capacity waste and cost pressure caused by insufficient flexibility of traditional production lines. Fourth, warehouse management: realizing dynamic inventory monitoring, intelligent scheduling, and autonomous handling of anomalies, eliminating manual inventory errors and compliance risks. Fifth, material handling: accurately sorting materials and delivering them to designated workstations. Sixth, quality inspection: realizing full-process inspection and process traceability of surface and internal defects, replacing manual labor to reduce the rate of missed inspections and quality disputes. Seventh, equipment maintenance: performing predictive maintenance and standardized operations on production equipment, replacing manual labor to reduce downtime risks and reliance on experts. Eighth, special environment replacement work: In high-risk, high-cleanliness scenarios such as welding, chemical cleaning, and semiconductor cleanrooms, it can completely replace manual labor to complete tasks in toxic, harmful, high-temperature, high-pressure, or ultra-clean environments.

[0138] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. An omnidirectional wheeled chassis for a robot, characterized in that, include: Chassis components, used to support the robot body; The three horizontal steering wheels are located on the bottom surface of the chassis component, and the lines connecting the three horizontal steering wheels form a triangle. Each horizontal steering wheel has a first rotational degree of freedom to change the orientation of the horizontal steering wheel, and also includes a second rotational degree of freedom to drive the chassis components to move. The rotation axis of the first rotational degree of freedom is a vertical first rotational axis, and the rotation axis of the second rotational degree of freedom is a horizontal second rotational axis.

2. The omnidirectional wheeled chassis of the robot according to claim 1, characterized in that: The horizontal steering wheel includes a roller that can contact the ground, and an external toothed rotary gear is provided directly above the roller. The external toothed rotary gear is assembled with the bottom surface of the chassis component, and a drive gear meshes with the external toothed rotary gear. The external rotary gear has a first degree of rotational freedom, the roller has a second degree of rotational freedom, and the drive gear drives the external rotary gear to rotate.

3. The omnidirectional wheeled chassis of the robot according to claim 2, characterized in that: The external rotary gear includes an external gear ring and an inner gear component arranged coaxially. A bearing is installed between the external gear ring and the inner gear component. The external gear ring and the inner gear component have a degree of freedom of relative rotation. The outer gear ring is fixed to the bottom surface of the chassis component, and the inner ring component is synchronized with the roller around the first degree of rotational freedom.

4. The omnidirectional wheeled chassis of the robot according to claim 3, characterized in that: The roller is driven by a coaxial first rotary motor, and the drive gear is driven by a second rotary motor. The axes of the first and second rotary motors are both horizontal, and the drive gear and the second rotary motor are connected by an orthogonal gear mechanism.

5. The omnidirectional wheeled chassis of the robot according to claim 4, characterized in that: A steering mounting plate is assembled between the roller and the external rotary gear. The steering mounting plate includes a first mounting opening and a second mounting opening that are not connected to each other. The external rotary gear is arranged coaxially with the first mounting opening, and the drive gear is arranged coaxially with the second mounting opening. The orthogonal gear mechanism, inner ring component, and steering mounting plate are assembled and fixed.

6. The omnidirectional wheeled chassis of the robot according to claim 5, characterized in that: A hub support is also provided between the steering mounting plate and the roller, and a U-shaped component is fixed to the hub support. The hub support and the U-shaped component surround and fix the second rotary motor.

7. The omnidirectional wheeled chassis of the robot according to claim 6, characterized in that: The hub support also has a clearance opening through which a roller passes.

8. The omnidirectional wheeled chassis of the robot according to claim 7, characterized in that: A vertical load-bearing column connects the top surface of the inner wall of the chassis component to the bottom surface of the inner wall.

9. The omnidirectional wheeled chassis of the robot according to claim 1, characterized in that: An aviation connector is provided on one side of the chassis component.

10. The omnidirectional wheeled chassis of the robot according to claim 1, characterized in that: The chassis component includes a vehicle floor and a housing, the vehicle floor and housing surrounding a cavity in which a battery can be placed. The chassis component has a top view outline that is an equilateral triangle or a hexagon.

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