Wheel-type humanoid robot

Abstract

The utility model relates to a kind of wheeled humanoid robots, including trunk seat, mechanical arm, waist component, lifting assembly and mobile chassis, wherein waist component includes waist mounting seat and is located on the waist rotating joint of the waist mounting seat, lifting assembly includes multiple sequentially connected pitch swing arm, wherein the lowermost pitch swing arm lower end swing is installed on the mobile chassis, the uppermost pitch swing arm upper end is equipped with the waist swing joint of driving the waist mounting seat pitch swing, trunk seat is installed on the waist rotating joint and is driven rotation by the waist rotating joint, the trunk seat side is equipped with mechanical arm, upper end is equipped with robot head support plate, and double vision camera is equipped on the robot head support plate.The utility model increases the action degree of freedom of trunk seat, and robot structure is also further simplified, and control precision is also improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a wheeled humanoid robot. Background Technology

[0002] Wheeled humanoid robots are robots with a wheeled chassis and a humanoid upper body. Because they have similar morphological features to humans, they are very suitable for replacing humans in complex tasks in environments designed for humans. They have broad application prospects in fields such as medical care, social services, and industrial manufacturing.

[0003] Existing wheeled humanoid robots have relatively few degrees of freedom and relatively low control precision, making it difficult to achieve more precise and complex movements, and they are not suitable for relatively complex environments. To address these issues, some new wheeled humanoid robots have emerged in the prior art. For example, patent CN119610043A discloses a wheeled humanoid robot whose robotic arm can achieve seven degrees of freedom: wrist rotation, wrist swing, forearm rotation, elbow rotation, upper arm rotation, shoulder rotation, and shoulder swing. Its upper body component is movably connected to the leg component, and the upper body component can rotate relative to the leg component to smoothly switch between a bent and straightened state. However, the structure of this wheeled humanoid robot has the following drawbacks: First, the robotic arm assembly of this wheeled humanoid robot needs to be equipped with a synchronous belt and other structures to achieve transmission. Due to the influence of factors such as the processing and installation of the synchronous belt and related structures, this will affect the control accuracy of the robotic arm. Second, the upper body assembly of this wheeled humanoid robot further includes a back assembly and a waist assembly. The back assembly has a separate lifting drive mechanism to realize the lifting function relative to the waist assembly, and the waist assembly has a separate bending drive mechanism to realize the bending and straightening relative to the leg assembly. The above mechanism design increases the structural complexity of the upper body assembly. Furthermore, the upper body assembly of this wheeled humanoid robot can only realize the conversion between the bent state and the straight state, and it cannot rotate, which also limits the degree of freedom of movement of the robot's upper body assembly. Utility Model Content

[0004] The purpose of this invention is to provide a wheeled humanoid robot that increases the degree of freedom of movement of the torso seat, while also simplifying the robot structure and improving control precision.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A wheeled humanoid robot includes a torso base, robotic arms, a waist assembly, a lifting assembly, and a mobile chassis. The waist assembly includes a waist mounting seat and a waist rotation joint mounted on the waist mounting seat. The lifting assembly includes multiple pitch arms connected in sequence. The lowermost pitch arm is swayingly mounted on the mobile chassis, and the uppermost pitch arm has a waist swing joint at its upper end that drives the waist mounting seat to pitch. The torso base is mounted on the waist rotation joint and is driven to rotate left and right by the waist rotation joint. The torso base has robotic arms on both sides and a robot head support plate at its upper end. A binocular vision camera is mounted on the robot head support plate.

[0007] The lifting assembly includes a first pitch swing arm and a second pitch swing arm, wherein a mounting base is provided on the mobile chassis, and the lower end of the first pitch swing arm is mounted on the mounting base through a first swing joint, the upper end of the first pitch swing arm is connected to the lower end of the second pitch swing arm through a second swing joint, and the upper end of the second pitch swing arm is connected to the waist mounting base through the waist swing joint.

[0008] The robotic arm comprises a first robotic arm servo motor, a first joint seat, a second robotic arm servo motor, a second joint seat, a third robotic arm servo motor, a third joint seat, a fourth robotic arm servo motor, a fourth joint seat, a fifth robotic arm servo motor, a fifth joint seat, a sixth robotic arm servo motor, a sixth joint seat, a seventh robotic arm servo motor, and a seventh joint seat, all connected in sequence. The second joint seat includes two arc-shaped plates A on either side, with the upper ends of the arc-shaped plates A connected to the corresponding ends of the second robotic arm servo motor, and the lower ends connected via a second lower connecting plate. The second lower connecting plate is fitted onto the third robotic arm servo motor. The third joint seat includes a connecting post, with the upper end of the connecting post connected to the power end of the third robotic arm servo motor, and the lower end having a connecting sleeve fitted onto the fourth robotic arm servo motor. In the middle of the machine, the fourth joint seat includes an arc-shaped plate B, the upper end of which is connected to the power end of the fourth robotic arm servo, and the lower end of which is provided with a fourth lower connecting plate fitted onto the fifth robotic arm servo. The fifth joint seat includes a connecting sleeve two fitted onto the sixth robotic arm servo, and the upper end of the connecting sleeve two is connected to the power end of the fifth robotic arm servo. The sixth joint seat has arc-shaped plates C on both sides, and the upper end of the arc-shaped plates C is fixedly connected to the connecting sleeve two, and the lower end of which is provided with a joint hinge shaft and hinged to the seventh robotic arm servo. At the same time, the power end of the sixth robotic arm servo is provided with a drive plate and hinged to the tail end of the seventh robotic arm servo. The seventh joint seat includes an arc-shaped plate D, and the upper end of the arc-shaped plate D is connected to the power end of the seventh robotic arm servo, and the lower end is connected to the gripper of the robotic arm.

[0009] The first arm servo is mounted on the torso seat and is perpendicularly connected to the axis of the second arm servo via a first joint seat. The first joint seat includes a first upper connecting plate and a first lower connecting plate that are perpendicular to each other. The first upper connecting plate is fixed to the power end of the first arm servo, and the first lower connecting plate is fixed to the middle of the second arm servo.

[0010] The robotic gripper has a gripper connecting flange at its rear end, and the lower end of the arc plate D has a seventh lower connecting plate that is fixedly connected to the gripper connecting flange.

[0011] The torso base is equipped with a first L-shaped support plate, a first head servo motor, a second L-shaped support plate, and a second head servo motor. The horizontal plate of the first L-shaped support plate is fixed to the torso base, the vertical plate of the first L-shaped support plate is fitted onto the first head servo motor, the vertical plate of the second L-shaped support plate is connected to the power end of the first head servo motor, the horizontal plate of the second L-shaped support plate is connected to the second head servo motor, the horizontal plate of the robot head support plate is fitted onto the power end of the second head servo motor, and a binocular vision camera is provided on the vertical plate of the robot head support plate.

[0012] The mobile chassis is equipped with a chassis displacement sensor at its front end, and the torso seat is equipped with a torso displacement sensor on its front side.

[0013] The mobile chassis has a drive wheel in the middle and driven wheels at the front and rear ends.

[0014] The advantages and positive effects of this utility model are as follows:

[0015] 1. In addition to using the pitch swing arms in the lifting assembly to drive the torso seat, the torso seat of this utility model can also use the waist swing joint at the upper end of the lifting assembly to drive rotation and adjust the posture along the pitch direction. At the same time, it can use the waist rotation joint in the waist assembly to drive rotation and adjust the posture along the left and right directions, thereby increasing the degree of freedom of movement of the torso seat and further simplifying the robot structure.

[0016] 2. The robotic arm of this utility model is driven to rotate directly by each servo motor, eliminating the need for additional structures such as timing belts. This further simplifies the robot structure. At the same time, the servo motors of the robotic arm directly drive and control the rotation of each part of the robotic arm, which can also improve the control accuracy of the robot.

[0017] 3. The sixth robotic arm servo motor on the robotic arm of this utility model drives the seventh robotic arm servo motor to rotate around the joint hinge axis at the lower end of the sixth joint seat through the drive plate. This can better control the swing range of the lower robotic gripper, thereby further improving the control accuracy of the robot. Attached Figure Description

[0018] Figure 1 This is the front view of the present invention.

[0019] Figure 2 for Figure 1 Right view of the present invention.

[0020] Figure 3 for Figure 1 A schematic diagram of the structure of the robotic arm.

[0021] Figure 4 for Figure 3 Another structural diagram of the robotic arm from different angles.

[0022] Figure 5 This is a schematic diagram of the robot head support plate installation in one embodiment of the present invention.

[0023] Wherein, 1 is the mobile chassis, 101 is the driving wheel, 102 is the driven wheel, 103 is the chassis displacement sensor, 2 is the lifting assembly, 201 is the first swing joint, 202 is the first pitch swing arm, 203 is the second swing joint, 204 is the second pitch swing arm, 205 is the waist swing joint, 3 is the waist assembly, 301 is the waist mounting base, 302 is the waist rotation joint, 4 is the robotic arm, 401 is the first robotic arm servo motor, 4011 is... First joint seat, 40111 is the first upper connecting plate, 40112 is the first lower connecting plate, 402 is the second robotic arm servo, 4021 is the second joint seat, 40211 is the second upper connecting plate, 40212 is the arc-shaped plate A, 40213 is the second lower connecting plate, 403 is the third robotic arm servo, 4031 is the third joint seat, 40311 is the third upper connecting plate, 40312 is the connecting post, 40313 is the connecting sleeve one, 40 4 is the fourth robotic arm servo, 4041 is the fourth joint seat, 40411 is the fourth upper connecting plate, 40412 is the arc plate B, 40413 is the fourth lower connecting plate, 405 is the fifth robotic arm servo, 4051 is the fifth joint seat, 40511 is the fifth upper connecting plate, 40512 is the second connecting sleeve, 406 is the sixth robotic arm servo, 4061 is the sixth joint seat, 40611 is the arc plate C, 40612 is the joint hinge shaft, 40... 62 is the drive plate, 407 is the seventh robotic arm servo, 4071 is the seventh joint seat, 40711 is the seventh upper connecting plate, 40712 is the arc plate D, 40713 is the seventh lower connecting plate, 408 is the gripper connecting flange, 5 is the torso seat, 501 is the robot head support plate, 502 is the binocular vision camera, 503 is the first L-shaped support plate, 504 is the first head servo, 505 is the second L-shaped support plate, and 506 is the second head servo. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings.

[0025] like Figures 1-5As shown, this utility model includes a torso base 5, a robotic arm 4, a waist assembly 3, a lifting assembly 2, and a mobile chassis 1. The waist assembly 3 includes a waist mounting base 301 and a waist rotation joint 302 mounted on the waist mounting base 301. The lifting assembly 2 includes multiple pitch swing arms connected in sequence. The lower end of the lowest pitch swing arm is swaying and mounted on the mobile chassis 1. The upper end of the highest pitch swing arm is provided with a waist swing joint 205 that drives the waist mounting base 301 to pitch and swing. The torso base 5 is mounted on the waist rotation joint 302 and driven to rotate by the waist rotation joint 302. The torso base 5 has robotic arms 4 on both sides and a robot head support plate 501 on the upper end. The robot head support plate 501 is provided with a binocular vision camera 502. When this utility model is in operation, the pitching arms in the lifting assembly 2 swing to drive the torso seat 5 to rise and fall, while the waist rotation joint 302 in the waist assembly 3 drives the torso seat 5 to rotate, thereby increasing the degree of freedom of the robot torso seat 5. Compared with the prior art (such as CN119610043A patent), the robot structure of this utility model is further simplified.

[0026] like Figures 1-2 As shown, in this embodiment, the lifting assembly 2 includes a first pitch swing arm 202 and a second pitch swing arm 204. The mobile chassis 1 is provided with a mounting base, and the lower end of the first pitch swing arm 202 is mounted on the mounting base via a first swing joint 201. The first swing joint 201 drives the first pitch swing arm 202 to swing. The upper end of the first pitch swing arm 202 is connected to the lower end of the second pitch swing arm 204 via a second swing joint 203. The second pitch swing arm 204 is driven to swing via the second swing joint 203. The upper end of the second pitch swing arm 204 is connected to the waist mounting base 301 in the waist assembly 3 via a waist swing joint 205. The waist mounting base 301 is driven to swing via the waist swing joint 205. The first swing joint 201, the second swing joint 203, the waist swing joint 205, and the waist rotation joint 302 can be equipped with suitable devices as needed, such as a geared servo motor, a servo motor, or other suitable commercially available products. This is known in the art.

[0027] like Figures 3-4As shown, the robotic arm 4 of this invention has seven degrees of freedom, including seven robotic arm servos. The first robotic arm servo 401 is mounted on the torso base 5 and is perpendicularly connected to the axis of the second robotic arm servo 402 via a first joint seat 4011. The first joint seat 4011 includes a first upper connecting plate 40111 and a first lower connecting plate 40112 that are perpendicular to each other. The first upper connecting plate 40111 is fixed to the power end of the first robotic arm servo 401, and the first lower connecting plate 40112 is fixed to the middle of the second robotic arm servo 402. The second robotic arm servo 402 is perpendicularly connected to the axis of the third robotic arm servo 403 via a second joint seat 4021. The second joint seat 4021 includes arc-shaped plates A4021 on both sides. 2. The upper end of the arc-shaped plate A40212 is provided with a second upper connecting plate 40211, which is connected to the corresponding ends of the second robotic arm servo 402. The lower end is connected through a second lower connecting plate 40213. The second lower connecting plate 40213 is fitted onto the third robotic arm servo 403. The lower end of the third robotic arm servo 403 is perpendicularly connected to the axis of the fourth robotic arm servo 404 through a third joint seat 4031. The third joint seat 4031 includes a connecting post 40312. The upper end of the connecting post 40312 is connected to the power end on the lower side of the third robotic arm servo 403 through the third upper connecting plate 40311. The lower end is provided with a connecting sleeve 40313, which is fitted onto the middle of the fourth robotic arm servo 404. The fourth robotic arm servo 404... The fifth robotic arm servo motor 405 is perpendicularly connected to the axis of the fifth robotic arm servo motor 405 via a fourth joint seat 4041. The fourth joint seat 4041 includes an arc-shaped plate B40412, with a fourth upper connecting plate 40411 at the upper end connected to the power end of the fourth robotic arm servo motor 404, and a fourth lower connecting plate 40413 at the lower end fitted onto the fifth robotic arm servo motor 405. The fifth robotic arm servo motor 405 is perpendicularly connected to the axis of the sixth robotic arm servo motor 406 via the fifth joint seat 4051. The fifth joint seat 4051 includes a connecting sleeve 40512 fitted onto the sixth robotic arm servo motor 406, with a fifth upper connecting plate 40511 at the upper end connected to the power end of the fifth robotic arm servo motor 405. Next, the sixth robotic arm servo motor 406 is connected to the seventh robotic arm servo motor 407 via the sixth joint seat 4061. The sixth joint seat 4061 has arc-shaped plates C40611 on both sides. The upper end of the arc-shaped plate C40611 is fixedly connected to the connecting sleeve 40512, and the lower end has a joint hinge shaft 40612 that is hinged to the seventh robotic arm servo motor 407. The power end of the sixth robotic arm servo motor 406 has a drive plate 4062 that is hinged to the tail end of the seventh robotic arm servo motor 407. The sixth robotic arm servo motor 406 drives the seventh robotic arm servo motor 407 to rotate around the joint hinge shaft 40612 via the drive plate 4062. The seventh robotic arm servo motor 407 is connected to the gripper connecting flange 408 at the rear end of the robotic arm gripper via the seventh joint seat 4071.Furthermore, the seventh joint seat 4071 includes an arc-shaped plate D40712. The upper end of the arc-shaped plate D40712 is provided with a seventh upper connecting plate 40711, which connects to the power end of the seventh robotic arm servo motor 407. The lower end is provided with a seventh lower connecting plate 40713, which is fixedly connected to the gripper connecting flange 408. All robotic arm servos are technologies known in the art and are commercially available products.

[0028] Through the structural design of the robotic arm 4 described above, this utility model not only achieves 7 degrees of freedom rotation but also ensures a compact overall structure. The servos of the robotic arm 4 are connected via joint seats, ensuring their centers are approximately aligned on the same straight line, thus naturally forming a human-like arm. Furthermore, this utility model utilizes individual servos to directly drive rotation. Compared to existing technologies (such as CN119610043A patent), this utility model eliminates the need for additional synchronous belts or other structures, further simplifying the robot structure and improving the control precision of the robotic arm. Specifically, the sixth robotic arm servo 406 drives the seventh robotic arm servo 407 to rotate around the joint hinge axis 40612 at the lower end of the sixth joint seat 4061 via a drive plate 4062. This allows for better control of the swing range of the lower robotic gripper. Simultaneously, the arc-shaped plate C40611 of the sixth joint seat 4061 ensures sufficient space between the seventh robotic arm servo 407 and the sixth robotic arm servo 406, guaranteeing ample movement space for the lower robotic gripper.

[0029] like Figure 1 As shown, because this invention increases the degree of freedom of movement of the torso base 5, in one embodiment of this invention, the robot head support plate 501 can be directly installed in the torso base 5, and the torso base 5 can be used to drive the binocular vision camera 502 to perform omnidirectional scanning. Furthermore, to further improve the mobility of this invention, such as... Figure 5As shown, in another embodiment of this utility model, the torso base 5 is provided with a first L-shaped support plate 503, a first head servo motor 504, a second L-shaped support plate 505, and a second head servo motor 506. The horizontal plate of the first L-shaped support plate 503 is fixed to the torso base 5, the vertical plate of the first L-shaped support plate 503 is fitted onto the first head servo motor 504, the vertical plate of the second L-shaped support plate 505 is connected to the power end of the first head servo motor 504, and the horizontal plate of the second L-shaped support plate 505 is connected to the second head servo motor 506. The horizontal plate of the head support plate 501 is mounted on the power end of the second head servo motor 506. A binocular vision camera 502 is provided on the vertical plate of the robot head support plate 501. In this way, in addition to using the torso seat 5 to drive the binocular vision camera 502 on the robot head support plate 501 to move and scan, the first head servo motor 504 and the second head servo motor 506 can further realize the horizontal rotation and pitch rotation of the binocular vision camera 502, thereby improving the scanning flexibility of the binocular vision camera 502.

[0030] like Figure 1 As shown, in this embodiment, a chassis displacement sensor 103 is provided at the front end of the mobile chassis 1 to guide and control the movement of the mobile chassis 1, and a torso displacement sensor is provided at the front side of the torso seat 5 to guide and control the movement of the torso seat 5. Both the chassis displacement sensor 103 and the torso displacement sensor are technologies known in the art and are commercially available products; for example, a laser displacement sensor can be used. Furthermore, in this embodiment, the control module for controlling the robotic arm 4 and the waist assembly 3 can be integrated into the torso seat 5, and the control module for controlling the lifting assembly 2 can be integrated onto the mobile chassis 1.

[0031] like Figure 1 As shown in this embodiment, the mobile chassis 1 has a drive wheel 101 in the middle that is driven to rotate by a servo motor, and the mobile chassis 1 has driven wheels 102 at both the front and rear ends.

[0032] The working principle of this utility model is as follows:

[0033] When this invention is in operation, the lifting assembly 2, waist assembly 3, torso seat 5, and robotic arm 4 form a humanoid robot and are moved by the mobile chassis 1. In addition to using the pitch swing arms in the lifting assembly 2 to achieve lifting and lowering, the torso seat 5 can also be driven to rotate by the waist swing joint 203 at the upper end of the lifting assembly 2 and adjust its posture along the pitch direction. At the same time, it can be driven to rotate by the waist rotation joint 302 in the waist assembly 3 and adjust its posture along the left and right directions, thereby increasing the degree of freedom of movement of the torso seat 5 and further simplifying the robot structure.

[0034] Furthermore, during operation, the robotic arms 4 on both sides of the torso base 5 can achieve 7 degrees of freedom of rotation through various servo motors. The servo motors of the robotic arms 4 are connected through various joint seats to ensure that the centers are approximately on the same straight line, thus ensuring that the overall structure of the robotic arms 4 is compact and naturally forms a human-like arm. Moreover, the robotic arms 4 of this invention are directly driven to rotate by various servo motors, eliminating the need for additional structures such as timing belts, thereby further simplifying the robot structure and improving the control accuracy of the robotic arms 4. The sixth robotic arm servo motor 406 on the robotic arm 4 drives the seventh robotic arm servo motor 407 to rotate around the joint hinge axis 40612 at the lower end of the sixth joint seat 4061 through the drive plate 4062, which can better control the swing range of the lower robotic gripper.

Claims

1. A wheeled humanoid robot, characterized in that: The system includes a torso base (5), a robotic arm (4), a waist assembly (3), a lifting assembly (2), and a mobile chassis (1). The waist assembly (3) includes a waist mounting base (301) and a waist rotation joint (302) mounted on the waist mounting base (301). The lifting assembly (2) includes multiple pitch swing arms connected in sequence. The lower end of the lowest pitch swing arm is mounted on the mobile chassis (1), and the upper end of the highest pitch swing arm is provided with a waist swing joint (205) that drives the waist mounting base (301) to pitch. The torso base (5) is mounted on the waist rotation joint (302) and driven to rotate left and right by the waist rotation joint (302). The torso base (5) has robotic arms (4) on both sides and a robot head support plate (501) on the upper end. The robot head support plate (501) is provided with a binocular vision camera (502). The lifting assembly (2) includes a first pitch swing arm (202) and a second pitch swing arm (204), wherein the mobile chassis (1) is provided with a mounting seat, and the lower end of the first pitch swing arm (202) is mounted on the mounting seat through a first swing joint (201), the upper end of the first pitch swing arm (202) is connected to the lower end of the second pitch swing arm (204) through a second swing joint (203), and the upper end of the second pitch swing arm (204) is connected to the waist mounting seat (301) through the waist swing joint (205); The control module for controlling the robotic arm (4) and the waist assembly (3) is integrated into the torso base (5); The robotic arm (4) includes a first robotic arm servo motor (401), a first joint seat (4011), a second robotic arm servo motor (402), a second joint seat (4021), a third robotic arm servo motor (403), a third joint seat (4031), a fourth robotic arm servo motor (404), a fourth joint seat (4041), a fifth robotic arm servo motor (405), a fifth joint seat (4051), a sixth robotic arm servo motor (406), a sixth joint seat (4061), a seventh robotic arm servo motor (407), and a seventh joint seat (4071), which are connected in sequence. 4021) includes two arc-shaped plates A (40212) on both sides, and the upper ends of the two arc-shaped plates A (40212) are respectively connected to the corresponding ends of the second robotic arm servo (402), and the lower ends are connected through the second lower connecting plate (40213). The second lower connecting plate (40213) is fitted onto the third robotic arm servo (403). The third joint seat (4031) includes a connecting post (40312), and the upper end of the connecting post (40312) is connected to the power end of the third robotic arm servo (403), and the lower end is provided with a connecting sleeve (40313) fitted onto the fourth robotic arm. In the middle of the servo motor (404), the fourth joint seat (4041) includes an arc-shaped plate B (40412), the upper end of which is connected to the power end of the fourth robotic arm servo motor (404), and the lower end is provided with a fourth lower connecting plate (40413) which is fitted onto the fifth robotic arm servo motor (405). The fifth joint seat (4051) includes a connecting sleeve two (40512) fitted onto the sixth robotic arm servo motor (406), and the upper end of the connecting sleeve two (40512) is connected to the power end of the fifth robotic arm servo motor (405). The sixth joint seat (4061) has four sides. There is an arc plate C (40611), and the upper end of the arc plate C (40611) is fixedly connected to the connecting sleeve II (40512), and the lower end is provided with a joint hinge (40612) which is hinged to the seventh robotic arm servo (407). At the same time, the power end of the sixth robotic arm servo (406) is provided with a drive plate (4062) which is hinged to the tail end of the seventh robotic arm servo (407). The seventh joint seat (4071) includes an arc plate D (40712), and the upper end of the arc plate D (40712) is connected to the power end of the seventh robotic arm servo (407), and the lower end is connected to the gripper of the robotic arm.

2. The wheeled humanoid robot according to claim 1, characterized in that: The first robotic arm servo (401) is mounted on the torso seat (5) and is perpendicularly connected to the axis of the second robotic arm servo (402) via the first joint seat (4011). The first joint seat (4011) includes a first upper connecting plate (40111) and a first lower connecting plate (40112) that are perpendicular to each other. The first upper connecting plate (40111) is fixed to the power end of the first robotic arm servo (401), and the first lower connecting plate (40112) is fixed to the middle of the second robotic arm servo (402).

3. The wheeled humanoid robot according to claim 1, characterized in that: The robotic gripper has a gripper connecting flange (408) at its rear end, and the lower end of the arc plate D (40712) has a seventh lower connecting plate (40713) which is fixedly connected to the gripper connecting flange (408).

4. The wheeled humanoid robot according to claim 1, characterized in that: The torso base (5) is provided with a first L-shaped support plate (503), a first head servo motor (504), a second L-shaped support plate (505), and a second head servo motor (506). The horizontal plate of the first L-shaped support plate (503) is fixed on the torso base (5), the vertical plate of the first L-shaped support plate (503) is fitted on the first head servo motor (504), the vertical plate of the second L-shaped support plate (505) is connected to the power end of the first head servo motor (504), the horizontal plate of the second L-shaped support plate (505) is connected to the second head servo motor (506), the horizontal plate of the robot head support plate (501) is fitted on the power end of the second head servo motor (506), and a binocular vision camera (502) is provided on the vertical plate of the robot head support plate (501).

5. The wheeled humanoid robot according to claim 1, characterized in that: The mobile chassis (1) is equipped with a chassis displacement sensor (103) at the front end, and the torso seat (5) is equipped with a torso displacement sensor on the front side.

6. The wheeled humanoid robot according to claim 1, characterized in that: The mobile chassis (1) is provided with a drive wheel (101) in the middle, and driven wheels (102) are provided at the front and rear ends of the mobile chassis (1).

Images