A rolling robot

Abstract

A kind of roller type half humanoid robot includes torso part, motion part, head and mechanical arm, the motion part is wheel chassis;The torso part is installed and arranged on wheel chassis, including lifting electric cylinder, waist joint, chest inner skeleton and outer sheet metal shell, wherein the output flange of lifting electric cylinder is connected with waist joint, the waist joint is connected with the chest inner skeleton, and the outer sheet metal shell is packaged outside the waist joint and the chest inner skeleton;Head is provided on the torso part, and mechanical arm is installed on the both sides of torso part, and the distal end of the mechanical arm is also provided with simulated human type hand.The half humanoid robot involved in the utility model can complete lifting, rotation, pitch and other various actions in addition to the movement of wheel chassis and the freedom of double mechanical arms of upper body, so that the area covered by the action of the robot is larger, the flexibility is higher, the upper body humanoid full sheet metal shell modeling is more flexible, the robot body is protected from external damage, and the maintenance cost of customer is reduced.

Description

[Technical Field] This utility model relates to the field of intelligent robot technology, and in particular to a robot technology with a semi-humanoid shape and a mechanical arm equipped with a roller chassis. [Background Technology] With the advancement of intelligent robot-related technologies, humanoid robots can perform movements with higher precision and adapt to a wider range of work scenarios. Compared to designing legs for alternating walking, which requires better mechanical stability, the actual operating speed is not fast enough. Currently, the most proficient and valuable technology in robots is still the humanoid robotic arm, which can perform more delicate movements and solve different action processes such as picking, grabbing, grasping, and holding. If we need to improve the robot's independent operation capability, we also need to consider better motion structures and motion modes. [Summary of the Invention] This invention addresses the above problems by proposing a humanoid upper body with a roller-type mobile chassis and lifting drive, and also features a simulated, highly flexible robotic arm. This design combines the advantages of flexible operation and rapid movement, meeting the high requirements for robot structure design in different industrial fields, and satisfying the needs for high collaborative efficiency, good adaptability, and high scalability.

[0001] This utility model relates to a roller-type semi-humanoid robot, the humanoid robot comprising a torso, a moving part, a head, and a robotic arm, characterized in that... The moving part is an integrated wheeled chassis; The torso is mounted on an integrated wheeled chassis and includes a lifting electric cylinder, a waist joint, a thoracic intracavitary frame, and an external rigid shell. The output flange of the lifting electric cylinder is connected to the waist joint, the waist joint is mounted to the thoracic intracavitary frame, and an external rigid shell is provided outside the waist joint and the thoracic intracavitary frame. A head is located above the torso, and a depth camera, microphone array, and speaker are located on the head. Mechanical arms are installed on both sides of the torso, and the distal end of the mechanical arms is equipped with a humanoid hand.

[0002] The moving part is an integrated wheeled chassis, including a chassis body and several sets of rollers. Several sets of rollers are respectively arranged below the chassis body. An installation adapter cavity for a lifting electric cylinder is provided on the upper part of the chassis body. The lower end of the lifting electric cylinder of the torso part is placed into the installation adapter cavity for assembly and fixation.

[0003] The rollers include at least two independently controlled drive wheels and at least two follower omnidirectional wheels, wherein at least one set drives the rear wheels or one set drives the front wheels.

[0004] Meanwhile, a rigid upper interlayer is provided on the chassis body. The rigid upper interlayer is located on the periphery of the connection between the chassis body and the lifting electric cylinder, which facilitates the overall wiring.

[0005] The lifting electric cylinder integrates a motor, a hollow wiring harness, and a control unit, with its lower end recessed and installed inside the mounting adapter cavity of the chassis body. This reduces the overall height space required.

[0006] The lifting electric cylinder adopts a high-precision and high-output screw drive method to provide sufficient thrust. The lifting electric cylinder adopts an internal hidden wiring method, in which the cable stretches or retracts inside the electric cylinder body as the output height changes, maintaining a simple and beautiful overall style.

[0007] The waist joint includes a horizontal rotation joint and a front-to-back swing joint, wherein the output flange of the lifting electric cylinder is directly connected to the horizontal rotation joint, and the front-to-back swing joint is connected above the horizontal rotation joint.

[0008] A thoracic skeleton is connected above the lumbar joint, a cervical joint mounting seat is provided on the thoracic skeleton, and a main controller is provided on the thoracic skeleton.

[0009] The two robotic arms are mounted on the intrathoracic skeleton from both sides.

[0010] The head is connected to the torso via a cervical joint and fixed to a cervical joint mounting base via the cervical joint. The cervical joint includes a forward and backward swinging cervical joint and a horizontal rotation cervical joint, wherein the forward and backward swinging cervical joint is installed upside down and the horizontal rotation cervical joint is provided thereon.

[0011] Both the lumbar joint and the cervical joint are covered with an elastic structural material.

[0012] The head also includes a rigid panel shell, which is divided into a front face shell and a back head shell. After assembly, it covers the cervical spine joint. A depth camera, microphone array and speaker are arranged on the cervical spine joint inside the rigid panel shell.

[0013] The robot's upper body and head, as described in this utility model, are covered by rigid shells, especially those made of sheet metal, which maintain a robust and sturdy outer surface and achieve a hardness that protects important internal components.

[0014] In addition to the mobility of the wheeled chassis and the degrees of freedom of the dual robotic arms in the upper body, the humanoid robot of this invention can also perform various movements such as lifting, rotating, and pitching. This allows the robot to cover a larger area, be more flexible, and more agile. The humanoid, fully rigid shell design of the upper body is highly compatible with industrial production line styles, and the sturdy rigid shell protects the robot body from external damage, reducing the customer's maintenance costs. [Attached Image Description] Figure 1 This is a schematic diagram of the overall structure of the roller-type semi-humanoid robot involved in this utility model; Figure 2 This is a schematic diagram of the moving part of the roller-type semi-humanoid robot involved in this utility model; Figure 3 This is a schematic diagram of the disassembled structure of the moving part of the roller-type semi-humanoid robot involved in this utility model; Figure 4 This is a schematic diagram of the torso of the roller-type humanoid robot involved in this utility model; Figure 5 This is a schematic diagram of the head structure of the roller-type semi-humanoid robot involved in this utility model; in: 10. Moving parts; 11. Chassis body; 12. Rollers; 121. Front drive wheel; 122. Rear drive wheel; 13. Mounting adapter cavity; 20. Torso; 21. Lifting cylinder; 22. Lumbar joint; 221. Horizontal rotation joint; 222. Forward and backward swinging joint; 23. Thoracic skeleton; 231. Cervical joint fixation seat; 24. Rigid cover; 30. Head; 31. Cervical joint; 311. Forward and backward swaying cervical joint; 312. Horizontal rotation cervical joint; 32. Front shell; 33. Back shell; 34. Connector; 35. Depth camera; 36. Speaker; 37. Connecting corner piece; 38. Microphone array; 40. Robotic arm; 41. Humanoid hand; 50. Main controller.

Detailed Implementation Methods

[0015] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0016] Please refer to the attached document. Figure 1 The diagram shows the overall structure of the roller-type humanoid robot. The roller-type humanoid robot involved in this utility model includes a torso 20, a moving part 10, a head 30, and a robotic arm 40. From bottom to top, the moving part 10 is at the bottom, the torso 20 is above it, the robotic arms 40 are on both sides of the torso 20, and the head 30 is above the torso 20.

[0017] The moving part is an integrated wheeled chassis, which includes a chassis body 11 and several sets of rollers 12.

[0018] The torso portion 20 is mounted on an integrated wheeled chassis and includes a lifting electric cylinder 21, a waist joint 22, an intrathoracic skeleton 23, and an external rigid cover 24. The output flange of the lifting electric cylinder 21 is connected to the waist joint 22, the waist joint 22 is mounted and connected to the intrathoracic skeleton 23, and an external rigid cover 24 is provided outside the waist joint 22 and the intrathoracic skeleton 23. A head 30 is provided on the torso 20, and a depth camera 35, a microphone array 38 and a speaker 36 are provided on the head 30. Robotic arms 40 are mounted on both sides of the torso 20, and the distal end of each robotic arm 40 is equipped with a humanoid hand 41. The dexterous humanoid hand 41, with actuators installed at its end, can execute system-issued commands with precise and accurate movements.

[0019] Overall, the robot comprises the above-mentioned main components.

[0020] Furthermore, according to the appendix Figure 1 ~Appendix Figure 3It can be seen that the moving part 10 is an integrated wheeled chassis, including a chassis body 11 and several sets of rollers 12. Several sets of rollers 12 are respectively arranged below the chassis body 11. An adapter cavity 13 for mounting the lifting cylinder 21 is provided on the upper part of the chassis body 11. The lower end of the lifting cylinder 21 of the torso part 20 is placed into the adapter cavity 13 for assembly and fixation. At the same time, a rigid upper interlayer 14 is provided between the chassis body 11 and the lifting cylinder 21. The rigid upper interlayer is arranged to cover the periphery of the connection between the chassis body 11 and the lifting cylinder 21, which facilitates internal wiring and improves the overall appearance.

[0021] Multiple sets of rollers 12 are arranged below the chassis body 11. Each roller 12 includes at least two independently controlled drive wheels and at least two follower casters, wherein at least one set drives the rear wheels 122 or one set drives the front wheels 121. The set of rear drive wheels 122 includes two drive wheels, and the set of front drive wheels 121 includes two drive wheels.

[0022] The moving part is driven by the control center and can independently control the rotation of the front wheel 121 or the rear wheel 122, thereby realizing the robot's movement process.

[0023] Please refer to the attached document. Figure 2 and attached Figure 4 The diagram shows that the lifting cylinder 21 integrates a motor, a hollow wiring harness, and a control unit. The lower end is recessed and installed inside the mounting adapter cavity 13 of the chassis body, reducing the overall height space. The lifting cylinder 21 adopts a high-precision and high-output screw drive method to provide sufficient thrust. The lifting cylinder 21 adopts an internal hidden wiring method, and the cable stretches or retracts inside the lifting cylinder 21 body as the output height changes, maintaining a simple and beautiful overall style.

[0024] The waist joint 22 includes a horizontal rotation joint 221 and a forward and backward swing joint 222. The output flange of the lifting electric cylinder 21 is directly connected to the horizontal rotation joint 221, and the forward and backward swing joint 222 is connected above the horizontal rotation joint 221. The waist joint 22 has a hollow structure design, which makes the wiring of the whole machine more reasonable and concealed. The waist joint 22 is connected to the thoracic intra-frame 23. The horizontal rotation joint 221 in the waist joint 22 is responsible for completing the left and right rotation in the horizontal direction, while the forward and backward swing joint 222 is superimposed on the horizontal rotation joint 221, which is responsible for completing the forward and backward swinging motion of the robot's torso.

[0025] To ensure overall safety, a mechanical hard limit is installed at the waist horizontal rotation joint 221, with a rotation angle of ±180°, ensuring coverage across the entire circumference. This mechanical hard limit also provides an extra layer of protection for the internal wiring and control signals. The power output end of the forward and backward swing joint 222 is connected to the thoracic skeleton, enabling movement of the entire structure above it. The external structure of the forward and backward swing joint 222 is wrapped with an elastic material, concealing the waist structure and internal wiring, resulting in a more aesthetically pleasing and safer design. Furthermore, the robust waist joint provides ventilation, facilitating heat dissipation for the main controller.

[0026] A thoracic intraframe 23 is connected above the lumbar joint 22. A cervical joint mounting base 231 is also provided on the thoracic intraframe 23. A main controller 50 and a robotic arm controller 51 are also provided on the thoracic intraframe 23. The main controller 50 receives signals from various signal acquisition devices and uses these signals to drive the various joints and actuators. The robotic arm controller 51 is responsible for driving the movements of the robotic arm 40 and the simulated humanoid hand 41.

[0027] The two robotic arms 40 described above are mounted on both sides of the torso portion 20. More specifically, the robotic arms 40 are mounted from both sides on the intrathoracic skeleton 23 of the torso portion 20. This provides stability, and the intrathoracic skeleton 23 serves as the force-bearing point for the movement of the robotic arms 40.

[0028] Please refer to the attached document. Figure 5 The diagram illustrates the structure of the cervical spine joint and head. The head 30 is connected to the torso 20 via a cervical spine joint 31 and fixed to a cervical spine joint mounting base 231. The cervical spine joint 31 includes a forward and backward swinging cervical joint 311 and a horizontal rotation cervical joint 312. The forward and backward swinging cervical joint 311 is installed inverted, greatly reducing the height of the cervical joint and the radius of motion, making the entire joint body simpler and more harmonious. The horizontal rotation cervical joint 312 is provided on the forward and backward swinging cervical joint 311. The cervical spine joint 31 is encased in an elastic material structure, which can deform with the movement of the joint, ensuring the flexibility of the joint while preventing internal leakage, and at the same time, the mass production cost is very low.

[0029] The head 30 also includes a rigid outer shell panel, which is divided into a front face shell 32 and a back head shell 33. After assembly, it covers the cervical spine joint 31. The head 30 as a whole is installed to the cervical spine joint 31 via connectors 34 and connecting corner pieces 37. A depth camera 35, a microphone array 38, and a speaker 36 are configured on the cervical spine joint inside the rigid outer shell panel. The robot uses the depth camera 35 configured on the head to detect the environment and obstacles, enabling it to perceive the environment, map the space, plan motion, and execute the control module, achieving coordinated scheduling of the motion part 20, the lifting cylinder 21, and the upper body movements.

[0030] The robot's upper body and head, as described in this utility model, are covered by rigid shells, especially those made of sheet metal, which maintain a robust and sturdy outer surface and achieve a hardness that protects important internal components.

[0031] In addition to the mobility of the wheeled chassis and the degrees of freedom of the dual robotic arms in the upper body, the humanoid robot of this invention can also perform various movements such as lifting, rotating, and pitching. This allows the robot to cover a larger area, be more flexible, and more agile. The humanoid, fully rigid shell design of the upper body is highly compatible with industrial production line styles, and the sturdy sheet metal shell protects the robot body from external damage, reducing the customer's maintenance costs.

[0032] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A roller-type semi-humanoid robot, the humanoid robot comprising a torso, a moving part, a head, and a robotic arm, characterized in that, The moving part is an integrated wheeled chassis; The torso is mounted on an integrated wheeled chassis and includes a lifting cylinder, a lumbar joint, a thoracic intraframe, and an external rigid shell. The output flange of the lifting cylinder is connected to the lumbar joint, which is mounted to the thoracic intraframe. An external rigid shell covers the lumbar joint and the thoracic intraframe. The lumbar joint includes a horizontal rotation joint and a forward and backward swing joint. The output flange of the lifting cylinder is directly connected to the horizontal rotation joint, and the forward and backward swing joint is connected above the horizontal rotation joint. A head is located above the torso, and a depth camera, microphone array, and speaker are installed on the head. Robotic arms are installed on both sides of the torso, and the distal end of the robotic arms is equipped with a humanoid hand.

2. The wheel-type humanoid robot according to claim 1, wherein The moving part is an integrated wheeled chassis, including a chassis body and several sets of rollers. Several sets of rollers are respectively arranged below the chassis body. An adapter cavity for mounting a lifting cylinder is provided on the upper part of the chassis body. The lower end of the lifting cylinder of the torso part is placed into the adapter cavity for assembly and fixation. A rigid upper layer is provided on the chassis body. The rigid upper layer is arranged on the periphery of the connection between the chassis body and the lifting cylinder.

3. The wheel-type anthropomorphic robot according to claim 2, characterized in that, The rollers include at least two independently controlled drive wheels and at least two follower omnidirectional wheels, wherein at least one set drives the rear wheels or one set drives the front wheels.

4. The wheel-type anthropomorphic robot according to claim 3, characterized in that, The lifting electric cylinder integrates a motor, a hollow wiring harness, and a control unit, with its lower end recessed and installed inside the mounting adapter cavity of the chassis body.

5. The wheel-type anthropomorphic robot according to claim 4, characterized in that, A thoracic skeleton is connected above the lumbar joint, a cervical joint mounting seat is provided on the thoracic skeleton, and a main controller is provided on the thoracic skeleton.

6. The wheel-type anthropomorphic robot according to claim 5, characterized in that, The two robotic arms are mounted on the intrathoracic skeleton from both sides.

7. The wheel-type anthropomorphic robot according to claim 5, characterized in that, The head is connected to the torso via a cervical joint and fixed to a cervical joint mounting base via the cervical joint. The cervical joint includes a forward and backward swinging cervical joint and a horizontal rotation cervical joint, wherein the forward and backward swinging cervical joint is installed upside down and the horizontal rotation cervical joint is provided thereon.

8. The wheel-type humanoid robot according to claim 5 or 7, wherein Both the lumbar joint and the cervical joint are covered with an elastic structural material.

9. The rollator robot according to any of claims 1-7, characterized in that, The head also includes a rigid panel shell, which is divided into a front face shell and a back head shell. After assembly, it covers the cervical spine joint. A depth camera, a microphone array, and a speaker are arranged on the cervical spine joint inside the rigid panel shell.

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