Wheel type dual-arm body robot

Abstract

A wheeled two-arm body robot comprises a chassis assembly, a lifting assembly and a humanoid robot assembly. The chassis assembly adopts a cantilever structure of two driving wheels and four universal wheels, realizes flexible movement through differential steering, and keeps balance on concave-convex ground. The lifting assembly realizes lifting and pitching of the trunk through an electric cylinder and a trunk joint motor, and expands the vertical working range. The humanoid robot assembly has two arms, each arm comprising six arm sections and a plurality of joint motors, and a humanoid five-finger mechanical hand connected at the end, supporting cooperative operation of both hands; the head is equipped with a camera, a microphone and a loudspeaker for environment perception and interaction. The utility model has the advantages of flexible movement, wide working range and strong cooperation, and is suitable for complex terrain and multi-scene tasks.

Description

Technical Field

[0001] This utility model relates to a wheeled, dual-armed body robot. Background Technology

[0002] Robots have long been considered the crown jewel of manufacturing, but traditional robotic arms are confined to fixed workstations in production, performing specific tasks within fixed manufacturing processes. Their tasks are limited, their operating range is small, and they cannot adapt to flexible production and large-scale operations. (See Chinese patent CN201310452332.9 for the structure). Collaborative arms are typically mounted in fixed positions and cannot move autonomously; their working range is limited to the physical coverage area of ​​the robotic arm itself. Expanding the task range requires manual adjustment of the robot's position or the addition of multiple fixed stations. Collaborative arms themselves lack mobility; if they need to operate between multiple workstations, they rely on external conveying devices (such as conveyor belts or tracks) or manual handling, increasing system integration complexity and cost. Collaborative arms have high requirements for their working environment, such as requiring pre-set safety fences or fixed installation spaces, and are difficult to deploy in complex terrains (such as uneven ground or narrow passages). Fixed collaborative arms require manual intervention to switch tasks or workstations, making it difficult to achieve efficient scheduling of multi-robot collaborative operations.

[0003] To address the aforementioned issues, existing solutions combine a single-arm robot with a mobile chassis to form a single-arm mobile composite robot. However, this approach still has shortcomings. While the single-arm mobile composite robot solves the mobility problem, its working radius is limited because the robotic arm is mounted on the vehicle body. This prevents it from operating at different heights, and the single-arm robot cannot perform tasks requiring two-handed coordination (such as complex assembly or precision handling). Its working range is also limited by the robotic arm's radius, making it difficult to cover multiple workstations or complex terrains. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a wheeled dual-arm robot, in which the two robotic arms can operate independently or in concert, simulating the coordination of human hands. The robot expands its vertical working range through vertical movement, and the lifting and pitching functions combined with the wheeled chassis enable multi-dimensional movement.

[0005] To solve the above-mentioned technical problems, this utility model provides a wheeled dual-arm body robot, including a chassis assembly, a lifting assembly, and a humanoid robot assembly;

[0006] The chassis assembly includes a rectangular box extending longitudinally. The rectangular box includes a base plate. Near each of the four corners of the base plate, there is a through hole penetrating the base plate. Two through holes at the front of the base plate are designated as front through holes, and two through holes at the rear are designated as rear through holes. Recessed wheel grooves are provided on the left and right sides of the base plate along the midpoint of the longitudinal direction. A first hinge seat is located on the upper part of the base plate between two front through holes. The hinge axis of the first hinge seat extends longitudinally, and a [missing information - likely a component or element] is hinged to the first hinge seat. A first rocker arm, symmetrically shaped like a V, has its hinge point with a first hinge seat located at the midpoint of the rocker arm in the left-right direction. A vertically arranged first spring is positioned on the upper side of the base plate of the first hinge seat, corresponding to the lower sides of the left and right sides of the first rocker arm. A front universal wheel is positioned on the lower side of each side of the first rocker arm near its end, with the lower part of each wheel passing through a front through hole. A second hinge seat is positioned on the upper side of the base plate, corresponding to the wheel groove on either side in the left-right direction, between the rear through hole. The hinge axis of each second hinge seat is axially... Each second hinge seat has a long, rectangular second rocker arm that runs longitudinally forward and backward. The hinge point between each rocker arm and the second hinge seat is located at the midpoint of the rocker arm's length. A vertically arranged second spring is located on the upper side of the base plate of the second hinge seat, corresponding to the lower sides of the front and rear of the second rocker arm. Each second rocker arm has a drive motor at its front end, and a drive wheel on the output shaft of each drive motor. The lower part of each drive wheel passes through a groove on the corresponding left-right side. Each second rocker arm has a [missing information - likely a design feature or feature]. Each rear universal wheel has a rear through hole passing through the corresponding left and right sides at its lower part. The front of the rectangular box has a slot that extends horizontally backward and runs through the rectangular box in the left and right directions. A hemispherical omnidirectional detection radar is located on the lower side of the slot near the front of the rectangular box. A first camera component is embedded in the front of the rectangular box. The rectangular box also contains a battery and an electronic control system. An interface component for charging and data transmission is located on the rear of the rectangular box. The two drive motors, the first camera component, and the detection radar are all connected to the battery through the electronic control system.

[0007] The lifting assembly is located on the upper side of the chassis assembly. It includes a front box and a rear box arranged front to back and connected to each other. Both the front box and the rear box are vertically arranged rectangular boxes with their lower sides flush. The front box is higher than the rear box. An electric cylinder is installed in the front box, and a slider is installed at the movable end of the electric cylinder. A long strip guide groove is provided on the front side of the front box, running vertically and penetrating the front side of the front box. The front side of the slider extends beyond the guide groove. An industrial control computer is installed in the rear box, and a display and control touch screen as an interactive terminal is embedded on the upper side of the rear box. The display and control touch screen, the industrial control computer, and the electric cylinder are all connected to the battery through an electronic control system.

[0008] The humanoid robot assembly includes a torso, which is vertically arranged. The lower side of the torso is hinged to a portion of the slider extending from the front housing via torso joint motors, with the hinge axis running left-right. Arm assemblies are located on both sides of the torso. Each arm assembly includes six elongated arm segments connected end-to-end. The arm segments in each arm assembly are numbered sequentially according to their distance from the torso: first arm segment, second arm segment, third arm segment, fourth arm segment, fifth arm segment, and sixth arm segment. The first arm segment is connected to the torso via a first joint motor, the axis of which runs left-right. The length direction of each first arm segment aligns with the axis of its corresponding first joint motor. Each second arm segment is connected to its corresponding first arm segment via a second joint motor, the axis of which is perpendicular to both the length direction of the corresponding first and second arm segments. Each third arm segment is connected to its corresponding second arm segment via a third joint motor, the axis of which aligns with both the length direction of the corresponding second and third arm segments. Each fourth arm segment is connected to its corresponding third arm segment via a fourth joint motor. The axis of each fourth joint motor is perpendicular to the length direction of the corresponding third and fourth arm segments. Each fifth arm segment is connected to the corresponding fourth arm segment via a fifth joint motor, and the axis of each fifth joint motor is aligned with the length direction of the corresponding fourth and fifth arm segments. Each sixth arm segment is connected to the corresponding fifth arm segment via a sixth joint motor, and the axis of each sixth joint motor is perpendicular to the length direction of the corresponding fifth and sixth arm segments. The side of each sixth arm segment whose length direction is away from the corresponding fifth arm segment is connected to a humanoid five-fingered robotic hand via a wrist joint motor, and the axis of each wrist joint motor is aligned with the length direction of the corresponding sixth arm segment. A head assembly is connected to the upper side of the torso via a neck joint motor. The head assembly includes a spherical or ellipsoidal outer shell, with microphones evenly distributed horizontally around the shell. The left and right sides of the shell have first milled planes with several holes, and a speaker is located at each first milled plane within the shell. The front of the shell has a second milled plane, on which a second camera assembly is embedded. All microphones, speakers, and joint motors are connected to an industrial control electromechanical system.

[0009] Preferably, the upper side of the front housing is a flat surface, and the upper side of the rear housing is a sloping surface that is higher in the front and lower in the rear.

[0010] Preferably, the anthropomorphic five-fingered robotic hand includes a palm body, which is rectangular and flat. One end of the palm body is connected to a wrist joint motor along its length, and the length direction of the palm body is consistent with the axis of the corresponding wrist joint motor. The palm body is provided with a thumb assembly and a four-finger assembly. On one side of the palm body in the width direction, near the wrist joint motor, a thumb connector is connected to a first thumb joint motor. The axis of the first thumb joint motor is consistent with the length direction of the palm body. A second thumb joint motor is provided on the thumb connector, and the axis of the second thumb joint motor is perpendicular to the axis of the first thumb joint motor. The thumb assembly includes three elongated thumb phalanges, which are connected end-to-end by two third thumb joint motors. One thumb joint is connected to the thumb connector via a second thumb joint motor. The axes of the two third thumb joint motors are parallel to the axes of the second thumb joint motors. The four-finger assembly includes four elongated finger units, which are arranged side by side on the side of the palm away from the wrist joint motor along the length of the palm. One end of each of the four finger units is connected to the palm via a first finger joint motor. Each finger unit includes three elongated phalanges. The three phalanges on each finger unit are connected end to end via two second finger joint motors. The axes of the first finger joint motors on each finger unit are parallel to the axes of the corresponding second finger joint motors. The four first finger joint motors on each palm are coaxial and perpendicular to the axis of the wrist joint motor. All joint motors are connected to the industrial control electromechanical system.

[0011] Preferably, each wrist joint motor is equipped with a wrist camera assembly facing the humanoid five-fingered robotic hand, and the wrist camera assembly is connected to the industrial control computer.

[0012] Advantages of this utility model:

[0013] The chassis assembly of this utility model has an overall structure consisting of two drive wheels as active wheels, two front omnidirectional wheels and two rear omnidirectional wheels as driven wheels. The four driven wheels are cantilevered and mounted on the base plate, ensuring that all four omnidirectional wheels remain in contact with the ground even on uneven floors, maintaining the chassis's balance and stability. The two active wheels are each controlled by an independent drive motor, forming a central dual-wheel differential speed structure. This ensures that the robot's rotation radius is centered on the robot, allowing for more flexible movement within confined working areas.

[0014] This utility model's lifting assembly uses an electric cylinder as a linear lifting mechanism, integrated with a torso joint motor, to complete the lifting and pitch control of the torso. It adjusts the arm angle to adapt to different heights and tilt scenarios (such as machining curved parts or working environments with uneven ground). Arm components are provided on both the left and right sides of the torso, employing a dual-arm cooperative approach, which can greatly improve the robot's collaborative operation (such as one hand fixing the workpiece while the other hand assembles it). At the same time, the working range of the two arms can be adjusted according to pitch and lifting (such as storing and retrieving items from high-level shelves, repairing equipment on the ground floor, and picking up objects from desktops and the ground), making it suitable for various working spaces.

[0015] The head assembly features a circumferential microphone structure, enabling voice recognition and voice broadcasting. The head can tilt, altering the sensing range of the second head-mounted camera assembly. The hand employs a dexterous, humanoid five-fingered robotic hand, supplemented by a wrist camera assembly, allowing for close-range recognition of the work environment. Combined with the flexible operation of the five-fingered hand, it can complete precise tasks.

[0016] The upper flat surface of the front housing can be used as an expansion surface, making it convenient to add other components later to enrich the functions. The sloping surface on the upper side of the rear housing facilitates observation and operation programming. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is another structural schematic diagram of the present invention.

[0019] Figure 3 This is a schematic diagram of the chassis structure of this utility model.

[0020] Figure 4 This is another structural schematic diagram of the chassis of this utility model.

[0021] Figure 5 This is a schematic diagram of the structure of the humanoid five-fingered robotic hand of this utility model. Detailed Implementation

[0022] See Figures 1-5 A wheeled dual-armed body robot, comprising a chassis assembly, a lifting assembly, and a humanoid robot assembly;

[0023] The chassis assembly includes a rectangular box 1 with its length running front to back. The rectangular box 1 includes a base plate 11. Near each of the four corners of the base plate 11, there is a through hole penetrating the base plate 11. Two through holes located at the front of the base plate 11 are designated as front through holes 111, and two through holes located at the rear of the base plate 11 are designated as rear through holes 112. Concave wheel grooves 113 are provided on the left and right sides of the base plate 11 along the front to back direction in the middle. A first hinge seat 12 is provided on the upper side of the base plate 11 between the two front through holes 111. The hinge axis of the first hinge seat 12 runs front to back. A symmetrical herringbone-shaped first rocker arm 1 is hinged to the first hinge seat 12. 21. The hinge point between the first rocker arm 121 and the first hinge seat 12 is located in the middle of the first rocker arm 121 in the left-right direction. A vertically arranged first spring 122 is provided on the upper side of the base plate of the first hinge seat 12, corresponding to the lower side of the left and right sides of the first rocker arm 121. A front universal wheel 123 is provided on the lower side of the left and right sides of the first rocker arm 121 near the end. The lower part of each front universal wheel 123 passes through the front through hole 111. A second hinge seat 13 is provided on the upper side of the base plate 11, corresponding to the wheel groove 113 on either side in the left-right direction, between the rear through hole 112. The hinge axis of each second hinge seat 13 is oriented left-right. A spring is hinged on each second hinge seat 13. A long, strip-shaped second rocker arm 131 runs longitudinally. The hinge point between each second rocker arm 131 and the second hinge seat 13 is located at the middle of the length of the second rocker arm 131. A vertically arranged second spring 132 is provided on the upper side of the base plate of each second hinge seat 13, corresponding to the lower side of the front and rear of the second rocker arm 131. A drive motor 133 is provided at the front end of each second rocker arm 131. A drive wheel 134 is provided on the output shaft of each drive motor 133. The lower part of each drive wheel 134 passes through a wheel groove 113 on the corresponding left and right side. A rear universal wheel 135 is provided on the lower side of the rear end of each second rocker arm 131. The lower part of each rear universal wheel 135 passes through a wheel groove 113 on the left and right side. To the corresponding side of the rear through hole 112, the front side of the rectangular box 1 is provided with a slot 14 that extends horizontally backward and penetrates the rectangular box 1 in the left and right directions. The lower side of the slot 14 is provided with a hemispherical omnidirectional detection radar 15 near the front side of the rectangular box 1. The front side of the rectangular box 1 is embedded with a first camera assembly 16. The rectangular box 1 is also provided with a battery 17 and an electronic control system (in this embodiment, the battery and electronic control system are purchased finished products, and the structure is an integrated structure, which is represented by the same part number 17). The rear side of the rectangular box 1 is provided with an interface assembly 18 for charging and data transmission. The two drive motors 133, the first camera assembly 16, and the detection radar 15 are all connected to the battery 17 through the electronic control system.

[0024] The lifting assembly is located on the upper side of the chassis assembly. It includes a front housing 21 and a rear housing 22 arranged front to back and connected to each other. Both the front housing 21 and the rear housing 22 are vertically arranged rectangular housings. The lower sides of the front housing 21 and the rear housing 22 are flush. The front housing 21 is higher than the rear housing 22. An electric cylinder is installed inside the front housing 21 (the electric cylinder is a commercially available product and is not marked in the figure). The movable end of the electric cylinder is equipped with a slider 211. A vertically oriented, elongated guide groove 212 is provided on the front side of the front housing 21, which runs through the front side of the front housing 21. The front side of the slider 211 extends beyond the guide groove 212. An industrial control computer is provided inside the rear housing 22 (the industrial control computer is an existing mature product; in this embodiment, the industrial control computer is an externally purchased component and is not marked in the figure). A display control touch screen 221, which serves as an interactive terminal, is embedded on the upper side of the rear housing 22. The display control touch screen 221, the industrial control computer, and the electric cylinder are all connected to the battery 17 through an electronic control system.

[0025] The humanoid robot assembly includes a torso 3, which is vertically arranged. The lower side of the torso 3 is hinged to the portion of the slider 211 extending out of the front housing 21 via a torso joint motor 31, with the hinge axis running left and right. Arm assemblies are located on both the left and right sides of the torso 3. Each arm assembly includes six elongated arm segments connected end-to-end. The arm segments in each arm assembly are numbered sequentially according to their distance from the torso 3: first arm segment 41, second arm segment 42, third arm segment 43, fourth arm segment 44, fifth arm segment 45, and sixth arm segment 46. The first arm segment 41 is connected to the torso 3 via a first joint motor 411, with the axis of the first joint motor 411 running left and right. The arm segments are arranged horizontally. The length direction of each first arm segment 41 is aligned with the axis of the corresponding first joint motor 411. Each second arm segment 42 is connected to its corresponding first arm segment 41 via a second joint motor 421. The axis of each second joint motor 421 is perpendicular to the length directions of both the first and second arm segments 41 and 42. Each third arm segment 43 is connected to its corresponding second arm segment 42 via a third joint motor 431. The axis of each third joint motor 431 is aligned with the length directions of both the second and third arm segments 42 and 43. Each fourth arm segment 44 is connected to its corresponding third arm segment 43 via a fourth joint motor 441. The axis of segment 41 is perpendicular to the length direction of the corresponding third arm segment 43 and fourth arm segment 44. Each fifth arm segment 45 is connected to its corresponding fourth arm segment 44 via a fifth joint motor 451. The axis of each fifth joint motor 451 is aligned with the length direction of the corresponding fourth arm segment 44 and fifth arm segment 45. Each sixth arm segment 46 is connected to its corresponding fifth arm segment 45 via a sixth joint motor 461. The axis of each sixth joint motor 461 is perpendicular to the length direction of the corresponding fifth arm segment 45 and sixth arm segment 46. The side of each sixth arm segment 46 furthest from its corresponding fifth arm segment 45 is connected to a humanoid five-fingered robotic hand 5 via a wrist joint motor 47. The axial direction of each wrist joint motor 47 is consistent with the length direction of the corresponding sixth arm segment 46. The head assembly is connected to the upper side of the torso 3 via the neck joint motor 61. The head assembly includes a spherical or ellipsoidal outer shell 6. Six microphones (the microphones are purchased parts and built into the outer shell, not shown in the figure) are evenly distributed horizontally around the outer shell 6. The left and right sides of the outer shell 6 are provided with first milled planes 62 with several holes. A speaker (the speaker is a purchased part and built into the outer shell, not shown in the figure) is provided at each first milled plane 62 in the outer shell 6. The front side of the outer shell 6 is provided with a second milled plane 63, and a second camera assembly 631 is embedded in the second milled plane 63.

[0026] The described humanoid five-finger robotic hand 5 includes a palm body 51, which is rectangular and flat. One end of the palm body 51 is connected to a wrist joint motor 47 along its length, and the length direction of the palm body 51 is consistent with the axis direction of the corresponding wrist joint motor 47. The palm body 51 is provided with a thumb assembly and a four-finger assembly. On one side of the palm body 51 in the width direction, near the wrist joint motor 47, a thumb connector 52 is connected via a first thumb joint motor (the first thumb joint motor is built into the palm body 51 and is not shown in the figure). The axis direction of the first thumb joint motor is consistent with the length direction of the palm body 51. The thumb connector 52 is provided with a second thumb joint motor 53, and the axis direction of the second thumb joint motor 53 is perpendicular to the axis direction of the first thumb joint motor. The thumb assembly includes three elongated thumb knuckles 54, which are connected by two third thumb knuckles. The joint motors 541 are connected end to end in sequence. A thumb joint 54 located at the end is connected to the thumb connector 52 through a second thumb joint motor 53. The axes of the two third thumb joint motors 541 are parallel to the axis of the second thumb joint motor 53. The four-finger assembly includes four elongated finger units. The four finger units are arranged side by side on the side of the palm body 51 away from the wrist joint motor 47 along its length. One end of each of the four finger units is connected to the palm body 51 through a first finger joint motor 55. Each finger unit includes three elongated joints 56. The three joints 56 on each finger unit are connected end to end through two second finger joint motors 561. The axis of the first finger joint motor 55 on each finger unit is parallel to the axis of the corresponding second finger joint motor 561. The four first finger joint motors 55 on each palm body 51 are coaxial and perpendicular to the axis of the wrist joint motor 47.

[0027] Each wrist joint motor 47 is equipped with a wrist camera assembly 57 that is directly opposite the humanoid five-fingered robotic hand 5.

[0028] All microphones, speakers, joint motors, and wrist camera components 57 are connected to industrial electromechanical systems.

[0029] The upper side of the front housing 21 is a flat surface, while the upper side of the rear housing 22 is a sloping surface that is higher in the front and lower in the rear.

Claims

1. A wheeled, dual-armed, body-worn robot, characterized in that: Includes chassis components, lifting components, and humanoid robot components; The chassis assembly includes a rectangular box extending longitudinally. The rectangular box includes a base plate. Near each of the four corners of the base plate, there is a through hole penetrating the base plate. Two through holes at the front of the base plate are designated as front through holes, and two through holes at the rear are designated as rear through holes. Recessed wheel grooves are provided on the left and right sides of the base plate along the midpoint of the longitudinal direction. A first hinge seat is located on the upper part of the base plate between two front through holes. The hinge axis of the first hinge seat extends longitudinally, and a [missing information - likely a component or element] is hinged to the first hinge seat. A first rocker arm, symmetrically shaped like a V, has its hinge point with a first hinge seat located at the midpoint of the rocker arm in the left-right direction. A vertically arranged first spring is positioned on the upper side of the base plate of the first hinge seat, corresponding to the lower sides of the left and right sides of the first rocker arm. A front universal wheel is positioned on the lower side of each side of the first rocker arm near its end, with the lower part of each wheel passing through a front through hole. A second hinge seat is positioned on the upper side of the base plate, corresponding to the wheel groove on either side in the left-right direction, between the rear through hole. The hinge axis of each second hinge seat is axially... Each second hinge seat has a long, rectangular second rocker arm that runs longitudinally forward and backward. The hinge point between each rocker arm and the second hinge seat is located at the midpoint of the rocker arm's length. A vertically arranged second spring is located on the upper side of the base plate of the second hinge seat, corresponding to the lower sides of the front and rear of the second rocker arm. Each second rocker arm has a drive motor at its front end, and a drive wheel on the output shaft of each drive motor. The lower part of each drive wheel passes through a groove on the corresponding left-right side. Each second rocker arm has a [missing information - likely a design feature or feature]. Each rear universal wheel has a rear through hole passing through the corresponding left and right sides at its lower part. The front of the rectangular box has a slot that extends horizontally backward and runs through the rectangular box in the left and right directions. A hemispherical omnidirectional detection radar is located on the lower side of the slot near the front of the rectangular box. A first camera component is embedded in the front of the rectangular box. The rectangular box also contains a battery and an electronic control system. An interface component for charging and data transmission is located on the rear of the rectangular box. The two drive motors, the first camera component, and the detection radar are all connected to the battery through the electronic control system. The lifting assembly is located on the upper side of the chassis assembly. It includes a front box and a rear box arranged front to back and connected to each other. Both the front box and the rear box are vertically arranged rectangular boxes with their lower sides flush. The front box is higher than the rear box. An electric cylinder is installed in the front box, and a slider is installed at the movable end of the electric cylinder. A long strip guide groove is provided on the front side of the front box, running vertically and penetrating the front side of the front box. The front side of the slider extends beyond the guide groove. An industrial control computer is installed in the rear box, and a display and control touch screen as an interactive terminal is embedded on the upper side of the rear box. The display and control touch screen, the industrial control computer, and the electric cylinder are all connected to the battery through an electronic control system. The humanoid robot assembly includes a torso, which is vertically arranged. The lower side of the torso is hinged to a portion of the slider extending from the front housing via torso joint motors, with the hinge axis running left-right. Arm assemblies are located on both sides of the torso. Each arm assembly includes six elongated arm segments connected end-to-end. The arm segments in each arm assembly are numbered sequentially according to their distance from the torso: first arm segment, second arm segment, third arm segment, fourth arm segment, fifth arm segment, and sixth arm segment. The first arm segment is connected to the torso via a first joint motor, the axis of which runs left-right. The length direction of each first arm segment aligns with the axis of its corresponding first joint motor. Each second arm segment is connected to its corresponding first arm segment via a second joint motor, the axis of which is perpendicular to both the length direction of the corresponding first and second arm segments. Each third arm segment is connected to its corresponding second arm segment via a third joint motor, the axis of which aligns with both the length direction of the corresponding second and third arm segments. Each fourth arm segment is connected to its corresponding third arm segment via a fourth joint motor. The axis of each fourth joint motor is perpendicular to the length direction of the corresponding third and fourth arm segments. Each fifth arm segment is connected to the corresponding fourth arm segment via a fifth joint motor, and the axis of each fifth joint motor is aligned with the length direction of the corresponding fourth and fifth arm segments. Each sixth arm segment is connected to the corresponding fifth arm segment via a sixth joint motor, and the axis of each sixth joint motor is perpendicular to the length direction of the corresponding fifth and sixth arm segments. The side of each sixth arm segment whose length direction is away from the corresponding fifth arm segment is connected to a humanoid five-fingered robotic hand via a wrist joint motor, and the axis of each wrist joint motor is aligned with the length direction of the corresponding sixth arm segment. A head assembly is connected to the upper side of the torso via a neck joint motor. The head assembly includes a spherical or ellipsoidal outer shell, with microphones evenly distributed horizontally around the shell. The left and right sides of the shell have first milled planes with several holes, and a speaker is located at each first milled plane within the shell. The front of the shell has a second milled plane, on which a second camera assembly is embedded. All microphones, speakers, and joint motors are connected to an industrial control electromechanical system.

2. The wheeled dual-armed robot according to claim 1, characterized in that: The upper side of the front box is flat, while the upper side of the rear box is a sloping surface that is higher in the front and lower in the rear.

3. The wheeled dual-armed robot according to claim 1, characterized in that: The described anthropomorphic five-fingered robotic hand includes a palm body, which is rectangular and flat. One end of the palm body is connected to a wrist joint motor along its length, and the length direction of the palm body is consistent with the axis of the corresponding wrist joint motor. The palm body has a thumb assembly and four-finger assemblies. On one side of the palm body, near the wrist joint motor, a thumb connector is connected via a first thumb joint motor. The axis of the first thumb joint motor is consistent with the length direction of the palm body. A second thumb joint motor is mounted on the thumb connector, and the axis of the second thumb joint motor is perpendicular to the axis of the first thumb joint motor. The thumb assembly includes three elongated thumb phalanges, which are connected end-to-end via two third thumb joint motors. The end of the thumb assembly has a... Each thumb joint is connected to the thumb connector via a second thumb joint motor. The axes of the two third thumb joint motors are parallel to the axes of the second thumb joint motors. The four-finger assembly includes four elongated finger units, which are arranged side by side on the side of the palm away from the wrist joint motor along the length of the hand. One end of each of the four finger units is connected to the palm via a first finger joint motor. Each finger unit includes three elongated phalanges. The three phalanges on each finger unit are connected end to end via two second finger joint motors. The axes of the first finger joint motors on each finger unit are parallel to the axes of the corresponding second finger joint motors. The four first finger joint motors on each palm are coaxial and perpendicular to the axis of the wrist joint motor. All joint motors are connected to the industrial control electromechanical system.

4. A wheeled dual-armed robot according to claim 1, characterized in that: Each wrist joint motor is equipped with a wrist camera assembly that faces the humanoid five-fingered robotic hand, and the wrist camera assembly is connected to the industrial control electromechanical system.

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