A wheeled robot

Abstract

This application provides a wheeled robot, including a chassis assembly, a main body assembly, and a waist assembly. The waist assembly includes a waist support, a waist swivel component, and a waist swivel motor. The waist support is fixed to the top of the chassis assembly, and the waist swivel component is connected to the bottom of the main body assembly. The waist swivel motor is fixed to the waist support and is driven by the waist swivel component, enabling the waist swivel component to rotate horizontally relative to the waist support, thus allowing the main body assembly to rotate horizontally relative to the chassis assembly. Compared to existing wheeled robots that rely on chassis assembly rotation for lateral operations, in scenarios where the chassis assembly is restricted by environmental conditions and cannot rotate, the wheeled robot of this application embodiment can still achieve free steering of the main body assembly through the waist assembly, allowing the main body assembly to still perform lateral operations.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a wheeled robot. Background Technology

[0002] Wheeled robots are robots that primarily move by wheels. They move by rolling their wheels against the ground and are characterized by high speed, simple structure, and high energy efficiency.

[0003] In related technologies, wheeled robots include a chassis assembly and a main body mounted on the chassis assembly. The chassis assembly drives the main body to walk and turn. However, wheeled robots cannot rotate the main body in scenarios where the chassis assembly is restricted by the environment and cannot rotate, which prevents wheeled robots from performing operations in the lateral direction of the chassis assembly. Utility Model Content

[0004] The purpose of this application is to provide a wheeled robot that can perform lateral operations in scenarios where the chassis assembly is restricted from rotating due to environmental limitations. The specific technical solution is as follows:

[0005] This application provides a wheeled robot, including: a chassis assembly; a main body assembly; and a waist assembly, including: a waist support, a waist rotating component, and a waist rotating motor; the waist support is fixed to the top of the chassis assembly, and the waist rotating component is connected to the bottom of the main body assembly; the waist rotating motor is fixed to the waist support and drivenly connected to the waist rotating component, enabling the waist rotating component to rotate horizontally relative to the waist support, thereby causing the main body assembly to rotate horizontally relative to the chassis assembly.

[0006] In some embodiments of this application, the waist assembly further includes: a waist pitch member and a waist pitch motor disposed between the waist swivel member and the main body assembly; the waist pitch member is fixedly connected to the bottom of the main body assembly; the waist pitch motor is fixedly connected to the waist swivel member and drivenly connected to the waist pitch member; the waist pitch motor can drive the waist pitch member to pitch and rotate relative to the waist swivel member, so that the main body assembly pitches and rotates relative to the chassis assembly.

[0007] In some embodiments of this application, the waist rotation component includes: a first mounting plate and two first side plates; the first mounting plate is driven and connected to the waist rotation motor; the two first side plates are fixedly mounted on the first mounting plate at a relative interval; the waist pitch component includes: a second mounting plate and two second side plates; the second mounting plate is fixedly connected to the bottom of the main body assembly; the two second side plates are fixedly mounted on the second mounting plate at a relative interval; the two second side plates are rotatably connected to the inner sides of the two first side plates respectively; the waist pitch motor is disposed between the two second side plates, driven and connected to the second side plates, and fixedly connected to the first side plates.

[0008] In some embodiments of this application, the main body assembly includes: a torso assembly, a head assembly, and two arm assemblies; the bottom of the torso assembly is connected to the waist rotator; the top of the torso assembly is connected to the head assembly; and the two sides of the torso assembly are connected to the two arm assemblies.

[0009] In some embodiments of this application, the head assembly includes: a head body, a camera module, and an image processing module; the head body is rotatably connected to the torso assembly and is capable of horizontal and / or pitch rotation relative to the torso assembly; both the camera module and the image processing module are disposed on the head body, and the image processing module is capable of processing the image information acquired by the camera module.

[0010] In some embodiments of this application, the torso assembly is provided with a control component; the control component is communicatively connected to the image processing module, chassis assembly, waist assembly, head assembly and two arm assemblies, and is used to acquire information transmitted by the image processing module and control the movements of the chassis assembly, waist assembly, head assembly and two arm assemblies according to the information.

[0011] In some embodiments of this application, each of the arm assemblies includes: a first arm segment and a second arm segment connected to each other; in the connection end of the first arm segment and the connection end of the second arm segment, one connection end is provided with an adjusting shaft and the other connection end is provided with a clamping plate; the adjusting shaft is inserted into the clamping plate and locked by a fastener.

[0012] In some embodiments of this application, the chassis assembly includes: a motion chassis and a lifting assembly; the lifting assembly is fixed to the top of the motion chassis and drivenly connected to the waist support, and is capable of driving the waist assembly to lift the main body assembly.

[0013] In some embodiments of this application, the motion chassis includes: a chassis, a set of wheels, and a support frame; the set of wheels is mounted on the chassis and can drive the chassis to move; the bottom of the support frame is connected to the chassis, and the top is connected to the lifting assembly.

[0014] In some embodiments of this application, the chassis includes: a front frame and a rear frame hinged to each other; the front frame and the rear frame are capable of floating up and down relative to the ground; the front frame is provided with an articulation seat; the support frame includes: a support platform, and a first link and a second link disposed between the support platform and the chassis; the two ends of the first link are respectively hinged to the support platform and the articulation seat; the top end of the second link is hinged to the support platform, and the bottom end is fixedly connected to the rear frame.

[0015] The wheeled robot provided in this application embodiment, compared to existing wheeled robots that rely on chassis rotation for lateral operations, incorporates a waist component between the chassis and main body components. This waist component includes a waist support, a waist swivel member, and a waist swivel motor. The waist swivel motor drives the waist swivel member to rotate horizontally relative to the waist support, causing the main body component to rotate horizontally relative to the chassis, allowing the main body component to rotate to different orientations for lateral operations. Even in scenarios where the chassis component is restricted from rotation by environmental factors, the wheeled robot of this application embodiment can still achieve free steering of the main body component through the waist component, enabling lateral operations.

[0016] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a front axle side view of the wheeled robot provided in this application;

[0019] Figure 2 Rear axle side view of the wheeled robot provided in this application;

[0020] Figure 3a for Figure 1 Axonometric view of the waist assembly, torso assembly, and head assembly shown;

[0021] Figure 3b for Figure 3a The front view of the waist assembly and torso assembly shown;

[0022] Figure 4 for Figure 1 Axonometric view of the arm assembly shown;

[0023] Figure 5 for Figure 1 The axonometric view of the chassis assembly shown.

[0024] Figure label:

[0025] Chassis assembly 100; sports chassis 110; chassis 111; front frame 1111; rear frame 1112; articulated seat 1113; swivel caster mounting seat 1114; running wheel set 112; drive wheel 1121; swivel caster 1122; support frame 113; support platform 1131; first link 1132; second link 1133; lifting assembly 120; lidar 130;

[0026] Main component 200;

[0027] Torso assembly 210;

[0028] Head assembly 220; head body 221; camera module 222; image processing module 223; head base 224; head rotating component 225;

[0029] Arm assembly 230; First arm segment 230a; Second arm segment 230b; Adjustment shaft 2301; Clamping plate 2302;

[0030] Boom Section 1 231; Boom Section 2 232; Boom Section 2 Motor 2321; Boom Section 2 Connecting Plate 2322; Boom Section 3 233; Boom Section 3 Motor 2331; Boom Section 3 Connecting Plate 2332; Boom Section 4 234; Boom Section 4 Motor 2341; Forearm Section 1 235; Forearm Section 1 Motor 2351; Forearm Section 1 Connecting Plate 2352; Forearm Section 2 236; Forearm Section 2 Motor 2361; Forearm Section 2 Connecting Plate 2362; Forearm Section 3 237; Forearm Section 3 Motor 2371; Forearm Section 3 Connecting Plate 2372; Forearm Section 4 238; Forearm Section 4 Motor 2381; End Actuator 239; Actuator Motor 2391; Gripper 2392;

[0031] Control component 240; AI processing module 241; sound processing module 242; motion control module 243; air cooling module 244;

[0032] Waist assembly 300; waist support 310; waist slewing component 320; first mounting plate 321; first side plate 322; waist slewing motor 330; waist pitch component 340; second mounting plate 341; second side plate 342; waist pitch motor 350. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0034] As described in the background section, in related technologies, wheeled robots include a chassis assembly and a main body mounted on the chassis assembly. The chassis assembly drives the main body to walk and turn. However, wheeled robots cannot rotate the main body in scenarios where the chassis assembly is restricted by the environment and cannot rotate, which prevents wheeled robots from performing operations in the lateral direction of the chassis assembly.

[0035] To address this issue, this application provides a wheeled robot that enables lateral operations in scenarios where the chassis components are restricted from rotating due to environmental limitations.

[0036] See Figure 1 and Figure 2 The wheeled robot includes a chassis assembly 100, a main body assembly 200, and a waist assembly 300. The main body assembly 200, the waist assembly 300, and the chassis assembly 100 are arranged in descending order of height.

[0037] The waist assembly 300 includes a waist support 310, a waist rotating component 320, and a waist rotating motor 330. The waist support 310 is fixed to the top of the chassis assembly 100, and the waist rotating component 320 is connected to the bottom of the main body assembly 200.

[0038] The waist rotation motor 330 is fixed on the waist support 310 and is driven to connect with the waist rotation component 320. It can drive the waist rotation component 320 to rotate horizontally relative to the waist support 310, so that the main body component 200 rotates horizontally relative to the chassis component 100.

[0039] Compared to existing wheeled robots that rely on chassis rotation for lateral operations, this embodiment of the application includes a waist component 300 between the chassis component 100 and the main body component 200. The waist component 300 includes a waist support 310, a waist swivel component 320, and a waist swivel motor 330. The waist swivel motor 330 drives the waist swivel component 320 to rotate horizontally relative to the waist support 310, thereby causing the main body component 200 to rotate horizontally relative to the chassis component 100. This allows the main body component 200 to rotate to different orientations, enabling lateral operations. Even in scenarios where the chassis component 100 is restricted by environmental conditions and cannot rotate, the wheeled robot of this embodiment can still achieve free steering of the main body component 200 via the waist component 300, allowing the main body component 200 to still perform lateral operations.

[0040] The connection between the aforementioned waist-mounted rotating component 320 and the bottom of the main body assembly 200 can be either direct or indirect. When a direct connection is used, the waist-mounted rotating component 320 is fixedly connected to the bottom of the main body assembly 200, directly driving the main body assembly 200 to rotate horizontally, giving the main body assembly 200 a degree of rotational freedom. When an indirect connection is used, the waist-mounted rotating component 320 can be connected to the bottom of the main body assembly 200 via the waist-mounted pitching component 340 to increase the rotational freedom of the main body assembly 200, as detailed below.

[0041] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the waist assembly 300 also includes a waist pitch member 340 and a waist pitch motor 350 disposed between the waist slewing member 320 and the main body assembly 200.

[0042] The waist pitch component 340 is fixedly connected to the bottom of the main body assembly 200; the waist pitch motor 350 is fixedly connected to the waist rotation component 320 and is driven by the waist pitch component 340. The waist pitch motor 350 can drive the waist pitch component 340 to pitch and rotate relative to the waist rotation component 320, so that the main body assembly 200 pitches and rotates relative to the chassis assembly 100.

[0043] By adding a waist pitch component 340 and a waist pitch motor 350 to the embodiment of this application, the main body component 200 gains an additional degree of rotational freedom. Compared to existing wheeled robots, the main body component 200 of this embodiment can rotate horizontally and pitch under the action of the waist component 300. This allows for fine-tuning of the left and right angles while bending over, precisely adjusting the main body component 200 to a suitable working position. This enables the wheeled robot of this application to perform multi-directional work in all directions even when the chassis cannot rotate due to environmental influences, making it suitable for more work scenarios and more flexible in operation.

[0044] In some embodiments of this application, see Figure 3a and Figure 3b The waist rotation component 320 includes a first mounting plate 321 and two first side plates 322. The first mounting plate 321 is driven and connected to the waist rotation motor 330. The two first side plates 322 are fixed to the first mounting plate 321 at a relative interval.

[0045] The waist tilting component 340 includes a second mounting plate 341 and two second side plates 342. The second mounting plate 341 is fixedly connected to the bottom of the main body assembly 200. The two second side plates 342 are fixed to the second mounting plate 341 at a relative interval; the two second side plates 342 are rotatably connected to the inner sides of the two first side plates 322 respectively.

[0046] The waist pitch motor 350 is located between the two second side plates 342, is driven by the second side plates 342, and is fixedly connected to the first side plate 322.

[0047] The waist rotation component 320 and the waist pitch component 340 adopt the above-described structural arrangement, with the first side plate 322 and the second side plate 342 partially overlapping. The waist pitch motor 350 is housed within the internal space enclosed by the waist rotation component 320 and the waist pitch component 340, improving space utilization and making the structure of the waist assembly 300 more compact in the height direction. The side plates also provide protection for the waist pitch motor 350.

[0048] exist Figure 3a In the specific embodiment shown, the waist support 310 is cylindrical, and the waist rotary motor 330 is an external rotor frameless torque motor fitted onto the waist support 310. The first mounting plate 321 of the waist rotating component 320 has a through hole and is also fitted onto the waist support 310, located at the top of the waist rotary motor 330. The inner stator of the waist rotary motor 330 is connected to the waist support 310, and the top surface of the outer rotor is fixedly connected to the first mounting plate 321. It can drive the waist rotating component 320 to rotate horizontally around axis W1 by driving the first mounting plate 321. Axis W1 is a vertical axis.

[0049] The waist pitch motor 350 can also be an external rotor frameless torque motor, laterally positioned between the two second side plates 342. The outer ring rotor at the first end of the waist pitch motor 350 is fixedly connected to the second side plate 342 on its side, and the inner ring stator at the first end passes through the through hole on the second side plate 342 and is fixedly connected to the first side plate 322. The outer ring rotor can drive the waist pitch component 340 to pitch and rotate around the W2 axis by driving the second side plate 342. The W2 axis is a horizontal axis.

[0050] like Figure 3b As shown, there is a gap between the second end of the waist pitch motor 350 and the second side plate 342 on the same side for arranging cables. The first side plate 322 on this side has a protrusion that inserts into a through hole on the second side plate 342 and is connected via a bearing, thus providing support and distributing the force applied by the waist pitch motor 350 to the waist pitch member 340.

[0051] use Figure 3a In the structural arrangement shown, both the waist rotation motor 330 and the waist rotation component 320 are mounted on the cylindrical waist support 310. The structure is simple and relatively stable, preventing the waist assembly 300 from shaking during operation. The first side plates 322 and the second side plates 342 at both ends of the waist pitch motor 350 are fitted together, making the waist assembly 300 more compact in the lateral direction.

[0052] In other embodiments of this application, the waist support 310 may also be configured in other shapes, such as a cube, as long as it can be fixedly connected to the inner ring of the waist rotary motor 330.

[0053] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the main body assembly 200 includes: a torso assembly 210, a head assembly 220, and two arm assemblies 230. The bottom of the torso assembly 210 is connected to the waist swivel member 320; the top of the torso assembly 210 is connected to the head assembly 220; and the two sides of the torso assembly 210 are connected to the two arm assemblies 230.

[0054] The head assembly 220 can be used for image acquisition; the torso assembly 210 can be used to install various control modules to control the movement of various parts of the wheeled robot; the arm assembly 230 can move flexibly to perform actions such as grasping and carrying, so that the main body assembly 200 including the above components has multiple functions and can perform a variety of tasks.

[0055] It should be noted that the connection between the bottom of the torso assembly 210 and the waist rotating component 320 can be direct or indirect. When a direct connection is used, the waist rotating component 320 is fixedly connected to the bottom of the torso assembly 210, directly driving the torso assembly 210 to rotate horizontally, giving the main body assembly 200 one degree of rotational freedom. When an indirect connection is used, the waist rotating component 320 can... Figure 2 The waist pitching member 340 is connected to the bottom of the torso assembly 210 to increase the rotational freedom of the torso assembly 210.

[0056] The specific structure of the torso assembly 210 is not limited in this application, as long as its top, bottom, and sides can accommodate the aforementioned components. Figure 3a In the embodiment shown, the torso component 210 is configured as a cuboid frame, which is structurally stable and lightweight. This application will use this cuboid frame torso component 210 as an example for subsequent description.

[0057] In some embodiments of this application, such as Figure 3a As shown, the head assembly 220 includes: a head body 221, a camera module 222, and an image processing module 223.

[0058] The head body 221 is rotatably connected to the torso assembly 210, and can rotate horizontally and / or pitch relative to the torso assembly 210. Both the camera module 222 and the image processing module 223 are mounted on the head body 221, and the image processing module 223 can process the image information acquired by the camera module 222.

[0059] In the embodiments of this application, the camera module 222 and the image processing module 223 are arranged on the head body 221, meaning that image information acquisition and processing are concentrated on the head component 220, making the wheeled robot more modular. The camera module 222 and the image processing module 223 can be quickly assembled and disassembled, and can be adapted to multiple different robot models.

[0060] A head base 224 is fixed to the top of the torso assembly 210 to mount the head body 221. The head body 221 is rotatably connected to the head base 224 via a head rotating component 225. Specifically, the bottom end of the head rotating component 225 is rotatably connected to the head base 224, and the top end is connected to the head body 221. The head rotating component 225 can drive the head body 221 to rotate horizontally around axis W3 under the drive of a head rotation motor. The W3 axis is a vertical axis.

[0061] The connection between the top of the head rotating component 225 and the head body 221 can be either a fixed connection or a rotatable connection. When a fixed connection is used, the head body 221 has one degree of rotational freedom, allowing it to rotate horizontally around axis W3. When a rotatable connection is used, the head body 221 can function as a head pitch component, rotating relative to the head rotating component 225 around axis W4 under the drive of a head pitch motor. Axis W4 is a horizontal axis.

[0062] The specific connection form of the two ends of the head rotating component 225 and the setting method of the head rotating motor and the head pitch motor can be the same as the specific connection form of the waist rotating component 320 and the setting method of the waist rotating motor 330 and the waist pitch motor 350 mentioned above, and will not be repeated here.

[0063] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, a control component 240 is provided on the torso component 210.

[0064] The control component 240 is communicatively connected to the image processing module 223, chassis component 100, waist component 300, head component 220, and two arm components 230. It acquires information transmitted from the image processing module 223 and controls the movements of the chassis component 100, waist component 300, head component 220, and two arm components 230 based on this information. By applying this embodiment, the control component 240 controls the movements of the aforementioned components, thus achieving automated operation of the wheeled robot.

[0065] The control component 240 may specifically include: an AI processing module 241, a sound processing module 242, a motion control module 243, and a cooling module 244.

[0066] exist Figure 1 and Figure 2In the illustrated embodiment, the sound processing module 242 and motion control module 243 are located on the front side of the torso assembly 210, i.e., on the side where the camera module 222 is located; the AI ​​processing module 241 is located on the rear side of the torso assembly 210, spaced apart from the sound processing module 242 and motion control module 243; the air-cooling module 244 is located on the top of the torso assembly 210, specifically fixed to the bottom surface of the head base 224. This arrangement ensures a uniform weight distribution on the torso assembly 210, thereby reducing off-center loading and making the torso assembly 210 structure more stable.

[0067] The space between the AI ​​processing module 241 and the sound processing module 242 and motion control module 243 can serve as a heat dissipation channel. The air-cooling module 244 blows air downwards to expel the heat generated by the AI ​​processing module 241, the sound processing module 242 and the motion control module 243 from the torso assembly 210, so as to protect the modules on the torso assembly 210 from overheating and burning out.

[0068] In other embodiments of this application, the positions of the AI ​​processing module 241 and the motion control module 243 may be interchanged, and / or the air-cooling module 244 may be disposed at the bottom of the torso assembly 210. The specific placement of these modules on the torso assembly 210 is not limited in this application, as long as the air-cooling module 244 can provide cooling for the other modules.

[0069] The AI ​​processing module 241 is electrically connected to the motion control module 243 and the image processing module 223. The camera module 222 acquires image information and transmits it to the image processing module 223; the image processing module 223 processes the image information and then transmits it to the AI ​​processing module 241; after completing the acquisition, processing, and decision-making of the image signal, the AI ​​processing module 241 generates a decision signal and transmits the decision signal to the motion control module 243; the motion control module 243 can issue commands based on the decision signal to control the chassis assembly 100, head assembly 220, arm assembly 230, and waist assembly 300 to perform corresponding operational actions.

[0070] In some embodiments of this application, see Figure 4 Each arm assembly 230 includes: a first arm segment 230a and a second arm segment 230b that are connected to each other.

[0071] In the connecting ends of the first arm segment 230a and the second arm segment 230b, one connecting end is provided with an adjusting shaft 2301, and the other connecting end is provided with a clamping plate 2302. The adjusting shaft 2301 is inserted into the clamping plate 2302 and locked in place by a fastener. The fastener may specifically be a screw.

[0072] With the above settings, if different work scenarios require different lengths of arm assembly 230, the fastener can be loosened, the insertion amount of the adjustment shaft 2301 in the clamp 2302 can be adjusted, and the fastener can be tightened after adjustment to adjust the length of the arm assembly 230.

[0073] The arm assembly 230 may include multiple joints, each of which can rotate about a different axis, so that the arm assembly 230 has multiple degrees of freedom and can operate flexibly. This application does not limit the number of joints or the direction of rotation of each joint.

[0074] exist Figure 4 In the illustrated embodiment, the arm assembly 230 is divided into an upper arm assembly and a forearm assembly. The upper arm assembly is connected at its head to the torso assembly 210 and at its tail to the head of the forearm assembly. The forearm assembly has an end effector 239 connected to its tail, which can be a robotic arm, gripper, or drill bit, among other structural forms. This embodiment uses a gripper as an example. The upper arm assembly includes: upper arm segment 231, upper arm segment 232, upper arm segment 233, and upper arm segment 234 connected sequentially from head to tail. The forearm assembly includes: forearm segment 235, forearm segment 236, forearm segment 237, and forearm segment 238 connected sequentially from head to tail.

[0075] like Figure 1 and Figure 4 As shown, the first section 231 of the upper arm is arranged laterally, with its first end fixedly mounted on the torso assembly 210 and its second end connected to the second section 232 of the upper arm. The second section 232 of the upper arm includes a second section motor 2321 and a second section connecting plate 2322. The second section connecting plate 2322 is rotatably connected to the first section 231 of the upper arm and can rotate around the V1 axis under the drive of the second section motor 2321. The V1 axis is perpendicular to the mounting surface on the torso assembly 210 for mounting the arm assembly 230.

[0076] The boom section 233 includes a boom section motor 2331 and a boom section connecting plate 2332. The boom section connecting plate 2332 is rotatably connected to the boom section connecting plate 2322 and can rotate around the V2 axis under the drive of the boom section motor 2331. The V2 axis is perpendicular to the V1 axis.

[0077] The four-section boom 234 includes: a four-section boom motor 2341 and the aforementioned adjusting shaft 2301. The stator end of the four-section boom motor 2341 is fixedly connected to the three-section boom connecting plate 2332, and the rotor end is fixedly connected to the adjusting shaft 2301. The four-section boom motor 2341 can drive the adjusting shaft 2301 to rotate around the V3 axis. The boom assembly 230 is in... Figure 4 In the straightened state shown, the V3 axis is perpendicular to the V1 and V2 axes.

[0078] The forearm section 235 is connected to the aforementioned clamping plate 2302 at its head end. The adjusting shaft 2301 is inserted into the clamping plate 2302 along the V3 axis. The clamping plate 2302 can rotate around the V3 axis with the adjusting shaft 2301, thereby driving the forearm assembly connected to its end to rotate around the V3 axis.

[0079] Forearm segment 235 includes: forearm segment motor 2351 and forearm segment connecting plate 2352. The forearm segment connecting plate 2352 is rotatably connected to clamping plate 2302 and can rotate around axis V4 under the drive of forearm segment motor 2351. Arm assembly 230 is in... Figure 4 In the straightened state shown, the V4 axis is perpendicular to the V2 and V3 axes.

[0080] The second forearm section 236 includes a second forearm section motor 2361 and a second forearm section connecting plate 2362. The second forearm section connecting plate 2362 is rotatably connected to the first forearm section connecting plate 2352 and can rotate around the V5 axis under the drive of the second forearm section motor 2361. The arm assembly 230 is in... Figure 4 In the straightened state shown, the V5 axis is parallel to the V3 axis.

[0081] The forearm three-section 237 includes: a forearm three-section motor 2371 and a forearm three-section connecting plate 2372. The forearm three-section connecting plate 2372 is rotatably connected to the forearm two-section connecting plate 2362 and can rotate around the V6 axis under the drive of the forearm three-section motor 2371. The arm assembly 230 is in Figure 4 In the straightened state shown, the V6 axis is parallel to the V4 axis.

[0082] The forearm four-section 238 includes: a forearm four-section motor 2381. The stator of the forearm four-section motor 2381 is fixedly connected to the forearm three-section connecting plate 2372, and the rotor is fixedly connected to the end effector 239, enabling the end effector 239 to rotate around the V7 axis. The arm assembly 230 is... Figure 4 In the straightened state shown, the V7 axis is parallel to the V5 axis.

[0083] The end effector 239 includes an actuator motor 2391 and a gripper 2392. The actuator motor 2391 drives the gripper to perform clamping / releasing actions.

[0084] use Figure 4 As shown in the configuration, the arm assembly 230 has 7 arm joint motors, giving the arm assembly 230 7 degrees of rotational freedom, which can flexibly rotate to move the end gripper 2392 to the target position for picking and placing.

[0085] The chassis assembly 100 of this application can be a chassis with a fixed height or a chassis with a lifting function; this application makes no limitation. If it is a chassis assembly with a fixed height, the height of the chassis assembly 100 can be set according to the specific usage scenario's requirements for the working height of the wheeled robot. If it is a chassis assembly with a lifting function, it can be applied to more scenarios with different working height requirements. The structure of the chassis assembly with a lifting function is described below.

[0086] exist Figure 1 In the illustrated embodiment, see Figure 5 The chassis assembly 100 includes: a motion chassis 110 and a lifting assembly 120.

[0087] The lifting component 120 is fixed to the top of the motion chassis 110 and is driven to connect with the waist support 310, which can drive the waist component 300 to lift the main component 200.

[0088] The specific structure of the lifting assembly 120 is not limited in this application. Any structure capable of lifting can be used as the lifting assembly in this application. For example, the lifting assembly 120 may include a lifting motor and a lead screw. The lead screw is arranged longitudinally and is rotatably connected to the motion chassis 110. The nut on the lead screw is connected to the waist support 310 through a connector. The lifting motor is fixed to the motion chassis 110 and is driven by the lead screw, which can drive the lead screw to rotate, so that the nut on the lead screw drives the waist support 310 to move up and down, thereby realizing the lifting of the main assembly 200. In other embodiments of this application, the lifting assembly 120 may also be an electric cylinder. The push rod of the electric cylinder is connected to the waist support 310 to extend and retract to drive the main assembly 200 to lift.

[0089] By applying the embodiments of this application, by setting up the lifting component 120, the chassis component 100 is equipped with a lifting function, thereby enabling the wheeled robot to adjust its own height to adapt to different requirements of the working scene for the working height.

[0090] In some embodiments of this application, such as Figure 5 As shown, the motion chassis 110 includes: a chassis 111, a set of wheels 112, and a support frame 113. The set of wheels 112 is mounted on the chassis 111 and can drive the chassis 111 to move. The bottom of the support frame 113 is connected to the chassis 111, and the top is connected to the lifting assembly 120.

[0091] The support frame 113 can be set in the center of the chassis 111, so that the load on the moving chassis 110 is evenly distributed, the wheeled robot structure is more stable, and it is not easy to cause bumps when driving.

[0092] The wheel assembly 112 includes drive wheels 1121 and swivel casters 1122. This application does not limit the number or arrangement of the drive wheels 1121 and swivel casters 1122. Figure 5 In the illustrated embodiment, there are two drive wheels 1121, which are positioned opposite each other in the middle area on both sides of the chassis 111. The motion chassis 110 is a differential chassis, which can move forward, backward, turn, or rotate in place on the road surface by controlling the rotation speed and steering of the two drive wheels 1121.

[0093] There are also two swivel casters 1122, located diagonally at the head and rear of the chassis 111. The head here refers to... Figure 5 The front frame shown is 1111, and the rear is... Figure 5 The rear frame 1112 is shown. Two swivel casters 1122 are used to support the chassis 111 and, together with the drive wheels 1121, drive the chassis 111 and the equipment on the chassis 111 to move. The line connecting the axles of the two swivel casters 1122 passes through the center of motion of the chassis 111, making the movement of the wheeled robot more stable.

[0094] like Figure 5 As shown, two upward-protruding caster mounting seats 1114 are provided at opposite corners of the head and tail of the chassis 111. The caster mounting seats 1114 and the ground form a space to accommodate the casters 1122, so that the casters 1122 are only partially exposed on the chassis 111. This reduces the height of the moving chassis 110, making its structure more compact and adaptable to lower working spaces.

[0095] The front of the chassis 111 (front frame 1111) is also equipped with a lidar 130, which can be specifically installed in... Figure 5 The central part shown is electrically connected to the motion control module 243, used to detect obstacles on the ground and transmit signals to the motion control module 243. The motion control module 243 is electrically connected to the drive wheel 1121 and can control the movement of the drive wheel 1121 according to the signals. Specifically, the lidar 130 emits lasers in front of the wheeled robot and receives lasers reflected back from obstacles, feeding forward road condition information to the motion control module 243. If the road conditions are good and there are no obstacles, the motion control module 243 controls the motion chassis 110 to continue traveling along the prescribed route; if there are obstacles, it controls the motion chassis 110 to stop or switch to another route to avoid them. By applying the above settings and installing the lidar 130 on the chassis 111, the wheeled robot has obstacle avoidance capabilities and can move more flexibly.

[0096] When a wheeled robot moves, uneven road surfaces can cause it to bounce and become unstable. To address this issue, in some embodiments of this application, such as... Figure 5As shown, the chassis 111 includes a front frame 1111 and a rear frame 1112 that are hinged together, specifically by a horizontal connecting pin. The front frame 1111 and the rear frame 1112 can float up and down relative to the ground. That is, when passing over uneven roads, the front frame 1111 and the rear frame 1112 will generate relative motion around the pivot W5, so that both drive wheels 1121 and two swivel casters 1122 are in contact with the ground, that is, the wheels will not leave the ground, thereby further improving driving stability.

[0097] The front frame 1111 is equipped with an articulation seat 1113. The support frame 113 includes a support platform 1131, and a first link 1132 and a second link 1133 disposed between the support platform 1131 and the chassis 111. The two ends of the first link 1132 are hinged to the support platform 1131 and the articulation seat 1113, respectively. The top end of the second link 1133 is hinged to the support platform 1131, and the bottom end is fixedly connected to the rear frame 1112.

[0098] The support platform 1131, the first link 1132, the second link 1133, the front frame 1111, and the rear frame 1112 constitute a five-bar linkage connected in series. When traversing uneven road surfaces, the front frame 1111 and the rear frame 1112 rotate based on their hinge points. Correspondingly, the first link 1132 and the second link 1133 also rotate based on their respective hinge points, causing the support platform 1131 to float accordingly.

[0099] Compared to being rigidly fixed to the chassis 111, when the moving chassis 110 passes over uneven road sections, the carrying platform 1131 will shake more, causing the lifting component 120, waist component 300 and main body component 200 installed on it to shake even more. The carrying platform 1131 of this application embodiment adopts the above-mentioned installation method, which can float slightly with the front frame 1111 or the rear frame 1112, avoiding large bumps on the components carried on it when the moving chassis 110 moves.

[0100] Finally, the electrical connections of the various parts of the wheeled robot of this application are explained.

[0101] The power supply for the wheeled robot is located on the motion chassis 110, and the lifting motor of the lifting assembly 120 is connected to the power supply. The waist rotation motor 330 and the waist pitch motor 350 of the waist assembly 300 are connected in series, and one of the motors is connected to the power supply. Similarly, the motors in the head assembly 220 and the motors in each arm assembly 230 are also connected in series, and one of the motors is connected to the power supply, so that the power supply can supply power to all the motors.

[0102] The motion control module 243 of the control component 240 is electrically connected to the drive wheel 1121 of the motion chassis 110, the lifting motor of the lifting component 120, one of the motors of the waist component 300, one of the motors of the head component 220, and one of the motors of each arm component 230, so as to realize the motion control of each component.

[0103] By using a series connection of the internal motors of the component, with only one motor connected to the power supply and motion control module 243, the number of wires can be reduced, making the wiring of the wheeled robot simpler.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A wheeled robot, characterized in that, include: Chassis components (100); Main components (200); The lumbar assembly (300) includes: a lumbar support (310), a lumbar swivel (320), and a lumbar swivel motor (330). The waist support (310) is fixed to the top of the chassis assembly (100), and the waist swivel (320) is connected to the bottom of the main body assembly (200); The waist rotation motor (330) is fixed on the waist support (310) and driven to connect with the waist rotation component (320). It can drive the waist rotation component (320) to rotate horizontally relative to the waist support (310), so that the main body component (200) rotates horizontally relative to the chassis component (100).

2. The wheeled robot according to claim 1, characterized in that, The waist assembly (300) further includes: a waist pitch component (340) and a waist pitch motor (350) disposed between the waist slewing component (320) and the main body assembly (200). The waist pitch component (340) is fixedly connected to the bottom of the main body component (200); the waist pitch motor (350) is fixedly connected to the waist rotation component (320) and is drivenly connected to the waist pitch component (340); The waist pitch motor (350) can drive the waist pitch member (340) to pitch and rotate relative to the waist slewing member (320), so that the main body assembly (200) pitches and rotates relative to the chassis assembly (100).

3. The wheeled robot according to claim 2, characterized in that, The waist rotation component (320) includes: a first mounting plate (321) and two first side plates (322); the first mounting plate (321) is drivenly connected to the waist rotation motor (330); the two first side plates (322) are fixed on the first mounting plate (321) at a relative interval; The waist tilting component (340) includes: a second mounting plate (341) and two second side plates (342); the second mounting plate (341) is fixedly connected to the bottom of the main body assembly (200); the two second side plates (342) are fixedly fixed to the second mounting plate (341) at a relative interval; the two second side plates (342) are respectively rotatably connected to the inner side of the two first side plates (322); The waist pitch motor (350) is disposed between the two second side plates (342), is drivenly connected to the second side plate (342), and is fixedly connected to the first side plate (322).

4. The wheeled robot according to any one of claims 1 to 3, characterized in that, The main body assembly (200) includes: a torso assembly (210), a head assembly (220), and two arm assemblies (230). The bottom of the torso assembly (210) is connected to the waist rotator (320); the top of the torso assembly (210) is connected to the head assembly (220); and the sides of the torso assembly (210) are connected to the two arm assemblies (230).

5. The wheeled robot according to claim 4, characterized in that, The head assembly (220) includes: a head body (221), a camera module (222), and an image processing module (223). The head body (221) is rotatably connected to the torso assembly (210) and is capable of horizontal and / or pitch rotation relative to the torso assembly (210); The camera module (222) and the image processing module (223) are both mounted on the head body (221). The image processing module (223) can process the image information acquired by the camera module (222).

6. The wheeled robot according to claim 5, characterized in that, The torso assembly (210) is provided with a control assembly (240); The control component (240) is communicatively connected to the image processing module (223), chassis component (100), waist component (300), head component (220), and two arm components (230), and is used to acquire information transmitted by the image processing module (223) and control the movement of the chassis component (100), waist component (300), head component (220), and two arm components (230) according to the information.

7. The wheeled robot according to claim 4, characterized in that, Each of the arm assemblies (230) includes: a first arm segment (230a) and a second arm segment (230b) connected to each other; In the connecting end of the first arm segment (230a) and the connecting end of the second arm segment (230b), one connecting end is provided with an adjusting shaft (2301), and the other connecting end is provided with a clamping plate (2302). The adjusting shaft (2301) is inserted into the clamp (2302) and locked in place by a fastener.

8. The wheeled robot according to any one of claims 1 to 3, characterized in that, The chassis assembly (100) includes: a motion chassis (110) and a lifting assembly (120). The lifting component (120) is fixed to the top of the motion chassis (110) and is driven to connect with the waist support (310), which can drive the waist component (300) to lift the main component (200).

9. The wheeled robot according to claim 8, characterized in that, The motion chassis (110) includes: chassis (111), wheel set (112) and support frame (113). The walking wheel assembly (112) is mounted on the chassis (111) and can drive the chassis (111) to move; The bottom of the support frame (113) is connected to the chassis (111), and the top is connected to the lifting assembly (120).

10. The wheeled robot according to claim 9, characterized in that, The chassis (111) includes a front frame (1111) and a rear frame (1112) that are hinged to each other; the front frame (1111) and the rear frame (1112) are capable of floating up and down relative to the ground; and an articulation seat (1113) is provided on the front frame (1111). The support frame (113) includes: a support platform (1131), and a first link (1132) and a second link (1133) disposed between the support platform (1131) and the chassis (111). The two ends of the first connecting rod (1132) are respectively hinged to the bearing platform (1131) and the hinge seat (1113); the top end of the second connecting rod (1133) is hinged to the bearing platform (1131), and the bottom end is fixedly connected to the rear frame (1112).

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