Composite humanoid robot

Abstract

The utility model relates to a composite humanoid robot, including mobile chassis, humanoid robot and send case device, mobile chassis includes chassis body and sets up the omni -wheel of chassis body lower part, humanoid robot includes head subassembly, torso subassembly, arm subassembly and lower lifting mechanism, be equipped with sensor in head subassembly, two arm subassembly set up in the both sides of torso subassembly, and the end of arm subassembly is installed with end effector, and send case device includes embrace case lifting mechanism and double -armed embrace case mechanism, embrace case lifting mechanism is connected with mobile chassis, and double -armed embrace case mechanism sets up in the top of embrace case lifting mechanism, and double -armed embrace case mechanism includes two interval settings telescopic arm and drive telescopic arm movement telescopic mechanism, and still be fixed with controller assembly in torso subassembly. The utility model relates to a composite humanoid robot that integrates flexible moving ability, fine operation ability and high -efficient big load carrying capacity.

Description

Technical Field

[0001] This utility model belongs to the field of robot structure technology, and in particular relates to a composite humanoid robot. Background Technology

[0002] With the rapid development of artificial intelligence, sensor technology, and drive technology, robotics has been widely applied in various fields such as logistics warehousing, manufacturing, public services, and even the home environment. Among the many types of robots, humanoid robots, due to their anthropomorphic form, are better able to adapt to environments and workflows designed for humans, while mobile chassis endow them with powerful spatial mobility. However, existing robot systems still have many limitations in terms of functional integration and task adaptability.

[0003] First, while traditional humanoid robots possess arms and torsos similar to humans and can perform some delicate tasks, their mobility typically relies on bipedal walking. Bipedal walking is structurally complex, requires sophisticated control algorithms, consumes a lot of energy, and exhibits poor stability in unstructured environments or on smooth surfaces. This significantly limits their application in industrial logistics and other scenarios requiring high-load, high-efficiency, and stable movement. Although some designs attempt to add a mobile chassis to the robot, these are often simply superimposed designs, lacking coordinated optimization with upper body movements. This results in a high center of gravity and insufficient stability, making them prone to tipping over during operation or work.

[0004] Secondly, in the field of logistics and handling, Automated Guided Vehicles (AGVs) or Autonomous Mobile Robots (AMRs) have been widely used. These robots are typically equipped with dedicated loading platforms or lifting mechanisms, enabling them to efficiently complete the handling of boxes and shelves. However, their functions are highly specialized, lacking flexible operational capabilities. For example, they cannot perform tasks requiring hand-eye coordination, such as picking up or placing individual boxes from shelves, operating door handles, using tools, or interacting with complex environments. When faced with complex tasks requiring a combination of movement and fine manipulation, such as moving boxes to a designated location and then opening and sorting them, it is necessary to rely on the collaborative operation of multiple robots of different types or to introduce human intervention, resulting in a complex system, high costs, and low efficiency. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a composite humanoid robot that integrates flexible mobility, fine operation ability and efficient large load carrying ability.

[0006] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0007] A composite humanoid robot includes a mobile chassis, a humanoid robot, and a box-delivery device. The mobile chassis includes a chassis body and omnidirectional drive wheels located at the bottom of the chassis body. The humanoid robot includes a head assembly, a torso assembly, an arm assembly, and a lower lifting mechanism.

[0008] The head assembly is located on top of the torso assembly and contains sensors for sensing the surrounding environment. Two arm assemblies are located on either side of the torso assembly, and end effectors are mounted at the ends of the arm assemblies. The bottom of the lower lifting mechanism is fixed to the mobile chassis, and its top is connected to the torso assembly.

[0009] The box-feeding device is located at the front end of the humanoid robot. The device includes a box-holding lifting mechanism and a dual-arm box-holding mechanism. The lifting mechanism is connected to the mobile chassis. The dual-arm box-holding mechanism is located on top of the lifting mechanism and includes two spaced-apart telescopic arms and a telescopic mechanism for driving the arms.

[0010] The torso assembly also contains a controller assembly for receiving sensor signals and controlling the movements of the humanoid robot and the box delivery device.

[0011] As a preferred embodiment, a waist mechanism is further provided between the torso assembly and the lower lifting mechanism. The waist mechanism includes a fixed plate, a rotation assembly, a rotation motor, a pitch motor, a reducer, and a support frame.

[0012] The rotary assembly includes two rotatably connected rings. One ring is fixed to the lower lifting mechanism and has a gear ring on it. The fixing plate is fixed to the other ring, and the rotary motor is fixed to the fixing plate. The output shaft of the rotary motor has a gear that meshes with the gear ring.

[0013] The output shaft of the pitch motor is connected to the reducer, one end of the support frame is connected to the output end of the reducer, the other end of the support frame is rotatably connected to the support block on the fixed plate, and the support frame is fixed to the lower part of the torso assembly.

[0014] As a preferred embodiment, the lower lifting mechanism includes a lifting assembly driven by a lifting motor, and a connecting plate is fixed to the top of the lifting assembly.

[0015] As a preferred embodiment, the sensor in the head assembly is an infrared sensor, a laser sensor, or a camera assembly, and the head assembly is also provided with a motion mechanism to drive the head assembly to rotate and tilt.

[0016] As a preferred embodiment, the arm assembly is a six-degree-of-freedom bionic robotic arm, and the end of the robotic arm is also equipped with an infrared sensor, a laser sensor, or a camera assembly.

[0017] As a preferred embodiment: the double-arm box-holding mechanism includes a support plate, side frames, and telescopic arms. The support plate is fixed to the top of the box-holding lifting mechanism, and the two side frames are respectively fixed to both sides of the support plate. A guide rail is fixed on the opposite side of the side frames. The telescopic arms are slidably mounted on the guide rails via sliders. The telescopic mechanism is mounted on the support plate or the side frames. The front end of the telescopic arms is also fixed with a locking block for engaging with the protrusions on both sides of the container.

[0018] As a preferred embodiment: the telescopic mechanism includes a geared motor, a drive shaft, a driving wheel, driven wheels, and a drive belt. Multiple driven wheels are respectively disposed at both ends of the side frame. The drive belt is wound around the multiple driven wheels and is fixed to the telescopic arm. The geared motor and the drive shaft are fixed to the support plate. The geared motor drives the drive shaft to rotate. Two driving wheels are respectively fixed at both ends of the drive shaft. The drive belt passes around the driving wheels and is driven by the driving wheels to move.

[0019] As a preferred embodiment: a mounting bracket is also fixed on the support plate, the two ends of the drive shaft are rotatably connected to the mounting bracket through bearings, a tensioning wheel is also provided on the side frame, and the drive belt is wound around the tensioning wheel.

[0020] As a preferred embodiment: the box-holding lifting mechanism includes a base plate, a motor, and a scissor fork assembly. The upper and lower ends of one end of the scissor fork assembly are hinged to the support plate and the base plate, respectively. The upper and lower ends of the other end of the scissor fork assembly are respectively provided with rollers. The bottom of the support plate is provided with a guide groove. The rollers of the upper part of the scissor fork assembly are set in the guide groove, and the rollers of the lower part of the scissor fork assembly abut against the base plate. The motor is fixed on the base plate, and the motor drives the scissor fork assembly to move through a lead screw pair.

[0021] As a preferred embodiment: two support frames are also fixed on the base plate. The lead screw assembly includes a lead screw and a nut. The two ends of the lead screw are rotatably connected to the two support frames respectively, and one end of the lead screw is connected to the output shaft of the motor through a coupling. The nut is sleeved on the lead screw, and the two sides of the lead screw are rotatably connected to the lower part of the scissor fork assembly through crossbars.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] This invention integrates a humanoid robot and a box-carrying device using a mobile chassis. The humanoid robot is responsible for tasks requiring high flexibility (such as precision grasping and sorting), while the box-carrying device is responsible for the single but heavy task of carrying boxes. This achieves full automation of the single robot's process from "movement" to "sorting" to "transportation," and assigns heavy-load transportation tasks to the specially designed "box-carrying device" rather than the humanoid robot's bionic robotic arm. This avoids overload damage to the precision robotic arm, extends its lifespan, and enables the robot as a whole to carry heavy objects far exceeding the grasping limits of the robotic arm.

[0024] This invention replaces bipedalism with a "mobile chassis," achieving high-speed, stable, and low-power movement in flat environments, overcoming the problems of poor stability and complex control inherent in bipedal robots. Omnidirectional wheels further enable on-the-spot turning and lateral movement, greatly improving maneuverability in confined spaces. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the waist mechanism of this utility model;

[0028] Figure 3 This is a schematic diagram of the lower lifting mechanism of this utility model;

[0029] Figure 4 This is a schematic diagram of the overall structure of the box feeding device of this utility model;

[0030] Figure 5 and Figure 6 This is a schematic diagram of the double-arm box-holding mechanism at two different angles of the box-feeding device;

[0031] Figure 7 This is a structural schematic diagram of the box-carrying lifting mechanism of this utility model.

[0032] The components in the diagram are labeled as follows: 1. Head assembly; 2. Torso assembly; 3. Arm assembly; 4. Waist mechanism; 41. Fixing plate; 42. Rotary motor; 43. Rotation assembly; 44. Pitch motor; 45. Reducer; 46. Support frame; 47. Support block; 481. Front half shell; 482. Rear half shell; 49. Support frame shell; 5. Lower lifting mechanism; 50. Lower shell; 51. Lifting motor; 52. Lifting assembly; 53. Connecting plate; 6. Double-arm carrying box mechanism; 60. Support plate; 601. Mounting frame; 602. Side frame; 61. Reducer 62. Motor; 62. Drive shaft; 621. Drive wheel; 63. Telescopic arm; 631. Locking block; 632. Transmission connecting plate; 64. Guide rail; 65. Slider; 66. Driven wheel; 67. Tensioning wheel; 68. Transmission belt; 69. Housing; 7. Box lifting mechanism; 71. Base plate; 72. Scissor fork assembly; 73. Roller; 74. Motor; 75. Coupling; 76. Support frame; 77. Lead screw; 78. Nut; 79. Crossbar; 710. Guide limit plate; 8. Moving platform; 81. Mounting plate; 82. Omnidirectional drive wheel; 9. Container box. Detailed Implementation

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," 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.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0040] like Figure 1 The composite humanoid robot shown includes a mobile chassis 8, a humanoid robot, and a box delivery device. The mobile chassis 8 includes a chassis body and omnidirectional drive wheels 82 located at the bottom of the chassis body. The top of the chassis body is also provided with a mounting plate 81. The humanoid robot includes a head assembly 1, a torso assembly 2, arm assemblies 3, and a lower lifting mechanism 5. The head assembly 1 is located on top of the torso assembly 2 and contains sensors for sensing the surrounding environment. The two arm assemblies 3 are respectively located on both sides of the torso assembly 2. The ends of the arm assemblies 3 are equipped with end effectors, which can be grippers, suction cups, magnetic components, or finger joint components. The bottom of the lower lifting mechanism 5 is fixed to the mounting plate 81, and the top is connected to the torso assembly 2.

[0041] The head assembly 1 contains an infrared sensor, a laser sensor, or a camera assembly. The head assembly 1 also includes a motion mechanism for driving its rotation and pitch. The arm assembly 3 is a six-degree-of-freedom bionic robotic arm, and its end is equipped with an infrared sensor, a laser sensor, or a camera assembly.

[0042] In the aforementioned structure, the head sensors act like "eyes," responsible for navigation, obstacle avoidance, and macroscopic target recognition; while the sensors at the end of the arms act like "fingertip touch," providing precise positioning, force feedback, and close-range detection during grasping or manipulation. This division of labor and collaboration greatly improves the accuracy and reliability of operations. Furthermore, the head's ability to rotate and pitch means the robot can actively survey its surroundings without constantly rotating its entire body, resulting in higher perception efficiency and better aligning with human work habits.

[0043] The box-feeding device is located at the front end of the humanoid robot. The box-feeding device includes a box-holding lifting mechanism 7 and a double-arm box-holding mechanism 6. The box-holding lifting mechanism 7 is connected to the mobile chassis 8. The double-arm box-holding mechanism 6 is located on top of the box-holding lifting mechanism 7 and includes two telescopic arms spaced apart, as well as a telescopic mechanism and its power component for driving the telescopic arms. The box-feeding device can, on the one hand, pick up and put in boxes of different heights through the lifting platform and the double-arm box-holding mechanism. On the other hand, the humanoid robot can put the sorted materials into the holding box of the box-feeding device, and then the box-feeding device will deliver the materials to the docking platform.

[0044] The torso assembly 2 also houses a controller assembly for receiving sensor signals and controlling the movements of the humanoid robot and the box-delivery device. The controller is built into the torso, with compact wiring, reducing signal transmission delay and achieving a highly integrated design, resulting in a more compact robot structure and more coordinated movements.

[0045] like Figure 2 As shown, a waist mechanism 4 is also provided between the torso assembly 2 and the lower lifting mechanism 5. The waist mechanism 4 includes a fixed plate 41, a rotary assembly 43, a rotary motor 42, a pitch motor 44, a reducer 45, and a support frame 46. The rotary assembly 43 includes two rotatably connected rings. The outer ring is fixed to the lower lifting mechanism 5 after being clamped by the front half shell 481 and the rear half shell 482. A gear ring is also provided on the outer ring. The fixed plate 41 is fixed on the inner ring. The rotary motor 42 is fixed on the fixed plate 41, and a gear that meshes with the gear ring is on the output shaft of the rotary motor 42. The output shaft of the pitch motor 44 is connected to the reducer 45. One end of the support frame 46 is connected to the output end of the reducer 45. The other end of the support frame 46 is rotatably connected to the support block 47 on the fixed plate. The support frame 46 is fixed to the lower part of the torso assembly 2. A support frame housing 49 is also provided outside the support frame 46.

[0046] The aforementioned waist mechanism grants the torso and arm components two additional degrees of freedom. Without moving the chassis, the robot can extend its arm to cover a wider area to the sides and even behind the body simply by rotating and pitching the waist, significantly improving operational flexibility and efficiency. When manipulating objects to the side, rotating the waist instead of steering the chassis keeps the chassis and drive wheels in the most stable position, which is crucial, especially when handling heavy objects, effectively preventing the risk of tipping over.

[0047] like Figure 3 As shown, the lower lifting mechanism 5 includes a lifting assembly 52 driven by a lifting motor 51. A connecting plate 53 is fixed to the top of the lifting assembly 52. ​​A lower housing 50 is also provided outside the lifting motor 51 and the lifting assembly 52. ​​The lower lifting mechanism can also directly adopt an electric push rod structure that can meet large loads.

[0048] This structure allows the robot to actively adjust the operating height of its entire upper body according to task requirements or when interacting with humans of different heights, making it highly adaptable. Furthermore, the combination of lifting and lowering with waist rotation and pitch, and arm extension creates a vast three-dimensional working envelope, enabling the robot to handle scenarios with complex height variations. Simultaneously, when moving heavy objects, the robot can adjust its overall center of gravity by changing its height, and in conjunction with the movable chassis, ensure stability during operation and start-stop processes.

[0049] like Figures 4 to 7 The box-feeding device shown includes a box-holding lifting mechanism 7 and a double-arm box-holding mechanism 6. The double-arm box-holding mechanism 6 includes a support plate 60, side frames 602, and telescopic arms 63. The support plate 60 is fixed to the top of the box-holding lifting mechanism 7. The two side frames 602 are respectively fixed to both sides of the support plate 60. A guide rail 64 is fixed on the opposite side of the side frames 602. The telescopic arms 63 are slidably mounted on the guide rails 64 via sliders 65. The support plate 60 or the side frames 602 are also provided with a telescopic mechanism for driving the telescopic arms 63 to move. The front end of the telescopic arms 63 is also fixed with a locking block 631 for cooperating with the protrusions on both sides of the container 9.

[0050] The aforementioned box delivery device modularizes the two core functions of "box gripping" and "lifting," resulting in a clear structure and well-defined functions. The box gripping and lifting mechanism handles vertical positioning, while the dual-arm box gripping mechanism handles horizontal gripping and release. Working together, they automate the loading and unloading of boxes in three-dimensional space. The box is gripped from both sides using synchronous telescopic arms, providing a more even force distribution and stable, reliable grip compared to single-point clamping or lifting. This effectively prevents the box from swaying or tipping during movement. Furthermore, the telescopic arms move via a "slider-guide rail" pair, a high-precision linear guide structure. This effectively withstands the bending moment generated by the box's weight, ensuring smooth, wobbly, and accurate positioning during extension and retraction.

[0051] In addition, the "locking block" at the front end of the telescopic arm of the box-feeding device cooperates with the "protrusion" on the box body to form a mechanical interlocking structure similar to a "hook". This connection method is very reliable and can effectively prevent the box body from accidentally falling off the telescopic arm even when the robot stops suddenly or vibrates, ensuring high safety.

[0052] One end of the telescopic arm 63 bends upward to form a protrusion, and the telescopic arm 63 is generally L-shaped. The locking block 631 is fixed to the protrusion. The L-shaped structure allows the horizontally extending arm segment and the vertically upward protrusion to together form a "bracket". When the locking block hooks onto the protrusions on both sides of the container, the weight of the container is directly transferred to the vertical segment of the telescopic arm through the protrusions, resulting in a reasonable force transmission path and good structural strength. At the same time, the upward bending design can raise the locking block to a suitable height, thereby avoiding the main body of the container or other obstacles, ensuring that the locking block can accurately and smoothly engage with the protrusions on the container. In addition, the L-shaped structure itself has better torsional and bending stiffness than a straight arm, and can better resist the torque generated by the shaking of the container.

[0053] The telescopic mechanism includes a geared motor 61, a drive shaft 62, a drive wheel 621, driven wheels 66, and a drive belt 68. Multiple driven wheels 66 are respectively disposed at both ends of the side frame 602. The drive belt 68 is wound around the multiple driven wheels 66 and is fixed to the telescopic arm 63. The geared motor 61 and the drive shaft 62 are fixed on the support plate 60. The geared motor 61 drives the drive shaft 62 to rotate. Two drive wheels 621 are respectively fixed at both ends of the drive shaft 62. The drive belt 68 passes around the drive wheels 621 and is driven by the drive wheels 621. The drive belt 68 is a chain or a synchronous belt.

[0054] The aforementioned structure drives two drive pulleys simultaneously via a single drive shaft, mechanically ensuring complete synchronization of the movement of the drive belts on both sides. Furthermore, only a single geared motor is needed to drive both telescopic arms, simplifying the electrical control system and reducing component costs and control program complexity compared to a dual-motor solution. Additionally, belt / pull drive is a mature, efficient, and low-noise transmission method. Fixing the drive belt to the telescopic arms converts rotational motion into precise linear motion.

[0055] The geared motor 61 and the drive shaft 62 are arranged parallel to each other, and the geared motor 61 and the drive shaft 62 are driven by gear meshing or by chain or synchronous belt. This parallel arrangement provides greater flexibility in the layout of the entire drive system, allowing for optimal placement of the motor and drive shaft based on the space available on the support plate. It also provides multiple reliable transmission options such as gears, chains, and synchronous belts, allowing designers to select the most suitable transmission method based on load, noise, and accuracy requirements. For example, synchronous belt drive can ensure slip-free, precise transmission with low noise.

[0056] A mounting bracket 601 is also fixed on the support plate 60. Both ends of the drive shaft 62 are rotatably connected to the mounting bracket 601 via bearings. A tensioning pulley 67 is also provided on the side frame 602, and the drive belt 68 is wound around the tensioning pulley 67. The drive shaft is mounted on the mounting bracket via bearings, ensuring smooth rotation, low resistance, long service life, and the ability to withstand certain radial loads. The tensioning pulley ensures that the drive belt is always in a proper tension state, preventing the belt from loosening, slipping, or falling off, thereby ensuring the reliability and accuracy of power transmission.

[0057] The telescopic arm 63 and the transmission belt 68 are fixed together by an inverted L-shaped transmission connecting plate 632. A housing 69 is also fixed to the outer side of the side frame 602. The inverted L-shaped transmission connecting plate provides a larger connection area and better structural rigidity, making the connection between the telescopic arm and the transmission belt more robust and reliable, effectively transmitting driving force and withstanding bending moments. The housing encloses moving parts (such as the transmission belt and wheels) to prevent operator contact and potential hazards. It also prevents dust and debris from entering the mechanism, affecting normal operation, extending equipment lifespan, and resulting in a cleaner overall appearance.

[0058] The box-carrying lifting mechanism 7 includes a base plate 71, a motor 74, and a scissor fork assembly 72. The upper and lower ends of one end of the scissor fork assembly 72 are hinged to the support plate 60 and the base plate 71, respectively. The upper and lower ends of the other end of the scissor fork assembly 72 are respectively provided with rollers 73. The bottom of the support plate 60 is provided with a guide groove. The upper roller 73 of the scissor fork assembly 72 is set in the guide groove, and the lower roller 73 of the scissor fork assembly 72 abuts against the base plate 71. The motor 71 is fixed on the base plate 71, and the motor 71 drives the scissor fork assembly 72 to move through a lead screw pair.

[0059] The scissor fork assembly provides extremely high rigidity and stability during lifting, with a large load-bearing capacity, effectively preventing swaying during the process. When retracted, the scissor fork assembly has a very low height, greatly saving robot installation space; while when extended, it provides a large lifting stroke, resulting in extremely high space utilization efficiency. The entire box-holding lifting mechanism uses a motor-driven lead screw pair, which has a self-locking function and high transmission precision, enabling precise stopping and holding of the lifting platform at any position, demonstrating excellent control performance.

[0060] Two support frames 76 are fixed on the base plate 71. The lead screw assembly includes a lead screw 77 and a nut 78. Both ends of the lead screw 77 are rotatably connected to the two support frames 76, and one end of the lead screw 77 is connected to the output shaft of the motor 74 via a coupling 75. The nut 78 is sleeved on the lead screw 77, and both sides of the lead screw 77 are rotatably connected to the lower part of the scissor fork assembly 72 via crossbars 79. The two ends of the lead screw are supported by support frames and bearings, resulting in a stable structure that ensures long-term stable operation of the lead screw. Furthermore, the nut is connected to the lower part of the scissor fork assembly via the crossbars, converting the rotational motion of the lead screw into the linear expansion and contraction motion of the scissor fork, resulting in direct and efficient force transmission.

[0061] A guide limiting plate 710 is also fixed to the bottom of the support plate 60, and a guide groove is formed between the guide limiting plate 710 and the support plate 60. This structure provides a precise and robust guide channel for the rollers at the top of the scissor fork, ensuring that the lifting process proceeds in a straight line without swaying. At the same time, the structure formed by the guide limiting plate and the support plate enhances the local rigidity of the support plate, enabling it to better withstand the load from the scissor fork and improving the overall stability of the entire lifting mechanism.

[0062] The structure of the box delivery device of this utility model can keep the box stable during lifting and horizontal movement. The overall structure is simple, with low manufacturing cost and low maintenance difficulty, meeting the strict requirements of efficient and reliable operation of modern automated logistics systems.

[0063] The structure of this utility model overcomes the shortcomings of existing technologies, such as single function, poor adaptability, insufficient stability, and low system coordination efficiency. It can autonomously complete the entire workflow from moving to handling and then to fine operation, just like a real "worker".

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A composite humanoid robot, characterized in that: The system includes a mobile chassis (8), a humanoid robot, and a box delivery device. The mobile chassis (8) includes a chassis body and omnidirectional drive wheels (82) located on the lower part of the chassis body. The humanoid robot includes a head assembly (1), a torso assembly (2), an arm assembly (3), and a lower lifting mechanism (5). The head assembly (1) is located on top of the torso assembly (2). The head assembly (1) is equipped with sensors for sensing the surrounding environment. Two arm assemblies (3) are located on both sides of the torso assembly (2). End effectors are installed at the ends of the arm assemblies (3). The bottom of the lower lifting mechanism (5) is fixed to the mobile chassis (8), and the top is connected to the torso assembly (2). The box-feeding device is located at the front end of the humanoid robot. The box-feeding device includes a box-holding lifting mechanism (7) and a double-arm box-holding mechanism (6). The box-holding lifting mechanism (7) is connected to the mobile chassis (8). The double-arm box-holding mechanism (6) is located on top of the box-holding lifting mechanism (7). The double-arm box-holding mechanism (6) includes two telescopic arms spaced apart and a telescopic mechanism for driving the telescopic arms to move. The torso component (2) also contains a controller component for receiving sensor signals and controlling the movements of the humanoid robot and the box delivery device.

2. The composite humanoid robot according to claim 1, characterized in that: A waist mechanism (4) is also provided between the torso assembly (2) and the lower lifting mechanism (5). The waist mechanism (4) includes a fixed plate (41), a rotary assembly (43), a rotary motor (42), a pitch motor (44), a reducer (45), and a support frame (46). The rotary assembly (43) includes two rotatably connected rings, one of which is fixed to the lower lifting mechanism (5) and has a gear ring on it. The fixing plate (41) is fixed to the other ring, and the rotary motor (42) is fixed to the fixing plate (41). The output shaft of the rotary motor (42) has a gear that meshes with the gear ring. The output shaft of the pitch motor (44) is connected to the reducer (45), one end of the support frame (46) is connected to the output end of the reducer (45), the other end of the support frame (46) is rotatably connected to the support block (47) on the fixed plate, and the support frame (46) is fixed to the lower part of the torso assembly (2).

3. The composite humanoid robot according to claim 1, characterized in that: The lower lifting mechanism (5) includes a lifting assembly (52) driven by a lifting motor (51), and a connecting plate (53) is fixed to the top of the lifting assembly (52).

4. The composite humanoid robot according to claim 1, characterized in that: The sensor in the head assembly (1) is an infrared sensor, a laser sensor or a camera assembly. The head assembly (1) is also provided with a motion mechanism to drive the head assembly (1) to rotate and pitch.

5. The composite humanoid robot according to claim 1, characterized in that: The arm assembly (3) is a six-degree-of-freedom bionic robotic arm, and the end of the robotic arm is also equipped with an infrared sensor, a laser sensor or a camera assembly.

6. The composite humanoid robot according to claim 1, characterized in that: The double-arm box-holding mechanism (6) includes a support plate (60), a side frame (602), and a telescopic arm (63). The support plate (60) is fixed to the top of the box-holding lifting mechanism (7). The two side frames (602) are fixed to the two sides of the support plate (60). A guide rail (64) is fixed on the opposite side of the side frame (602). The telescopic arm (63) is slidably mounted on the guide rail (64) via a slider (65). The telescopic mechanism is mounted on the support plate (60) or the side frame (602). The front end of the telescopic arm (63) is also fixed with a locking block (631) for cooperating with the protrusions on both sides of the container (9).

7. The composite humanoid robot according to claim 6, characterized in that: The telescopic mechanism includes a geared motor (61), a drive shaft (62), a drive wheel (621), driven wheels (66), and a drive belt (68). Multiple driven wheels (66) are respectively arranged at both ends of the side frame (602). The drive belt (68) is wrapped around the multiple driven wheels (66) and is fixed to the telescopic arm (63). The geared motor (61) and the drive shaft (62) are fixed on the support plate (60). The geared motor (61) drives the drive shaft (62) to rotate. Two drive wheels (621) are respectively fixed at both ends of the drive shaft (62). The drive belt (68) passes around the drive wheel (621) and is driven by the drive wheel (621).

8. The composite humanoid robot according to claim 7, characterized in that: The support plate (60) is also fixed with a mounting bracket (601). The two ends of the drive shaft (62) are rotatably connected to the mounting bracket (601) through bearings. The side frame (602) is also provided with a tension wheel (67). The drive belt (68) is wound around the tension wheel (67).

9. The composite humanoid robot according to claim 6, characterized in that, The box lifting mechanism (7) includes a base plate (71), a motor (74), and a scissor fork assembly (72). The upper and lower ends of one end of the scissor fork assembly (72) are respectively hinged to the support plate (60) and the base plate (71). The upper and lower ends of the other end of the scissor fork assembly (72) are respectively provided with rollers (73). The bottom of the support plate (60) is provided with a guide groove. The rollers (73) on the upper part of the scissor fork assembly (72) are set in the guide groove. The rollers (73) on the lower part of the scissor fork assembly (72) abut against the base plate (71). The motor (74) is fixed on the base plate (71), and the motor (74) drives the scissor fork assembly (72) to move through a lead screw pair.

10. The composite humanoid robot according to claim 9, characterized in that, Two support frames (76) are also fixed on the base plate (71). The lead screw assembly includes a lead screw (77) and a nut (78). The two ends of the lead screw (77) are rotatably connected to the two support frames (76) respectively, and one end of the lead screw (77) is connected to the output shaft of the motor (74) through a coupling (75). The nut (78) is sleeved on the lead screw (77), and the two sides of the lead screw (77) are rotatably connected to the lower part of the scissor fork assembly (72) through a crossbar (79).

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