A wheeled robot with a liftable double arm

Abstract

The utility model discloses a kind of wheeled robots with liftable double arms, including the chassis of drive wheel, stand and Z-axis moving mechanism.Z-axis moving mechanism is constituted by Z-axis motor, Z-axis track and moving platform, and motor drives moving platform to lift along track by screw rod.Moving platform is integrated with robot body, and body contains torso, head and arm support assembly, head is equipped with first camera, and hand assembly is installed at arm support end.The design is dynamically adjusted robot overall height by Z-axis lifting mechanism, breaks through the restriction of traditional wheeled robot fixed working height, so that it can perform ground picking task, and can also interact with standing adult naturally, realizes flexible expansion in vertical direction work range.The utility model organically combines mobile platform, lifting function and double-arm operation, visual perception, significantly improves the spatial adaptability and man-machine interaction ability of robot in diversified scene.

Description

Technical Field

[0001] This utility model belongs to the field of human-computer interaction equipment technology, specifically relating to a wheeled robot with liftable double arms. Background Technology

[0002] Wheeled robots, with their superior mobility on flat ground, have become an ideal platform for indoor logistics and services. However, most wheeled robots are currently designed to be at a fixed height, which greatly limits their application potential in diverse scenarios. Utility Model Content

[0003] The purpose of this invention is to provide a wheeled robot with liftable double arms to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a wheeled robot with liftable dual arms, comprising a chassis, with drive wheels mounted on the bottom of the chassis, a support frame fixedly mounted on the chassis, and a Z-axis moving mechanism fixedly mounted on the support frame. The Z-axis moving mechanism includes a Z-axis motor, a Z-axis track, and a moving platform. The moving platform is movably mounted on the Z-axis track. The drive end of the Z-axis motor is connected to the moving platform via a lead screw. The robot body is fixedly mounted on the moving platform. The robot body includes a torso assembly, a head assembly, and arm assemblies. The head assembly and arm assemblies are fixedly mounted on the torso assembly. A hand assembly is fixedly mounted on the arm assemblies. A first camera is fixedly mounted on the head assembly.

[0005] Preferably, the hand assembly includes a first rotary motor and a clamping assembly, wherein the clamping assembly is fixedly mounted on the drive end of the first rotary motor, and a second camera is fixedly mounted on the clamping assembly.

[0006] Preferably, the head assembly includes a second rotary motor, a third rotary motor, and a housing, wherein the drive end of the second rotary motor is fixedly connected to the third rotary motor, the drive end of the third rotary motor is fixedly connected to the housing, and the housing is fixedly mounted with the first camera.

[0007] Preferably, a lidar and a front camera are fixedly installed at the front of the chassis, and a rear camera is fixedly installed at the rear of the chassis.

[0008] Preferably, the support frame is fixedly equipped with a protective shell, and the protective shell is fixedly equipped with an emergency button.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] The wheeled robot with liftable arms provided by this utility model drives the entire robot body to rise and fall by introducing a Z-axis movement mechanism consisting of a Z-axis motor, lead screw, and track. This effectively overcomes the limitation of the working range caused by the fixed height of traditional wheeled robots. This design allows the robot to flexibly adjust its operating height, thereby greatly expanding its application potential in diverse scenarios. For example, it can pick up objects from the ground and interact naturally with standing adults. At the same time, by integrating the arms and head vision system into the liftable body, the robot can have complete perception and operation capabilities at any height, achieving an organic unity of mobility flexibility, vertical space adaptability, and human-computer interaction functionality. Attached Figure Description

[0011] Figure 1 This is the first perspective structural view of this utility model.

[0012] Figure 2 This is the second perspective structural view of this utility model.

[0013] Figure 3 This is the first perspective structural view of the interior of this utility model.

[0014] Figure 4 This is the second perspective structural view of the interior of this utility model.

[0015] Figure 5 This is a structural view of the robot body of this utility model.

[0016] Figure 6 This is a structural view of the head assembly of this utility model.

[0017] The diagram is labeled as follows: 1. Chassis; 2. Drive wheel; 3. Stand; 4. Z-axis moving mechanism; 5. Z-axis motor; 6. Z-axis track; 7. Moving table; 8. Lead screw; 9. Robot body; 10. Torso assembly; 11. Head assembly; 12. Support arm assembly; 13. Hand assembly; 14. First camera; 15. First rotary motor; 16. Clamping assembly; 17. Second camera; 18. Second rotary motor; 19. Third rotary motor; 20. Shell; 21. LiDAR; 22. Front camera; 23. Rear camera; 24. Protective shell; 25. Emergency button. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Example 1:

[0020] This utility model provides a wheeled robot with liftable dual arms, including a chassis 1. Drive wheels 2 are mounted on the bottom of the chassis 1. A stand 3 is fixedly mounted on the chassis 1, and a Z-axis moving mechanism 4 is fixedly mounted on the stand 3. The Z-axis moving mechanism 4 includes a Z-axis motor 5, a Z-axis track 6, and a moving platform 7. The moving platform 7 is movably mounted on the Z-axis track 6. The drive end of the Z-axis motor 5 is connected to the moving platform 7 via a lead screw 8. The robot body 9 is fixedly mounted on the moving platform 7. The robot body 9 includes a torso assembly 10, a head assembly 11, and arm assemblies 12. The torso assembly 10 is fixedly mounted with the head assembly 11 and arm assemblies 12. A hand assembly 13 is fixedly mounted on the arm assembly 12. A first camera 14 is fixedly mounted on the head assembly 11. The hand assembly 13 includes a first rotary motor 15 and a gripping assembly 16. The drive end of the first rotary motor 15 is fixedly mounted with the gripping assembly 16, and a second camera 17 is fixedly mounted on the gripping assembly 16. The head assembly 11 includes a second rotary motor 18, a third rotary motor 19, and a housing 20. The drive end of the second rotary motor 18 is fixedly connected to the third rotary motor 19, and the drive end of the third rotary motor 19 is fixedly connected to the housing 20. The housing 20 is fixedly mounted with a first camera 14. A lidar 21 and a front camera 22 are fixedly mounted on the front of the chassis 1, and a rear camera 23 is fixedly mounted on the rear of the chassis 1. A protective shell 24 is fixedly mounted on the support frame 3, and an emergency stop button 25 is fixedly mounted on the protective shell 24.

[0021] Through the above technical solution, the wheeled robot with liftable arms provided by this utility model drives the entire robot body 9 to rise and fall by introducing a Z-axis moving mechanism 4 composed of a Z-axis motor 5, a lead screw 8, and a track. This effectively overcomes the defect of traditional wheeled robots having a limited working range due to a fixed height. This design allows the robot to flexibly adjust its operating height, thereby greatly expanding its application potential in diverse scenarios. For example, it can pick up items from the ground and interact naturally with standing adults. At the same time, by integrating the arms and head vision system into the liftable body, the robot can have complete perception and operation capabilities at any height, achieving an organic unity of mobility flexibility, vertical space adaptability, and human-computer interaction functionality.

[0022] Example 2:

[0023] In this embodiment, the chassis 1 serves as the basic support structure for the entire robot. Drive wheels 2 are installed at its bottom, enabling the robot to move flexibly on flat ground. A support frame 3 is fixedly mounted on the chassis 1, serving as the support structure. A Z-axis movement mechanism 4 is fixedly mounted on the support frame 3. The Z-axis movement mechanism 4 includes a Z-axis motor 5, a Z-axis track 6, and a moving platform 7. The moving platform 7 is movably mounted on the Z-axis track 6, allowing it to slide up and down along the track. The drive end of the Z-axis motor 5 is connected to the moving platform 7 via a lead screw 8. When the Z-axis motor 5 is started, the lead screw 8 rotates, causing the moving platform 7 to smoothly rise and fall on the Z-axis track 6, thereby achieving height adjustment of the robot body 9. The robot body 9 is fixedly mounted on the moving platform 7. The robot body 9 includes a torso assembly 10, a head assembly 11, and an arm assembly 12. The torso assembly 10 serves as the core structure, and the head assembly 11 and arm assembly 12 are fixedly mounted on it, ensuring stable connection between the components.

[0024] The arm assembly 12 is fixedly mounted on the torso assembly 10, and a hand assembly 13 is further fixedly mounted thereon. The hand assembly 13 is used to perform tasks such as grasping and placing. The head assembly 11 is fixedly mounted on the torso assembly 10 and is equipped with a first camera 14. The first camera 14 provides the robot body 9 with visual perception capabilities, enabling it to recognize the surrounding environment and the position of objects. Through the visual input of the first camera 14, the robot can adjust the lifting and lowering movements of the Z-axis movement mechanism 4, as well as the movements of the arm assembly 12 and the hand assembly 13, in real time, thereby adapting to the operational needs at different heights. For example, when picking up objects from the ground, the robot can lower its height for easier operation; when interacting with a standing adult, the robot can raise its height to achieve natural dialogue and coordinated movements.

[0025] In this embodiment, the design of the Z-axis movement mechanism 4 allows the robot to flexibly adjust its overall height, overcoming the limitations of traditional wheeled robots due to their fixed height. Through the transmission of the lead screw 8 and the guidance of the track, the lifting process of the moving platform 7 is smooth and reliable, ensuring the robot maintains stability and accuracy at different heights. The integration of the arm assembly 12 and the hand assembly 13, combined with the first camera 14 of the head assembly 11, enables the robot to possess complete perception and manipulation capabilities at any height. This design enables the robot to be applied in diverse scenarios, such as indoor logistics and service tasks, handling objects at low heights and interacting with users at higher heights, thus improving the robot's adaptability and functionality. The entire system, through the coordinated work of the chassis 1, the stand 3, the Z-axis movement mechanism 4, and the robot body 9, achieves a unity of mobility flexibility, vertical space adaptability, and human-machine interaction functionality, providing an effective solution for the widespread application of wheeled robots.

[0026] Example 3:

[0027] The robot's overall structure in this embodiment includes a chassis 1, a stand 3, a Z-axis movement mechanism 4, a robot body 9, and a hand assembly 13. Drive wheels 2 are mounted on the bottom of the chassis 1, enabling the robot to move flexibly on flat ground. The stand 3 is fixedly mounted on the chassis 1, providing support for the Z-axis movement mechanism 4. The Z-axis movement mechanism 4 consists of a Z-axis motor 5, a Z-axis track 6, and a moving platform 7. The moving platform 7 is movably mounted on the Z-axis track 6. The drive end of the Z-axis motor 5 is connected to the moving platform 7 via a lead screw 8. When the Z-axis motor 5 operates, the lead screw 8 drives the moving platform 7 to move up and down along the Z-axis track 6, thereby achieving the lifting and lowering adjustment of the robot body 9. The robot body 9 is fixedly mounted on the moving platform 7. The robot body 9 includes a torso assembly 10, a head assembly 11, and an arm assembly 12. The torso assembly 10 is fixedly mounted with the head assembly 11 and the arm assembly 12. A first camera 14 is fixedly mounted on the head assembly 11 to provide visual perception for the robot and assist in the coordinated movement of the lifting mechanism, the arm assembly 12, and the hand assembly 13.

[0028] The hand assembly 13 specifically includes a first rotary motor 15 and a gripping assembly 16. The gripping assembly 16 is fixedly mounted on the drive end of the first rotary motor 15, and a second camera 17 is fixedly mounted on the gripping assembly 16. The first rotary motor 15 can drive the gripping assembly 16 to rotate 360 ​​degrees. This design allows the gripping assembly 16 to flexibly adjust its direction when picking up objects, adapting to the need for grasping objects at different angles and positions. Through rotational movement, the gripping assembly 16 can easily align with the target object, improving operational efficiency and accuracy. The second camera 17 captures real-time images of the operating area of ​​the gripping assembly 16, feeding visual information back to the robot's control system for precise control of the gripping tool's movements, ensuring a stable and reliable gripping process.

[0029] In practical applications, this wheeled robot adjusts its overall height via the Z-axis movement mechanism 4. Combined with the rotation and gripping functions of the hand assembly 13, it can perform tasks in diverse scenarios. For example, when picking up an item from the ground, the Z-axis movement mechanism 4 lowers the robot body 9 to a suitable height. The hand assembly 13 adjusts the direction of the gripping assembly 16 via the first rotary motor 15, and the second camera 17 assists in positioning to achieve precise grasping. When interacting with a standing adult, the robot body 9 can rise to eye level. The first camera 14 of the head assembly 11 provides environmental perception, and the arm assembly 12 and hand assembly 13 work together to complete item transfer or gesture interaction. This design effectively expands the robot's working range, overcomes the limitations of traditional fixed-height robots, and achieves a unity of mobility flexibility, vertical space adaptability, and human-computer interaction functionality.

[0030] The integration of rotation and vision systems in the hand assembly 13 further enhances the robot's maneuverability. The 360-degree rotation of the first rotary motor 15 allows the gripping assembly 16 to operate at any angle, avoiding grasping failures due to directional limitations. The real-time monitoring function of the second camera 17 ensures the accuracy of the gripping action, enabling timely adjustments to gripping force and position even in complex or dynamic environments through visual feedback. This hand design, combined with the Z-axis lifting mechanism, allows the robot to adapt to different height requirements and flexibly adjust its operating posture in the horizontal direction, greatly enhancing its application potential in logistics, service, and other fields. Through high integration and collaborative control, the entire system achieves comprehensive functional optimization of the robot from movement to operation.

[0031] Example 4:

[0032] The head assembly 11 in this embodiment adopts a dual-motor drive structure to achieve flexible adjustment of the first camera 14 with multiple degrees of freedom. The head assembly 11 mainly consists of a second rotary motor 18, a third rotary motor 19, and a housing 20. The drive end of the second rotary motor 18 is fixedly connected to the third rotary motor 19, and the drive end of the third rotary motor 19 is fixedly connected to the housing 20. The first camera 14 is securely mounted on the housing 20. The rotation axis of the second rotary motor 18 is arranged vertically, enabling it to rotate around the Z-axis, thereby driving the entire head assembly 11 to rotate in the horizontal plane. The rotation axis of the third rotary motor 19 is perpendicular to the rotation axis of the second rotary motor 18. This orthogonal arrangement allows the third rotary motor 19 to drive the housing 20 and the first camera 14 to pitch and rotate in the vertical plane.

[0033] Through the coordinated operation of the second rotary motor 18 and the third rotary motor 19, the first camera 14 gains two degrees of freedom of movement. When the second rotary motor 18 is working, it drives the first camera 14 to scan horizontally, expanding the horizontal field of view; when the third rotary motor 19 is working, it enables the first camera 14 to adjust its angle vertically, changing the pitch angle. This dual-motor drive structure allows the first camera 14 to flexibly cover a wider visual area, providing the robot with a more comprehensive environmental perception capability. In practical applications, this design allows the robot to obtain ideal visual coverage at different heights, whether it is recognizing ground objects at a lower position or observing distant objects at a higher position, the optimal field of view can be obtained by adjusting the camera angle.

[0034] The motion control of the head assembly 11 is achieved through the robot's central processing system. The system intelligently controls the operation of the two rotary motors based on current task requirements and environmental conditions. For example, when the robot needs to scan its surroundings, the system controls the second rotary motor 18 to rotate the camera horizontally; when it needs to observe objects at a specific height, it controls the third rotary motor 19 to adjust the camera's pitch angle. This flexible attitude adjustment capability significantly enhances the robot's environmental perception and interaction capabilities, enabling it to better adapt to diverse working scenarios. The compact design of the head assembly 11 also ensures that it does not interfere with other parts of the robot during lifting and lowering, guaranteeing the stability and reliability of the overall motion.

[0035] In practical implementation, the second rotary motor 18 and the third rotary motor 19 employ precision reduction mechanisms to ensure the accuracy and stability of camera positioning. The outer shell 20 is made of lightweight, high-strength materials, ensuring structural strength while reducing overall weight. The first camera 14 is fixed to the outer shell 20 via a shock-resistant mounting structure, preventing vibrations caused by motor operation or robot movement from affecting image quality. The cable routing of the entire head assembly 11 adopts a flexible design, ensuring that there will be no wire tangling or damage after repeated rotational movements. This meticulously designed head assembly 11 provides the wheeled robot with powerful visual perception capabilities, serving as a crucial guarantee for achieving intelligent interaction and precise operation.

[0036] Example 5:

[0037] In this embodiment, the chassis 1 serves as the basic support structure for the entire robot. A lidar 21 and a front camera 22 are fixedly mounted on its front. The lidar 21 emits a laser beam and receives reflected signals, accurately detecting the distance and outline of obstacles ahead by calculating the time difference, providing the chassis 1 with high-precision environmental perception data. The front camera 22 captures visual information ahead, identifying objects, pedestrians, or markers on the path. Their collaborative operation enables the chassis 1 to perceive the environmental conditions ahead in real time, thereby controlling the drive wheels 2 to achieve smooth and safe movement, avoiding collisions and optimizing the travel route. A rear camera 23 is fixedly mounted on the rear of the chassis 1. This camera is specifically used to monitor the area behind the chassis 1, providing crucial visual feedback when the robot needs to reverse or autonomously charge. When the robot approaches the charging station, the rear camera 23 can identify the position and orientation of the charging interface, assisting the chassis 1 in accurately adjusting its orientation to ensure a smooth and efficient charging connection process.

[0038] A support frame 3 is fixedly installed above the chassis 1, serving as a supporting structure to support the Z-axis moving mechanism 4. The Z-axis moving mechanism 4 consists of a Z-axis motor 5, a Z-axis track 6, and a moving platform 7. The Z-axis track 6 is vertically fixed to the support frame 3, and the moving platform 7 slides up and down via a slider that engages with the track. The drive end of the Z-axis motor 5 is connected to a precision lead screw 8. The lead screw 8 and a nut inside the moving platform 7 form a transmission pair. When the motor operates, the rotation of the lead screw 8 converts torque into linear displacement of the moving platform 7, thereby driving the entire robot body 9 to smoothly rise and fall vertically. This design allows the robot to flexibly adjust its working height according to task requirements, such as picking up objects from the ground at a low position or interacting with a standing adult at a high position.

[0039] The robot body 9, fixedly mounted on the mobile platform 7, includes a torso assembly 10, a head assembly 11, and arm assemblies 12. The torso assembly 10 serves as the core load-bearing structure, firmly connecting the head assembly 11 and two symmetrically distributed arm assemblies 12. The head assembly 11 integrates a first camera 14 at its front end, providing the robot with primary visual perception capabilities. This camera can identify the position, shape, and movement state of the object being manipulated, providing visual guidance for the coordinated movement of the lifting mechanism, arm assemblies 12, and hand assemblies 13. The arm assemblies 12 achieve multi-degree-of-freedom movement through a multi-joint structure. The hand assemblies 13, fixedly mounted at their ends, can be configured with grippers or suction cups as needed, enabling precise operations such as grasping and placing with the assistance of the vision system. Through the collaborative work of these components, the wheeled robot of this embodiment maintains its advantage in movement on flat ground while overcoming the limitations of fixed height through its lifting function, demonstrating stronger adaptability in scenarios such as warehousing and logistics, and domestic services.

[0040] Example 6:

[0041] In this embodiment, the support frame 3 is fixedly equipped with a protective shell 24. This protective shell 24 is used to cover and protect the lifting mechanism, preventing external objects or dust from entering the mechanism and affecting its normal operation. The protective shell 24 is made of a sturdy and durable material, capable of withstanding minor impacts and friction during daily use, ensuring the lifting mechanism remains stable and reliable during long-term operation. The design of the protective shell 24 fully considers heat dissipation requirements, with adequate internal space to allow heat to dissipate in a timely manner, preventing performance degradation or damage to the mechanism due to overheating. The installation position of the protective shell 24 is optimized, tightly connected to the support frame 3, without interfering with the movement of other robot components, while also facilitating disassembly and inspection of the internal structure by maintenance personnel.

[0042] An emergency stop button 25 is fixedly mounted on the protective shell 24. This button is designed with a conspicuous color and an easily accessible shape, ensuring that the operator can quickly identify and press it in case of robot malfunction. The emergency stop button 25 is directly connected to the robot's control system. When pressed, it immediately cuts off the power supply and stops all moving parts, including the drive wheels 2, the lifting mechanism, and the dual-arm assembly, effectively preventing accidents. The triggering mechanism of the emergency stop button 25 employs a redundant design; even if the main control system fails, an emergency stop function can be achieved through the backup circuit, improving the robot's safety performance. Furthermore, a protective ring surrounds the emergency stop button 25 to prevent accidental activation and unnecessary shutdowns, while allowing for rapid operation in emergency situations.

[0043] During robot operation, the protective shell 24 not only provides physical protection but also reduces noise and vibration from the lifting mechanism through its structural design, improving the overall user experience. For example, when the robot performs lifting tasks, the protective shell 24 effectively isolates the mechanical noise generated by the mechanism's movement, making the robot quieter in indoor environments. Simultaneously, the integrated emergency button 25 enhances the robot's reliability in complex scenarios. For instance, in logistics handling or human-robot interaction tasks, if the robot detects abnormal movement or external interference, the operator can quickly intervene using the emergency button 25 to avoid potential risks. This embodiment, through the synergistic effect of the protective shell 24 and the emergency button 25, strengthens the robot's safety and ease of operation, making it more practical and reliable in diverse applications.

[0044] Furthermore, the design of the protective shell 24 also considers the overall aesthetics and human-centered design of the robot. Its shape is consistent with the robot body 9 and does not obstruct the visual appearance. The emergency button 25 is ergonomically optimized and is typically located in the upper middle part of the robot stand 3 for easy access by users of different heights. During the robot's lifting and lowering process, the protective shell 24 ensures smooth movement of the mechanism and prevents jamming or deviation due to external factors, thereby maintaining the precise positioning of the robot body 9. The function of the emergency button 25 is easy to test; its response speed and effectiveness can be checked by periodic pressing to ensure that it can play its expected role in critical moments. This embodiment not only solves the protection problem of wheeled robots during height adjustment but also enhances the robot's emergency handling capabilities through an emergency stop mechanism, making it more adaptable and safer in scenarios such as indoor logistics and service interaction.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A wheeled robot with liftable dual arms, comprising a chassis, wherein drive wheels are mounted on the bottom of the chassis, characterized in that, The chassis is fixedly mounted with a support frame, and the support frame is fixedly mounted with a Z-axis moving mechanism. The Z-axis moving mechanism includes a Z-axis motor, a Z-axis rail, and a moving platform. The moving platform is movably mounted on the Z-axis rail. The drive end of the Z-axis motor is connected to the moving platform via a lead screw. The moving platform is fixedly mounted with a robot body. The robot body includes a torso assembly, a head assembly, and an arm assembly. The torso assembly is fixedly mounted with the head assembly and the arm assembly. The arm assembly is fixedly mounted with a hand assembly. The head assembly is fixedly mounted with a first camera.

2. A wheeled robot with liftable dual arms according to claim 1, characterized in that, The hand assembly includes a first rotary motor and a clamping assembly. The clamping assembly is fixedly mounted on the drive end of the first rotary motor, and a second camera is fixedly mounted on the clamping assembly.

3. A wheeled robot with liftable dual arms according to claim 1, characterized in that, The head assembly includes a second rotary motor, a third rotary motor, and a housing. The drive end of the second rotary motor is fixedly connected to the third rotary motor, the drive end of the third rotary motor is fixedly connected to the housing, and the first camera is fixedly mounted on the housing.

4. A wheeled robot with liftable dual arms according to claim 1, characterized in that, A lidar and a front camera are fixedly installed at the front of the chassis, and a rear camera is fixedly installed at the rear of the chassis.

5. A wheeled robot with liftable dual arms according to claim 1, characterized in that, The support frame is fixedly equipped with a protective shell, and the protective shell is fixedly equipped with an emergency button.

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