A humanoid robot

Abstract

This utility model relates to the field of robotics, and in particular to a humanoid robot. It includes a head module: a head shell is mounted on a head fixing component, a visual algorithm data acquisition module is mounted on the head shell, and a voice interaction device is located inside the head shell; a torso module includes a torso shell, and a torso assembly and an industrial control computer are located inside the torso shell; robotic arm modules are symmetrically arranged on both sides of the torso module; a chassis module includes a chassis shell, and a control board, a LiDAR, a debugging interface, and a battery are located inside the chassis shell; an RGBD sensor, an ultrasonic sensor, and an infrared sensor are mounted on the chassis shell; and a caster wheel assembly, a left drive device, and a right drive device are located at the bottom of the chassis shell. The humanoid robot provided by this utility model is modularly divided into a head module, a torso module, and a chassis module. Its structural design is reasonable, balancing functionality and practicality, and providing a reliable structural foundation for the research and application of modular humanoid robots.

Description

Technical Field

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

[0002] Humanoid robots, with their humanoid form and mobility, show great promise for applications in industrial production, commercial or domestic services, education, scientific research, space exploration, healthcare, and data collection. However, most existing humanoid robots employ a monolithic design, which has several shortcomings. In terms of functional expansion, the monolithic structure makes it difficult to flexibly replace components to upgrade functionality according to different scenario requirements, limiting the robot's application scope. Furthermore, the monolithic design also restricts the robot's mobility, making it difficult to accurately perform complex humanoid movements. Therefore, there is an urgent need to design a highly modular, flexible, and easy-to-maintain humanoid robot structure to address these issues and promote the efficient application of humanoid robots in more scenarios. Utility Model Content

[0003] The purpose of this utility model is to provide a humanoid robot structure that is highly modular, flexible in movement, and easy to maintain.

[0004] This utility model provides a humanoid robot structure, including: Head module: includes a head fixing component, a head shell is provided on the head fixing component, a visual algorithm data acquisition module is provided on the head shell, and a voice interaction device is provided inside the head shell. The voice interaction device is used to provide voice interaction, voice wake-up and voice remote control of the robot. Torso module: connected to the bottom of the head module, including a torso shell, inside which are a torso assembly and an industrial control computer, and the visual algorithm data acquisition module and the voice interaction device are both connected to the industrial control computer; A robotic arm module is symmetrically arranged on both sides of the torso module, and an actuator is provided at the end of the robotic arm module; the actuator is a gripper, a dexterous hand or other end effector. Chassis module: connected to the bottom of the torso module, including chassis housing, inside which are provided a control board, lidar, debugging interface and battery; RGBD sensor, ultrasonic sensor and infrared sensor are provided on the side wall of chassis housing; universal wheel assembly and symmetrically arranged left drive device and right drive device are provided at the bottom of chassis housing.

[0005] Furthermore, the head fixing component includes a head motor bracket, on which a left and right rotation motor is provided, and on top of the left and right rotation motor is a pitch motor bracket, on which a pitch motor is provided, the pitch motor is connected to the head fixing bracket, and the head housing is connected to the head fixing bracket.

[0006] Furthermore, the visual algorithm acquisition module includes a left camera, a right camera, and an RGBD camera; the head shell includes a front eyelid shell and a rear head shell, the front eyelid shell is provided with an RGBD camera mounting hole, the front eyelid shell is provided with an eye frame, and the left camera and the right camera are located in the eye frame; the top of the head fixing bracket is provided with a camera fixing bracket, and the RGBD camera is fixed on the camera fixing bracket; The voice interaction device is installed on the top inner wall of the rear shell of the head; a head indicator light is provided on the left and right sides of the outer wall of the rear shell of the head, and the two head indicator lights are arranged symmetrically.

[0007] Furthermore, the torso assembly includes a torso support base, a torso support frame on top of the torso support base, an industrial computer mounting bracket on top of the torso support frame, an industrial computer inside the industrial computer mounting bracket, and a cooling fan on one side of the industrial computer mounting bracket; a robotic arm mounting bracket on top of the industrial computer mounting bracket, and mounting holes for fixing the head motor bracket on top of the robotic arm mounting bracket.

[0008] Furthermore, the robotic arm mounting frame includes a column, with an upper fixing plate at the top and a lower fixing plate at the bottom of the column, and the robotic arm is rotatably connected to the upper fixing plate and the lower fixing plate respectively.

[0009] Furthermore, the torso shell includes a connected front torso shell and a rear torso shell, and the top of the torso support frame is symmetrically provided with a front shell fixing plate and a rear shell fixing plate, and the front torso shell and the rear torso shell are respectively fixedly connected to the front shell fixing plate and the rear shell fixing plate; The front shell of the torso is equipped with an upper body indicator light and a chest indicator light, and two speakers are symmetrically arranged on the front shell of the torso; an emergency stop switch is provided on the upper part of the rear shell of the torso, a power distribution switch is provided below the emergency stop switch, a maintenance window is provided on the rear shell of the torso, and a rear shell cover is provided at the maintenance window; the bottom of the torso support base is connected to the bottom of the torso shell.

[0010] Furthermore, the chassis housing has a cover plate on top and a bottom plate inside the chassis housing; multiple support columns are fixed on the top of the bottom plate, the support columns pass through the cover plate and are connected to the top support plate, and the bottom of the torso assembly is fixedly connected to the top support plate.

[0011] Furthermore, the control board and the lidar are both located on the top of the base plate, with the lidar penetrating the cover plate and positioned between the cover plate and the top support plate; a power switch is provided on the top support plate; The battery is located at the bottom of the base plate, and the chassis housing is provided with a battery compartment door, which is provided with a charging port and charging plates.

[0012] Furthermore, the left drive device and the right drive device have the same structure, both including a drive motor bracket, which is fixedly connected to the bottom of the base plate. The drive motor bracket is provided with a first swing arm hook and a second swing arm hook, and an energy storage component is provided between the first swing arm hook and the second swing arm hook. The bottom of the first swing arm hook passes through the drive motor bracket and is connected to the swing arm through a pin, and the swing arm is connected to the hub motor. The second swing arm hook is fixedly connected to the drive motor bracket. A motor driver is provided on the top of the base plate, and the hub motor is connected to the motor driver.

[0013] Furthermore, the torso support frame includes: A fixing plate is disposed above the torso support base; A lifting assembly is disposed between the torso support base and the fixed plate; The drive unit includes a motor and a ball screw driven by the motor; The transmission assembly includes a ball nut sleeved on the ball screw, and the ball nut is fixedly connected to the lifting assembly; At least one set of guide components, each set of guide components including a fixed guide rail and a movable guide rail, one end of the fixed guide rail being fixedly connected to the torso support base, the other end of the fixed guide rail being fixedly connected to the fixed plate, one end of the movable guide rail being fixedly connected to the lifting component, and the other end of the movable guide rail passing through the fixed plate and sliding relative to the fixed plate.

[0014] In summary, compared with the prior art, this utility model has the following advantages: The humanoid robot provided by this utility model is modularly divided into a head module, a torso module, a robotic arm module, and a chassis module. These modules are interconnected, facilitating individual component replacement and functional upgrades, and reducing maintenance costs. The head module enables multi-directional rotation, while the robotic arm module on the torso module, in conjunction with the omnidirectional wheels and drive mechanism of the chassis module, allows the robot to perform complex humanoid movements and movements. The humanoid robot provided by this utility model has a reasonable structural design, balancing functionality and practicality, and providing a reliable structural foundation for the research and application of modular humanoid robots. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the humanoid robot in Embodiment 1 of this utility model; Figure 2 This is a front view of the humanoid robot in Embodiment 1 of this utility model; Figure 3 This is a schematic diagram of the head module in Embodiment 1 of this utility model; Figure 4 This is a schematic diagram of the disassembled structure of the head module in Embodiment 1 of this utility model; Figure 5 This is a schematic diagram of the torso module in Embodiment 1 of this utility model; Figure 6 This is a front view of the torso module in Embodiment 1 of this utility model; Figure 7 This is a rear view of the torso module in Embodiment 1 of this utility model; Figure 8 This is a schematic diagram of the torso component in Embodiment 1 of this utility model; Figure 9 This is a side view of the torso assembly in Embodiment 1 of this utility model; Figure 10 This is a schematic diagram of the chassis module in Embodiment 1 of this utility model; Figure 11 This is a schematic diagram of the bottom structure of the chassis module in Embodiment 1 of this utility model; Figure 12 This is a top view of the chassis module in Embodiment 1 of this utility model; Figure 13 This is a side view of the chassis module in Embodiment 1 of this utility model; Figure 14 This is a schematic diagram of the chassis module without the chassis shell in Embodiment 1 of this utility model; Figure 15 This is a schematic diagram of the structure of the base plate in Embodiment 1 of this utility model; Figure 16 This is a schematic diagram of the left drive device in Embodiment 1 of this utility model; Figure 17 This is a schematic diagram of the connection between the left drive device and the base plate in Embodiment 1 of this utility model; Figure 18This is a schematic diagram of the connection between the caster wheel assembly and the base plate in Embodiment 1 of this utility model; Figure 19 This is a schematic diagram of the torso support frame in Embodiment 2 of this utility model; Figure 20 This is a structural schematic diagram of the torso support frame from another angle in Embodiment 2 of this utility model; Figure 21 This is a side view of the torso module in Embodiment 2 of this utility model.

[0017] Figure labeling: 1-Head module; 101-Flexible neck collar; 102-Head motor bracket; 1021-Head cable routing hole; 103-Left and right rotation motor; 104-Left and right rotation motor limit bracket; 105-Pitch motor bracket; 106-Pitch motor; 107-Head fixing bracket; 1071-Rear shell fixing hole; 1072-Camera mounting bracket; 108-Pitch motor limit bracket; 109-Front eyelid shell; 1091-RGBD camera mounting hole; 1092-Eye frame; 1093-Lens; 110-Head rear shell; 111-RGBD camera; 112-Left camera; 113-Right camera; 114-Voice interaction device; 115-Lamp cover; 116-Light strip; 2-Tortoise module; 201-Tortoise support base; 2011-Tortoise cable routing hole; 202-Tortoise support frame; 2021-Front shell fixing plate; 2022-Rear shell fixing plate; 203-Industrial computer mounting bracket; 204-Industrial computer; 205-Cooling fan mounting bracket; 206-Cooling fan; 207-Robotic arm mounting bracket; 2071-Column; 2072-Upper fixing plate; 20721-Mounting hole; 2073-Lower fixing plate; 20731-Robotic arm mounting mark; 20732-Robotic arm mounting hole; 208-Tortoise front shell; 209-Tortoise rear shell; 210-Speaker; 211-Chest indicator light; 212-Upper body indicator light; 213-Emergency stop switch; 214-Power distribution switch; 215-Tortoise rear shell cover; 3-Robotic arm module; 301-Scapular joint; 302-Shoulder joint; 303-Upper arm joint; 304-Upper elbow joint; 305-Lower elbow joint; 306-Wrist joint; 307-Gripper support; 308-Gripper; 4-Chassis module; 401-Chassis housing; 4011-Cover plate; 4012-Base plate; 402-Top support plate; 403-Control board; 404-LiDAR; 405-Debugging interface; 406-Battery; 407-RGBD sensor; 408-Left ultrasonic sensor; 409-Right ultrasonic sensor; 410-Left infrared sensor; 411-Right infrared sensor; 412-Universal wheel assembly; 4121-Support block; 4122-Main wheel bracket; 4123-Main wheel; 4124-Secondary wheel bracket; 4125-Secondary wheel; 413 414-Left drive unit; 415-Right drive unit; 416-Drive motor bracket; 417-First swing arm hook; 418-Second swing arm hook; 419-Pin; 420-Swing arm; 4201-Motor mounting stop; 421-Hub motor; 422-Motor driver; 423-Support column; 424-Support flange; 425-Chassis cable hole; 426-Power switch; 427-Battery compartment door; 428-Door hinge; 429-Charging port bracket; 430-Charging port; 431-Charging electrode; 432-Balance block; 501-Motor; 502-Lifting base plate; 503-Lifting plate; 504-Motor mounting bracket; 505-Fixing plate; 506-Adapter base plate; 507-Guide rail fixing seat; 508-Bearing with seat; 509-Fixing guide rail; 510-Linear bearing; 511-Ball screw; 512-Ball nut; 513-Upper limit block; 514-Upper limit switch; 515-Lower limit block; 516-Lower limit switch; 517-Limit switch bracket; 518-Moving guide rail. Detailed Implementation

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

[0019] 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", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" 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; 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 based on the specific circumstances.

[0021] Example 1 A humanoid robot, such as Figure 1 and Figure 2 As shown, it includes a head module 1, a torso module 2, and a chassis module 4, the details of which are as follows: Header module 1: such as Figure 3 and Figure 4 As shown, it includes a neck assembly and a head assembly. The neck assembly adopts a flexible neck collar 101, which has good flexibility and elasticity, and can enable the head module 1 to rotate flexibly within a certain range.

[0022] The head assembly includes a head motor bracket 102, a left and right rotation motor 103, a left and right rotation motor limit bracket 104, a pitch motor bracket 105, a pitch motor 106, a pitch motor limit bracket 108, a head fixing bracket 107, a head shell, a visual algorithm data acquisition module, and a voice interaction device 114.

[0023] The head motor bracket 102 includes a column located inside the flexible neck collar 101. The upper part of the column has a head wiring hole 1021 for passing wires connecting various motors, cameras, and the voice interaction device. Mounting discs are fixed to the top and bottom of the column. A vertically oriented left-right rotation motor 103 is mounted on the top mounting disc. The left-right rotation motor 103 provides power for the left-right rotation of the head module 1, enabling it to rotate within a certain range and meet the robot's observation needs in different scenarios. A left and right rotation motor limit bracket 104 is provided on one side of the left and right rotation motor 103. The left and right rotation motor limit bracket 104 is fixedly connected to the mounting disc. Its main function is to provide limit protection for the mechanical limit position of the left and right rotation of the head, to prevent the left and right rotation motor 103 from driving the head module 1 to rotate excessively. At the same time, it also provides a zero point initial position marking function to ensure that the head module 1 can accurately return to the zero point initial position every time it is started, thereby improving the accuracy and consistency of the head movement. The output end of the left and right rotation motor 103 is fixedly connected to the pitch motor bracket 105. A horizontally placed pitch motor 106 is mounted on the pitch motor bracket 105. The pitch motor 106 provides power for the pitch movement of the head module 1, enabling the head module 1 to achieve pitch movement within a certain angle range, further expanding the robot's visual observation range. The output shaft of the pitch motor 106 is connected to the inverted U-shaped head fixing bracket 107 via a connector. The connector needs to have good load-bearing capacity and stability to ensure that the power of the pitch motor is stably transmitted to the head fixing bracket, driving the head fixing bracket 107 and its head shell and visual algorithm data acquisition module to perform pitch movement. A pitch motor limiting bracket 108 is provided on one side of the pitch motor bracket 105. The pitch limiting bracket 108 is located between the head fixing bracket 107 and the pitch motor 106. Its function is to provide a mechanical limit on the pitch angle of the head, prevent the pitch motor 106 from driving the head module 1 to pitch excessively, and protect the camera, motor and other components inside the head module 1 from damage. The head fixing bracket 107 is equipped with a head shell, which includes a front eyelid shell 109 and a rear head shell 110. The front eyelid shell 109 is provided with an RGBD camera mounting hole 1091, in which an RGBD camera 111 is installed. The top of the head fixing bracket 107 is provided with a camera mounting bracket 1072, and the RGBD camera 111 is fixedly mounted on the camera mounting bracket 1072. Below the anterior eyelid shell 109, two eye frames 1092 are provided, each with a lens 1093 installed. A left camera 112 and a right camera 113 are respectively installed inside the eye frames 1092. The left and right cameras 112 and 113 can be integrated into a single module. The left and right cameras 112 and 113 are high-definition industrial cameras, capable of quickly and accurately acquiring image data of the surrounding environment. The left and right cameras 112 and 113, together with the RGBD camera 111, constitute a visual algorithm data acquisition module for acquiring visual algorithm data. A voice interaction device 114 is installed on the top inner sidewall of the head rear shell 110 for voice interaction, voice wake-up, and voice remote control of the robot. The two opposite sidewalls of the head fixing bracket 107 are respectively provided with rear shell fixing holes 1071, which are bolted to the fixing holes inside the head rear shell 110. The front eyelid shell 109 is bolted to the head rear shell 110, facilitating future maintenance and replacement of components inside the head module 1. Two indicator lights are symmetrically arranged on the outer sidewall of the head rear shell 110. The indicator lights include a lampshade 115 and a light strip 116. The light strip 116 is color-changeable; in addition to its decorative function, it can display different light colors according to the robot's normal, alarm, or fault status, facilitating timely detection and handling of robot problems.

[0024] Trunk Module 2: such as Figure 5-9 As shown, it includes a torso shell, torso components, industrial control computer 204 (robot control center), cooling fan 206, robotic arm mounting bracket 207, speaker 210, front chest indicator light 211, upper body indicator light 212, emergency stop switch 213, and power distribution switch 214.

[0025] The top of the torso shell is provided with a head module mounting slot, and the side wall of the mounting slot is provided with mounting holes for fixing the flexible neck collar 101; the bottom wall of the mounting slot is provided with mounting holes for fixing the head motor bracket 102, so as to firmly connect the head module 1 and the torso module 2. The torso shell houses the torso components and the industrial control computer 204. The visual algorithm data acquisition module and the voice interaction device 114 are both electrically connected to the industrial control computer 204. The industrial control computer 204 is a high-performance embedded computer with powerful data processing and multi-tasking capabilities. It can receive visual data transmitted by the visual algorithm data acquisition module and voice data transmitted by the voice interaction device 114, and analyze, process, and store this data. At the same time, it controls the coordinated operation of various parts of the robot according to the preset program and user instructions to realize the various functions of the robot. like Figure 8 and Figure 9 As shown, the torso assembly includes a torso support base 201, which has a torso cable pass-through hole 2011. The cable pass-through hole 2011 is used to pass through the wires connecting the industrial control computer 204 to the head module 1, chassis module 4, and other components, making the wire layout more organized and facilitating later maintenance and repair. A torso support frame 202 is provided on the top of the torso support base 201, and an industrial control computer mounting bracket 203 is fixed on the top of the torso support frame 202. The industrial control computer mounting bracket 203 is made of sheet metal, and the industrial control computer 204 is fixedly installed inside the industrial control computer mounting bracket 203. A cooling fan mounting bracket 205 is fixed to one side of the industrial computer mounting bracket 203, and two cooling fans 206 are mounted on the cooling fan mounting bracket 205. The industrial computer 204 generates a large amount of heat during operation. The two cooling fans 206 working together accelerate the airflow around the industrial computer 204, quickly dissipating the heat generated during operation, ensuring that the industrial computer remains within a suitable operating temperature range, and improving the operational stability and service life of the industrial computer.

[0026] A robotic arm mounting bracket 207 is fixed to the top of the industrial control computer mounting bracket 203. The robotic arm mounting bracket 207 includes a column 2071, with an upper fixing plate 2072 and a lower fixing plate 2073 fixed to the top and bottom of the column 2071, respectively. Both the upper fixing plate 2072 and the lower fixing plate 2073 have robotic arm mounting holes 20732. The lower fixing plate 2073 has robotic arm installation markings 20731, which provide a reference for the installation of the robotic arm, facilitating quick and accurate determination of the robotic arm's installation position by installers. The robotic arm is rotatably connected to the robotic arm mounting bracket 207. The upper fixing plate 2072 has mounting holes 20721 for a head motor bracket 102, used to fix the head motor bracket 102.

[0027] The torso shell includes a front torso shell 208 and a rear torso shell 209 connected by bolts. The top of the torso support frame 202 is symmetrically provided with a front shell fixing plate 2021 and a rear shell fixing plate 2022. The front torso shell 208 and the rear torso shell 209 are fixedly connected to the front shell fixing plate 2021 and the rear shell fixing plate 2022, respectively.

[0028] Two speakers 210 are symmetrically arranged on the upper part of the front shell 208 of the torso for voice broadcasting, fault alarms, and voice-based human-machine interaction. Figure 6 As shown, a chest indicator light 211 is installed on the chest position of the front shell 208 of the torso, and an upper body indicator light 212 is installed on the side wall of the front shell 208 of the torso. The light strip of the indicator light can be changed in color. In addition to its decorative function, it can also display different light colors according to the robot's normal, alarm, and fault status. It works in conjunction with the indicator light on the rear shell 110 of the head to show the robot's working status to the user from different positions, so that the user can have a more intuitive and comprehensive understanding of the robot's working status. like Figure 7As shown, an emergency stop switch 213 is installed on the upper part of the rear shell 209 of the robot. In case of an emergency during operation, such as a collision or loss of control, the user only needs to press the emergency stop switch 213 to immediately stop all actions of the robot, preventing further escalation of the accident and ensuring the safety of personnel and equipment. Below the emergency stop switch 213 is a network control switch 214 for remotely controlling the robot's network. The user can connect the robot to a designated wireless network through the network control switch to achieve remote monitoring, remote operation, and data transmission of the robot, improving the robot's flexibility and convenience of use. The rear shell 209 of the torso is provided with a maintenance window, which facilitates maintenance personnel to maintain and repair the components inside the torso module 2. An openable rear shell cover 215 is installed at the maintenance window.

[0029] Robotic arm module 3 supports the actuator and changes its position. The actuator can be a gripper, a dexterous hand, or other end effector; in this embodiment, the actuator is gripper 308. Figure 2 As shown, the robotic arm module 3 in this embodiment includes a scapular joint 301, a shoulder joint 302, an upper arm joint 303, an upper elbow joint 304, a lower elbow joint 305, and a wrist joint 306 connected in sequence. The scapular joint 301 is rotatably connected to the robotic arm mounting frame 207. The scapular joint 301, shoulder joint 302, upper arm joint 303, upper elbow joint 304, lower elbow joint 305, and wrist joint 306 are connected in sequence through revolute joints to realize the swinging or rotational movements of each joint. The robotic arm module 3 can adopt a conventional eight-degree-of-freedom robotic arm in the art. An eight-degree-of-freedom robotic arm has more precise spatial motion capabilities, ensuring that the gripper 308 can reach the designated position and maintain the required posture; it can also provide multi-dimensional motion, realizing lifting, extension, and rotation through rotary joints and movable joints, controlling the displacement error to the millimeter or even micrometer level, meeting the requirements of precision operations.

[0030] A gripper bracket 307 is fixed to the bottom of the wrist joint 306. The gripper bracket 307 and the gripper 308 are assembled to form a complete transmission link, balancing freedom of movement and structural stability. The gripper 308 directly contacts the target object, and its core function is to grasp, fix, release, or perform specific operations on the object. The structure can be selected according to the shape and material of the object, such as a two-finger gripper, a multi-finger gripper, or a suction cup gripper, to ensure that the object does not fall off during movement. The gripper can adjust the gripping force through a force sensor to avoid damaging fragile objects (such as glass or electronic components) or to ensure a firm grip on heavy objects. Grippers capable of rotation (tightening screws), adsorption (removing thin parts), and shearing (cutting materials) can also be used to meet diverse needs.

[0031] Chassis module 4: Connects to the bottom of torso module 2, such as... Figures 10-15As shown, the system includes a chassis housing 401. Inside the chassis housing 401 are a control board 403, a lidar 404, a debugging interface 405, and a battery 406. An RGBD sensor 407, a left ultrasonic sensor 408, and a right ultrasonic sensor 409 are mounted on the front wall of the chassis housing 401, symmetrically positioned on either side of the RGBD sensor 407. A left infrared sensor 410 and a right infrared sensor 411 are mounted on the rear panel of the chassis housing 401. Both the ultrasonic and infrared sensors can detect obstacles in the robot's surrounding environment.

[0032] The control board 403 is electrically connected to components such as the industrial computer 204, lidar 404, RGBD sensor 407, left ultrasonic sensor 408, right ultrasonic sensor 409, left infrared sensor 410, right infrared sensor 411, left drive device 413, right drive device 414, and power switch 426. It can receive control commands from the industrial computer 204, collect detection data from each sensor, and control the movement of the left drive device 413 and right drive device 414 according to the control commands and detection data, so as to realize the robot's movement, turning and other functions. The LiDAR 404 can quickly and accurately detect obstacle information in the robot's surrounding environment and convert the obstacle information into electrical signals that are transmitted to the control board. The control board then controls the robot to avoid obstacles based on the obstacle information, ensuring the safety of the robot's movement. The debugging interface 405 allows maintenance personnel to connect to a computer to debug, upgrade, and maintain the robot's control program. It also allows them to read the robot's working data and fault information, providing support for robot fault diagnosis and repair. Battery 406 is electrically connected to control board 403, industrial computer 204, various sensors, motors, and other components, providing stable power support for all parts of the robot. Power supply control for each component is achieved through control board 403 and power switch 426. The RGBD sensor 407 can simultaneously acquire color and depth image data of the environment in front of the robot and transmit the data to the control board 403. The control board 403 then transmits the data to the industrial computer 204, which analyzes and processes the data to provide data support for the robot's visual navigation and obstacle recognition. The left ultrasonic sensor 408 and right ultrasonic sensor 409 use ultrasonic ranging principles to detect obstacles at close range on the left and right sides in front of the robot. When obstacles appear at close range on the left and right sides in front of the robot, the left and right ultrasonic sensors 408 and 409 can promptly issue alarm signals to remind the control board 403 to control the robot to avoid the obstacles. The left infrared sensor 410 and right infrared sensor 411 use infrared ranging principles to detect obstacles on the left and right sides behind the robot, providing safety assurance for the robot's backward movement.

[0033] The bottom of the chassis housing 401 is provided with caster wheel assemblies 412 and symmetrically arranged left drive unit 413 and right drive unit 414. There are four caster wheel assemblies 412, which are installed at the four corners of the bottom of the base plate 4012 in a rectangular distribution. They can provide stable support for the chassis module 4, and at the same time, work with the left drive unit 413 and right drive unit 414 to enable the robot to turn and move flexibly. like Figure 15 and Figure 18 As shown, the omnidirectional wheel assembly 412 includes a support block 4121 fixed to the bottom of the base plate 4012. A main wheel bracket 4122 is rotatably connected to the bottom of the support block 4121. The main wheel bracket 4122 can rotate 360 ​​degrees horizontally around the pivot at the bottom of the support block 4121, providing flexibility for the robot's steering. A main wheel 4123 is rotatably connected to the main wheel bracket 4122. A secondary wheel bracket 4124 is fixed to one side of the main wheel bracket 4122, and a secondary wheel 4125 is rotatably connected to the secondary wheel bracket 4124. The diameter of the secondary wheel 4125 is smaller than that of the main wheel 4123. The secondary wheel 4125 can work with the main wheel 4123 to optimize the chassis's support stability, load-bearing capacity, and smoothness of movement. Through its structured cooperation with the main wheel 4123, it solves the shortcomings of the main wheel 4123 in terms of force, balance, or terrain adaptability.

[0034] Meanwhile, the universal wheel assembly 412 in this embodiment can also adopt the universal wheel in the patent document of our company with publication number CN119037058 A entitled "An Obstacle-Crossing Universal Wheel", to realize the robot's obstacle-crossing action, which is convenient to use and more practical.

[0035] The left drive unit 413 and the right drive unit 414 have the same structure, such as Figure 16 and Figure 17As shown, each includes a U-shaped drive motor bracket 415. The top of the drive motor bracket 415 is fixedly connected to the base plate 4012. A first swing arm hook 416 and a second swing arm hook 417 are mounted on the drive motor bracket 415. The second swing arm hook 417 is a screw fixed to the drive motor bracket 415. An energy storage component is provided between the two swing arm hooks. In this embodiment, the energy storage component is a spring 418. The upper part of the first swing arm hook 416 is provided with a hook groove. One end of the spring 418 is located in the hook groove, and the other end is located on the screw of the second swing arm hook 417. The bottom of the first swing arm hook 416 passes through the bottom wall of the drive motor bracket 415 and is rotatably connected to the swing arm 420 through a pin 419. The end of the swing arm 420 away from the pin 419 is provided with a motor mounting stop 4201, and the hub motor 421 is connected to the motor mounting stop 4201.

[0036] A cover plate 4011 is fixedly installed on the top of the chassis housing 401. A base plate 4012 is installed inside the chassis housing 401. Support columns 423 are fixed at the four corners of the top of the base plate 4012. The top of the support columns 423 passes through the cover plate 4011 and connects to the top support plate 402. A support flange 424 is fixed to the upper part of the support column 423. The bottom of the top support plate 402 is fixedly connected to the support flange 424. The bottom of the torso support base 201 is fixedly connected to the top support plate 402 and also fixedly connected to the top of the support column 423. Two of the support columns 423 and their support flanges 424 are provided with chassis cable passage holes 425. The chassis cable passage holes 425 are used to pass through the wires connecting the body module 2 and the chassis module 4, such as the wires connecting the industrial computer 204 and the control board 403, the battery 406 and the industrial computer 204, etc., so that the wires can extend from the inside of the chassis module 4 to the inside of the body module 2 in an orderly manner, avoiding the wires from being messy and tangled, and facilitating later maintenance and repair. The control board 403 and the lidar 404 are both fixedly mounted on the top of the base plate 4012. The lidar 404 passes through the cover plate 4011 and is located between the cover plate 4011 and the top support plate 402, ensuring that the scanning range of the lidar 404 is not obstructed by the cover plate 4011 and the top support plate 402, enabling it to detect obstacle information in the robot's surrounding environment from all directions. A power switch 426 is installed on the top support plate 402. The power switch 426 is electrically connected to the battery 406 and the control board 403. The user can control the overall power supply of the robot and turn the robot on or off by operating the power switch. The lidar 404 is located on the front side of the control board 403, and the power switch 426 is located on the rear side of the control board 403. A motor driver 422 is mounted on the top of the base plate 4012, and the hub motors 421 of the left drive unit 413 and the right drive unit 414 are both connected to the motor driver 422.

[0037] The chassis housing 401 has a battery compartment, in which a battery 406 and a debugging interface 405 are installed. The battery 406 is fixed to the bottom of the base plate 4012. The chassis housing 401 has an openable battery compartment door 427 at a position corresponding to the battery compartment. A door hinge 428 is provided on one side of the battery compartment door 427, and the two ends of the door hinge 428 are rotatably connected to the base plate 4012 and the bottom wall of the battery compartment, respectively. A charging port bracket 429 is installed on the inner wall of the battery compartment door 427. The charging port bracket 429 corresponds to the electrode interface of the battery 406, providing a stable mounting base for the charging port 430. The charging port 430 and charging electrode 431 are installed on the outside of the battery compartment door 427. The charging port 430 is the docking interface for the charger and is fixed on the charging port bracket 429. The charging port 430 is the structure for manually charging the robot. The operator can use the matching charger to charge the robot through this interface.

[0038] The charging electrode 431 is an automated design to enable the robot to automatically recharge. When the robot detects that its own power is low, it will use its autonomous navigation function to navigate to the nearest charging station and automatically charge through the charging electrode 431 and the charging station. After charging is completed, the robot will use its autonomous navigation function to navigate away from the charging station and complete the charging process.

[0039] The left infrared sensor 410 and the right infrared sensor 411 are symmetrically arranged on the left and right sides of the battery compartment, respectively. They can detect obstacle information on the left and right sides behind the robot in real time. When an obstacle appears behind the robot, the left infrared sensor 410 and the right infrared sensor 411 can transmit the obstacle information to the control board 403 in a timely manner. The control board 403 controls the robot to stop moving backward or turn according to the obstacle information to avoid collision between the robot and the obstacle behind it and ensure the safety of the robot's movement.

[0040] A balance block 432 is installed in the middle of the four caster wheel assemblies 412, the left drive unit 413, and the right drive unit 414 on the chassis housing 401. The balance block 432 can be fixed to the base plate 4012 by a connector. The balance block 432 optimizes the chassis center of gravity and improves the stability of movement.

[0041] Example 2 A humanoid robot is described in this embodiment. The technical solution is basically the same as that in Embodiment 1, except that the structure of the torso support frame 202 in this embodiment is different from that in Embodiment 1. The height of the torso support frame 202 in this embodiment is adjustable, and it includes a fixed plate 505, a lifting assembly, a drive assembly, a transmission assembly, and a guide assembly. The specific details are as follows: like Figure 19 and Figure 20As shown, a transition base plate 506 is provided on the top of the torso support base 201, and a lifting assembly is provided between the torso support base 201 and the fixed plate 505; the lifting assembly includes a lifting base plate 502 and a lifting plate 503, the lifting base plate 502 is fixedly connected to the ball nut 512, and the lifting plate 503 is fixedly connected to one end of the movable guide rail 518.

[0042] The drive unit includes a motor 501 and a ball screw 511 driven by the motor; the motor mounting bracket 504 is connected and fixed to the bottom of the torso support base 201. The output shaft of the motor 501 is connected to one end of the ball screw 511 through a motor connecting shaft and a coupling.

[0043] The transmission assembly includes a ball nut 512 sleeved on the ball screw 511, which is fixedly connected to the lifting assembly. The transmission assembly also includes a mounted bearing 508, which is fixed to the adapter base plate 506. One end of the ball screw 511 is supported by the mounted bearing 508. The other end of the ball screw 511 is connected to the fixed plate 505 via a bearing structure.

[0044] The guide components are arranged in three groups in a triangular pattern. Each group of guide components includes a fixed guide rail 509 and a movable guide rail 518. One end of the fixed guide rail 509 is fixedly connected to the adapter base plate 506, and the other end is fixedly connected to the fixed plate 505. One end of the movable guide rail 518 is fixedly connected to the lifting component, and the other end passes through the fixed plate 505 and can slide relative to the fixed plate 505. The fixed guide rail 509 and / or the movable guide rail 518 are connected to the adapter base plate 506, the lifting component, or the fixed plate 505 through one or more guide rail fixing seats 507.

[0045] The guide assembly also includes a linear bearing 510, which is fixed to the lifting base plate 502 and / or the fixed plate 505, and a fixed guide rail 509 or a movable guide rail 518 passes through the linear bearing 510.

[0046] It also includes an upper limit mechanism, which comprises an upper limit block 513 mounted on the lifting base plate 502 and an upper limit switch 514 disposed at the bottom of the fixed plate 505. The upper limit block 513 is configured to trigger the upper limit switch 514 and provide a physical limit when the lifting assembly rises to its limit position. The upper limit switch 514 is mounted on the fixed plate 505 via a bracket.

[0047] It also includes a lower limit mechanism, which comprises a lower limit block 515 disposed at the bottom of the lifting plate 503 and a lower limit switch 516 disposed on the fixed plate 505. The lower limit block 515 is configured to trigger the lower limit switch 516 and provide a physical limit when the lifting assembly descends to its extreme position. The lower limit switch 516 is mounted on the fixed plate 505 via a lower limit switch bracket 517.

[0048] In this embodiment, the working principle of the torso support frame 202 is as follows: The motor 501 is started, driving the ball screw 511 to rotate. The ball nut 512 moves linearly on the ball screw 511, causing the entire lifting assembly (lifting base plate 502 and lifting plate 503) to move together. During this process, the fixed guide rail 509 provides guidance for the lifting base plate 502, while the movable guide rail 518 slides in the linear bearing 510 of the fixed plate 505, providing additional guidance and support for the lifting assembly. These three guiding mechanisms ensure smooth and precise movement. By controlling the direction and angle of the motor, the lifting height of the robot's torso can be precisely controlled.

[0049] The working condition machine mounting bracket 203 is fixed on the top of the lifting plate 503, and the front shell fixing plate 2021 and the rear shell fixing plate 2022 are respectively fixed on both sides of the lifting plate 503.

[0050] To accommodate the height-adjustable torso support frame 202, in this embodiment, the torso shell consists of an upper body shell 6 and a bottom shell 7, as follows: Figure 21 As shown, the upper body shell consists of a connected front upper body shell 601 and a connected rear upper body shell 602, which are respectively connected to the front shell fixing plate 2021 and the rear shell fixing plate 2022. The bottom shell 7 consists of a connected bottom front shell 701 and a bottom rear shell 702, which are fixedly connected to the torso support base 201 after being connected. The upper part of the bottom shell 7 is located inside the upper body shell 6, and the two can slide relative to each other. When the height of the torso support frame 202 rises or falls, the upper body shell 6 can move up and down with the lifting plate 503.

[0051] The humanoid robot provided by this utility model uses the industrial control computer in the torso module as the core control center and the control board in the chassis module as the motion execution control unit. The industrial control computer is responsible for receiving and analyzing the perception data of the whole machine and generating global instructions. After receiving the motion instructions from the industrial control computer, the control board drives the chassis execution mechanism to move. The robotic arm module and gripper are end-effectors that execute control instructions. At the same time, the vision and voice perception units of the head module, the robotic arm, indicator lights, speakers of the torso module, and various sensors of the chassis module all establish real-time data interaction with the industrial control computer / control board to ensure that the actions of each module are coordinated and consistent.

[0052] The humanoid robot provided by this utility model has the following advantages: 1. High flexibility of head movement: The head module is equipped with left and right rotation motors and pitch motors, which can realize the left and right rotation and pitch movements of the head module. At the same time, it is equipped with left and right rotation motor limit brackets and pitch motor limit brackets to prevent damage to components due to excessive movement and to ensure accurate initial zero point position, thereby improving the accuracy of head movement. II. Precise Visual Data Acquisition: The left camera, right camera, and RGBD camera constitute the visual algorithm data acquisition module. The three work together to acquire multi-angle color image data and depth image data, providing rich and accurate data support for robot visual navigation, target recognition and other functions, and meeting the needs of complex scenarios. 3. Excellent voice interaction: The voice interaction device installed on the inner wall of the rear shell of the head can realize voice interaction, wake-up and remote control. Together with the speaker on the front shell of the torso, it can realize clear voice broadcast and interaction, improving the user's ease of operation and experience. IV. Safe and reliable chassis movement: The chassis module is equipped with lidar, RGBD sensor, ultrasonic sensor and infrared sensor to detect surrounding obstacles in all directions; it is equipped with universal wheel assembly and left and right drive devices to achieve flexible movement and steering.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A humanoid robot, characterized by, include: Head module (1): includes a head fixing component, a head shell is provided on the head fixing component, a visual algorithm data acquisition module is provided on the head shell, and a voice interaction device (114) is provided inside the head shell. The voice interaction device (114) is used to provide voice interaction, voice wake-up and voice remote control of the robot. Torso module (2): connected to the bottom of the head module (1), including torso shell, the torso shell is provided with torso components and industrial control computer (204), the visual algorithm data acquisition module and the voice interaction device (114) are both connected to the industrial control computer (204); The robotic arm module (3) is symmetrically arranged on both sides of the torso module (2), and the end of the robotic arm module (3) is provided with an actuator; Chassis module (4): Connected to the bottom of the torso module (2), including chassis housing (401), inside which are provided a control board (403), a laser radar (404), a debugging interface (405) and a battery (406); on the side wall of the chassis housing (401) are provided an RGBD sensor (407), an ultrasonic sensor and an infrared sensor; at the bottom of the chassis housing (401) are provided a universal wheel assembly and a symmetrically arranged left drive device (413) and a right drive device (414).

2. The humanoid robot according to claim 1, characterized in that, The head fixing component includes a head motor bracket (102), on which a left and right rotation motor (103) is provided. A pitch motor bracket (105) is provided on the top of the left and right rotation motor (103). A pitch motor (106) is provided on the pitch motor bracket (105). The pitch motor (106) is connected to a head fixing bracket (107). The head shell is connected to the head fixing bracket (107).

3. The humanoid robot according to claim 2, characterized in that, The visual algorithm acquisition module includes a left camera (112), a right camera (113), and an RGBD camera (111); the head shell includes a front eyelid shell (109) and a rear head shell (110), the front eyelid shell (109) is provided with an RGBD camera mounting hole (1091), the front eyelid shell (109) is provided with an eye frame (1092), the left camera (112) and the right camera (113) are located in the eye frame (1092); the head fixing bracket (107) is provided with a camera fixing bracket (1072) at the top, and the RGBD camera (111) is fixed on the camera fixing bracket (1072); The voice interaction device (114) is installed on the top inner side wall of the head rear shell (110); a head indicator light is provided on the left and right sides of the outer side wall of the head rear shell (110), and the two head indicator lights are arranged symmetrically.

4. The humanoid robot according to claim 2, characterized in that, The torso assembly includes a torso support base (201), a torso support frame (202) on top of the torso support base (201), an industrial computer mounting bracket (203) on top of the torso support frame (202), an industrial computer (204) inside the industrial computer mounting bracket (203), and a cooling fan (206) on one side of the industrial computer mounting bracket (203); a robotic arm mounting bracket (207) on top of the industrial computer mounting bracket (203), and mounting holes for fixing the head motor bracket (102) on top of the robotic arm mounting bracket (207).

5. The humanoid robot according to claim 4, characterized in that, The robotic arm mounting frame (207) includes a column (2071), and the top and bottom of the column (2071) are respectively provided with an upper fixing plate (2072) and a lower fixing plate (2073), and the robotic arm is rotatably connected to the upper fixing plate (2072) and the lower fixing plate (2073).

6. The humanoid robot according to claim 4, characterized in that, The torso shell includes a connected front torso shell (208) and a rear torso shell (209). The top of the torso support frame (202) is symmetrically provided with a front shell fixing plate (2021) and a rear shell fixing plate (2022). The front torso shell (208) and the rear torso shell (209) are fixedly connected to the front shell fixing plate (2021) and the rear shell fixing plate (2022), respectively. The front shell (208) of the torso is provided with an upper body indicator light (212) and a chest indicator light (211). Two speakers (210) are symmetrically provided on the front shell (208). An emergency stop switch (213) is provided on the upper part of the rear shell (209) of the torso. A power distribution switch (214) is provided below the emergency stop switch (213). A maintenance window is provided on the rear shell (209) of the torso. A rear shell cover plate (215) is provided at the maintenance window. The bottom of the torso support base (201) is connected to the bottom of the torso shell.

7. The humanoid robot according to claim 1, characterized in that, The chassis housing (401) is provided with a cover plate (4011) on the top, and a bottom plate (4012) is provided inside the chassis housing (401). Multiple support columns (423) are fixed on the top of the bottom plate (4012). The support columns (423) pass through the cover plate (4011) and are connected to the top support plate (402). The bottom of the torso module (2) is fixedly connected to the top support plate (402).

8. The humanoid robot according to claim 7, characterized in that, The control board (403) and the lidar (404) are both located on the top of the base plate (4012). The lidar (404) passes through the cover plate (4011) and is located between the cover plate (4011) and the top support plate (402). A power switch (426) is provided on the top support plate (402). The battery (406) is located at the bottom of the base plate (4012). The chassis housing (401) is provided with a battery compartment door (427), and the battery compartment door (427) is provided with a charging port (430) and a charging electrode (431).

9. The humanoid robot according to claim 8, characterized in that, The left drive unit (413) and the right drive unit (414) have the same structure, both including a drive motor bracket (415). The drive motor bracket (415) is fixedly connected to the bottom of the base plate (4012). The drive motor bracket (415) is provided with a first swing arm hook (416) and a second swing arm hook (417). An energy storage component is provided between the first swing arm hook (416) and the second swing arm hook (417). The bottom of the first swing arm hook (416) passes through the drive motor bracket (415) and is connected to the swing arm (420) through a pin (419). The swing arm (420) is connected to the hub motor (421). The second swing arm hook (417) is fixedly connected to the drive motor bracket (415). The top of the base plate (4012) is provided with a motor driver (422), and the hub motor (421) is connected to the motor driver (422).

10. The humanoid robot according to claim 4, characterized in that, The torso support frame (202) includes: A fixing plate (505) is disposed above the torso support base (201); A lifting assembly is disposed between the torso support base (201) and the fixing plate (505); The drive device includes a motor (501) and a ball screw (511) driven by the motor (501); The transmission assembly includes a ball nut (512) sleeved on the ball screw (511), and the ball nut (512) is fixedly connected to the lifting assembly; At least one set of guide components, each set of guide components including a fixed guide rail (509) and a movable guide rail (518), one end of the fixed guide rail (509) being fixedly connected to the torso support base (201), the other end of the fixed guide rail (509) being fixedly connected to the fixed plate (505), one end of the movable guide rail (518) being fixedly connected to the lifting component, and the other end of the movable guide rail (518) passing through the fixed plate (505) and sliding relative to the fixed plate (505).

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