Large-load industrial-grade humanoid robot upper half body module and humanoid robot

Abstract

The invention provides a large-load industrial-grade humanoid robot upper half body module and a humanoid robot, and belongs to the technical field of robots. The large-load industrial-grade humanoid robot upper half body module comprises a head, an upper half body, a left arm and a right arm; the left side and the right side of the square chest upper body are rotationally connected with a left arm and a right arm respectively, and the square chest upper body comprises a chest structure, a waist structure, a waist rotation driving joint, a waist joint mounting part, a body binocular depth camera, a camera radar mounting part, a 360-degree laser radar, a camera mounting part and a robot battery system; the robot upper body module can be operated in multiple directions, and the flexibility and adaptability of the robot upper body module are improved; the thoracic cavity structure is stably made of plates and connected through tenons and bolts, higher rigidity and strength can be provided, and the overall weight and the machining difficulty of the thoracic cavity structure can be effectively reduced on the premise that the load weight is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a large-load industrial-grade humanoid robot upper body module and the humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They have a structural layout similar to that of humans, can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can perform more complex tasks such as handling, precise grasping, contact detection and other subdivided scenarios.

[0003] The operational skills of the humanoid robot's upper body and multi-sensor system are particularly critical when learning and performing operational tasks. The humanoid robot's upper body is highly intelligent and can coordinate operations with its hands, eyes, and brain. At the same time, its anthropomorphic design enables it to better simulate real human behavior, enabling it to adapt to a variety of application scenarios, such as industrial scenarios, home scenarios, etc.

[0004] There are currently many humanoid robots and upper limb components on the market, which are basically used in the consumer and service fields. The load capacity and operational adaptability of both arms are relatively weak, and they are unable to meet the large industrial loads or real operational needs in life. Summary of the Invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the existing technology and provide a large-load industrial-grade humanoid robot upper body module and a humanoid robot. Through the newly constructed upper body skeleton structure and double-arm structure, the upper body large-load function can be realized, which is capable of meeting the work requirements of multiple scenarios.

[0006] Technical solution: The present invention describes a large-load industrial-grade humanoid robot upper body module, including a head, an upper body, a left arm and a right arm. The upper part of the square chest upper body is rotatably connected to the square chest head, and the left and right sides of the square chest upper body are rotatably connected to the left arm and the right arm respectively. The square chest upper body includes a chest structure, a waist structure, a waist rotation drive joint, a waist joint mounting part, a body binocular depth camera, a camera radar mounting part, a 360-degree laser radar, a camera mounting part, and a robot battery system; the bottom of the square chest structure is rotatably connected to a columnar waist structure, the bottom of the square chest columnar waist structure is fixedly connected to a waist rotation drive joint, the bottom of the square chest waist rotation drive joint is fixedly connected to a waist joint mounting part, a camera radar mounting part is installed on the trapezoidal chest of the upper part of the square chest, an arc-shaped slot is provided on the square chest camera radar mounting part, on which a degree laser radar and a camera mounting part are respectively installed, and a body binocular depth camera is installed on the square chest camera mounting part.

[0007] The upper body module includes a rotatable head, left arm, right arm, and waist structure, which allows the robot's upper body module to operate in multiple directions, increasing its flexibility and adaptability. The design of the camera mount and radar mount allows the robot to be installed with different sensors and equipment as needed to adapt to different industrial applications. The trunk is equipped with a binocular depth camera and a 360-degree lidar, which enables the robot to accurately perceive the surrounding environment, perform object recognition, distance measurement, and obstacle avoidance. The camera radar mount and lidar enable the robot to better navigate and locate, improving its ability to move autonomously in complex environments.

[0008] Furthermore, a robot-integrated battery is installed at the rear side of the chest structure; batteries are usually heavy, and installing them at the rear side of the chest helps to evenly distribute the weight, avoiding imbalance or reduced flexibility caused by weight concentration. At the same time, placing the battery pack at the rear side of the chest helps to lower the center of gravity of the robot and improve its stability, especially when performing movements such as bending or leaning.

[0009] Furthermore, the waist structure as a whole is a hollow cylindrical ring structure, so that the waist rotation joint 303 body can be embedded inside it. Through the embedded design, the internal space of the robot can be more effectively utilized, making the waist structure more compact, thereby reducing the overall size and weight, which has a positive effect on improving the flexibility of the robot and reducing energy consumption; the hollow design reduces the use of materials, thereby reducing the weight of the waist structure, which not only helps to improve the energy efficiency of the robot, but also reduces the burden on the drive, and improves its response speed and life; the cylindrical ring structure can provide good support and structural strength while maintaining structural stability, which is crucial for withstanding the force and torque generated by the robot during movement.

[0010] Furthermore, the thorax structure comprises an upper trapezoidal thorax and a lower square thorax. The upper trapezoidal thorax comprises a left arm mounting assembly, a front arm plate, a right arm mounting assembly, and a rear arm plate. These components are connected using a halberd joint and bolts to form a trapezoidal cross-section. The lower square thorax comprises a left thorax frame plate, a front thorax frame plate, a right thorax frame plate, a rear thorax frame plate, an upper thorax frame plate, and a lower thorax frame plate. These components are connected using a halberd joint and bolts to form a square thorax structure. The front arm plate and the front thorax frame plate are integrally formed, while the rear arm plate and the rear thorax frame plate are also integrally formed. Because the thorax structure is constructed of stable sheet metal and connected using halberd joints and bolts, it provides greater rigidity and strength, effectively reducing its overall weight and manufacturing complexity while ensuring load capacity. The modular thorax structure design means that individual components can be quickly disassembled and replaced for repair or upgrade without having to replace the entire structure, reducing maintenance costs and improving robot availability.

[0011] Furthermore, the left arm mounting piece is installed with the left arm, and the square chest right arm mounting piece is installed with the right arm. The left arm and the right arm of the square chest have the same structure and are arranged in a mirror-symmetrical manner.

[0012] Furthermore, the head is provided with a head shell, and the interior of the shell is provided with a first head mounting part, a second head mounting part, a third head mounting part, a fourth head mounting part, a first head driving joint, a second head driving joint, a third head driving joint, a front cover of the second head mounting part, a rear cover of the second head mounting part and a head binocular depth camera; the first mounting part of the square chest head is rotatably connected to the upper body of the square chest, the first mounting part of the square chest head is rotated upward and connected to the first head driving joint, the upper part of the first driving joint of the square chest head is rotatably connected to the second mounting part of the head, and the first mounting part of the square chest head is rotatably connected to the second driving joint of the head. The front side of the second mounting part is fixedly connected to the front cover of the second mounting part of the head, the back side of the second mounting part of the square chest head is fixedly connected to the back cover of the second mounting part of the head, the upper part of the second mounting part of the square chest head is rotatably connected to the second driving joint of the head, the upper part of the second driving joint of the square chest head is rotatably connected to the third mounting part of the head, the third mounting part of the square chest head is fixedly connected to the third driving joint of the head, the third driving joint of the square chest head is rotatably connected to the fourth mounting part of the head, the fourth mounting part of the square chest head is fixedly connected to the binocular depth camera of the head, and a robot voice module is provided on the outer shell of the square chest head.

[0013] Further, the left arm includes a first driving joint of the left arm connected to the square chest structure, the first driving joint of the left arm of the square chest is rotatably connected to one side of the first mounting part, the other side of the first mounting part of the square chest is rotatably connected to one side of the second driving joint, the other side of the second driving joint of the square chest is rotatably connected to one side of the second mounting part, the other side of the second mounting part of the square chest is rotatably connected to one side of the third driving joint, the other side of the third driving joint of the square chest is rotatably connected to one side of the third mounting part, the other side of the third mounting part of the square chest is rotatably connected to one side of the fourth driving joint, the other side of the fourth driving joint of the square chest is rotatably connected to one side of the fourth mounting part, the other side of the fourth mounting part of the square chest is rotatably connected to one side of the fifth driving joint, the other side of the fifth driving joint of the square chest is rotatably connected to one side of the fifth mounting part, the other side of the fifth mounting part of the square chest is rotatably connected to one side of the sixth driving joint, the other side of the sixth driving joint of the square chest is rotatably connected to one side of the sixth mounting part, and the other side of the sixth mounting part of the square chest is rotatably connected to the seventh driving joint.

[0014] Furthermore, a six-dimensional force sensor is installed on the other installation side of the seventh driving joint, and the other side of the square chest six-dimensional force sensor is connected to the end effector.

[0015] The present invention also provides a humanoid robot comprising the upper body module of the present invention.

[0016] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0017] (1) The upper body module of the present invention includes a rotatable head, left arm, right arm, and waist structure, which enables the robot upper body module to operate in multiple directions, increasing its flexibility and adaptability;

[0018] (2) The present invention has 14 degrees of freedom in both arms, 2 degrees of freedom in the chest and waist, and 3 degrees of freedom in the head. The upper body module of the humanoid robot is creatively formed into 19 degrees of freedom, which not only ensures the working strength and flexibility, but also expands the working radius;

[0019] (3) The chest cavity structure designed in the present invention is made of stable plates and connected by halberd joints and bolts, which can provide higher rigidity and strength. While ensuring the load weight, it can also effectively reduce its overall weight and processing difficulty;

[0020] (4) The present invention can be equipped with different types of lifting modules or bipedal modules through the design of the waist joint mounting parts, and can be expanded into different types of humanoid robots for different scenarios;

[0021] (5) The present invention has a simple structure, strong scalability, a wide range of applications, and possesses general consumer and industrial capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0023] Figure 2 is a schematic diagram of the robot voice module and the robot integrated battery of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the upper body of the present invention;

[0025] Figure 4 1 is a schematic structural diagram of the thoracic cavity structure of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the left arm in the present invention;

[0027] Figure 6 It is a structural explosion diagram of the left arm in the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0029] Example 1

[0030] like Figure 1 The upper body module of a large-load industrial-grade humanoid robot shown includes a head 2, an upper body 3, a left arm 1 and a right arm 4. The upper part of the upper body 3 is rotatably connected to the head 2, and the left and right sides of the upper body 3 are rotatably connected to the left arm 1 and the right arm 4 respectively.

[0031] like Figure 2 and Figure 3 As shown, the head 2 is provided with a head shell, and the interior of the shell is provided with a first head mounting part 201, a second head mounting part 208, a third head mounting part 203, a fourth head mounting part 205, a first head driving joint 209, a second head driving joint 207, a third head driving joint 206, a second head mounting part front cover 202, a second head mounting part rear cover 210 and a head binocular depth camera 204. The first head mounting member 201 is rotatably connected to the upper torso 3. The first head mounting member 201 is rotatably connected upward to a first head driving joint 209. The upper portion of the first head driving joint 209 is rotatably connected to a second head mounting member 208. The front side of the second head mounting member 208 is fixedly connected to a second head mounting member front cover 202. The rear side of the second head mounting member 208 is fixedly connected to a second head mounting member rear cover 210. The upper portion of the second head mounting member 208 is rotatably connected to a second head driving joint 207. The upper portion of the second head driving joint 207 is rotatably connected to a third head mounting member 203. The third head mounting member 203 is fixedly connected to a third head driving joint 206. The third head driving joint 206 is rotatably connected to a fourth head mounting member 205. The fourth head mounting member 205 is fixedly connected to a head binocular depth camera 204. A robot voice module 211 is provided on the head housing.

[0032] like Figure 3As shown, the upper torso 3 includes a thorax structure 301, a waist structure 302, a waist rotation drive joint 303, a waist joint mounting assembly 304, a torso binocular depth camera 305, a camera radar mounting assembly 306, a 360-degree lidar 307, a camera mounting assembly 308, and a robot battery system 309. The thorax structure 301 comprises an upper trapezoidal thorax and a lower square thorax. The bottom of the lower square thorax is rotatably connected to a columnar waist structure 302, which is fixedly connected to the bottom of the columnar waist structure 302. The waist rotation drive joint 303 is integrally connected to the waist structure 302. The waist structure 302 is a hollow cylindrical ring structure, allowing the waist rotation joint 303 to be embedded within it. The design of the thorax structure and the columnar waist structure helps provide stable support, which is important for carrying heavy objects and performing precise operations. The bottom of the waist rotation drive joint 303 is fixedly connected to the waist joint mounting assembly 304. The upper trapezoidal thorax is equipped with a camera radar mounting assembly 306. This mounting assembly has arc-shaped slots, each housing a 360-degree laser radar 307 and a camera mounting assembly 308. A torso binocular depth camera 305 is mounted on camera mounting assembly 308. A robot integrated battery 309 is mounted on the rear side of the thorax structure 301.

[0033] like Figure 4 As shown, the chest structure 301 includes an upper trapezoidal chest and a lower square chest; the upper trapezoidal chest includes a left arm mounting part 301a, an arm front plate 301i, a right arm mounting part 301h, and an arm back plate 301b, and the left arm mounting part 301a, the arm front plate 301i, the right arm mounting part 301h, and the arm back plate 301b are sequentially connected to form a chest structure with a trapezoidal cross-section; the lower square chest includes a chest frame left plate 301c, a chest frame front plate 301f, a chest frame right plate 301e, a chest frame back plate 301b, a chest frame upper plate 301g, and a chest frame lower plate 301d, and the chest frame left plate 301c, the chest frame front plate 301f, the chest frame right plate 301e, the chest frame back plate 301j, the chest frame upper plate 301g, and the chest frame lower plate 301d form a lower square chest structure.

[0034] The left arm mounting part 301a is mounted with the left arm 1, and the right arm mounting part 301h is mounted with the right arm 4. The left arm 1 and the right arm 4 have the same structure and are arranged in a mirror-symmetrical manner. Figure 5 and Figure 6As shown, the left arm 1 and the right arm 4 have the same structure and are arranged in a mirror-symmetrical manner. The left arm 1 includes a first drive joint 101 of the left arm connected to the chest structure 301. The first drive joint 101 of the left arm is rotatably connected to one side of the first mounting member 104. The other side of the first mounting member 104 is rotatably connected to one side of the second drive joint 105. The other side of the second drive joint 105 is rotatably connected to one side of the second mounting member 106. The other side of the second mounting member 106 is rotatably connected to one side of the third drive joint 125. The other side of the third drive joint is rotatably connected to one side of the third mounting member 108. The other side of the third mounting member 108 is rotatably connected to one side of the third drive joint 125. It is connected to one side of the fourth driving joint 126, the other side of the fourth driving joint 126 is rotatably connected to one side of the fourth mounting member 110, the other side of the fourth mounting member 110 is rotatably connected to one side of the fifth driving joint 130, the other side of the fifth driving joint 130 is rotatably connected to one side of the fifth mounting member 111, the other side of the fifth mounting member 111 is rotatably connected to one side of the sixth driving joint 127, the other side of the sixth driving joint 127 is rotatably connected to one side of the sixth mounting member 113, and the other side of the sixth mounting member 113 is rotatably connected to the seventh driving joint 115. In the left arm, the first driving joint 101, the first mounting part 104, the second driving joint 105, the second mounting part 106, the third driving joint 125, the third mounting part 108, the fourth driving joint 126, the fourth mounting part 110, the fifth driving joint 130, the fifth mounting part 111, the sixth driving joint 127, the sixth mounting part 113 and the seventh driving joint 115 are connected in sequence to form a seven-degree-of-freedom mechanical structure chain. Each driving joint can be independently controlled, so that the arm can achieve more complex and changeable posture movements and adapt to more complex and changeable work scenarios.A six-dimensional force sensor 117 is installed on the other mounting side of the seventh drive joint 115, and the other side of the six-dimensional force sensor 117 is connected to the end effector 116, which can accurately measure the force and torque borne by the end of the arm when it contacts the external environment or grasps the workpiece and performs the action, providing force information for the force control and motion control of the arm. A binocular depth camera 118 is installed at the end of the arm through the binocular depth camera mounting part 114, which can accurately perceive the depth and visual information of the object, improve the intelligence of the arm, and the arm can quickly replace different types of end effectors according to actual needs, thereby enhancing the arm's ability to adapt to complex work tasks. The drive joint mounting limiter 102 can Limiting the rotation angle of the driving joint can protect the driving joint. A test ring 103 is fixedly installed on the first mounting part 104 for protection during arm installation and debugging, and can be removed after completing the installation and debugging process. The first driving joint cover 124 is connected to the first mounting part 104 by bolts, the second driving joint cover 105 is connected to the second mounting part 106 by bolts, the third driving joint left cover 107, the third driving joint right cover 122 and the third mounting part 108 are connected by bolts, the fourth driving joint cover 121 is connected to the fourth mounting part 110 by bolts, and the fifth joint cover 120 is connected to the fifth mounting part 111 by bolts. The first drive joint cover 124, the second drive joint cover 105, the third drive joint left cover 107, the third drive joint right cover 122, the fourth drive joint cover 121, and the fifth joint cover 120 can all be quickly disassembled for easy installation, debugging, and maintenance. The second drive joint dust cover 123, the fourth drive joint dust cover 109, and the sixth drive joint dust cover 112 can effectively prevent dust and other foreign matter from affecting the normal operation of the joints. In particular, in order to increase the service life of the arm joints, the arm power cord, communication line, and joint controller are all built-in hollow wiring, which improves the safety and coordination of the arm operation.

[0035] Example 2

[0036] A humanoid robot comprises the upper body module of embodiment 1 and a leg structure, wherein the leg structure is connected to the upper body module so that the entire humanoid robot can walk.

[0037] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A large-load industrial-grade humanoid robot upper body module, comprising a head (2), an upper body (3), a left arm (1) and a right arm (4), wherein the upper part of the upper body (3) is rotatably connected to the head (2), and the left and right sides of the upper body (3) are rotatably connected to the left arm (1) and the right arm (4), respectively, and characterized in that: The upper body (3) includes a chest structure (301), a waist structure (302), a waist rotation drive joint (303), a waist joint mounting component (304), a body binocular depth camera (305), a camera radar mounting component (306), a 360-degree laser radar (307), a camera mounting component (308), and a robot battery system (309); the bottom of the chest structure (301) is rotatably connected to a columnar waist structure (302), and the columnar waist structure (302) ) is fixedly connected to the bottom of a waist rotation driving joint (303), the bottom of the waist rotation driving joint (303) is fixedly connected to a waist joint mounting component (304), a camera radar mounting component (306) is mounted on the upper trapezoidal chest cavity, an arc-shaped notch is provided on the camera radar mounting component (306), and a 360-degree laser radar (307) and a camera mounting component (308) are respectively mounted thereon, and a torso binocular depth camera (305) is mounted on the camera mounting component (308).

2. The large-load industrial-grade humanoid robot upper body module according to claim 1, characterized in that: A robot integrated battery (309) is installed on the rear side of the chest structure (301).

3. The large-load industrial-grade humanoid robot upper body module according to claim 1, characterized in that: The waist structure (302) is a hollow cylindrical ring structure as a whole.

4. The large-load industrial-grade humanoid robot upper body module according to claim 1, characterized in that: The chest structure (301) includes an upper trapezoidal chest and a lower square chest; the upper trapezoidal chest includes a left arm mounting member (301a), an arm front plate (301i), a right arm mounting member (301h), and an arm rear plate (301b); the lower square chest includes a chest frame left plate (301c), a chest frame front plate (301f), a chest frame right plate (301e), a chest frame rear plate (301j), a chest frame upper plate (301g), and a chest frame lower plate (301d); the arm front plate (301i) and the chest frame front plate (301f) are integrally formed, and the arm rear plate (301b) and the chest frame rear plate (301j) are integrally formed.

5. The large-load industrial-grade humanoid robot upper body module according to claim 4, characterized in that: The left arm mounting member (301a) is mounted with a left arm (1), and the right arm mounting member (301h) is mounted with a right arm (4); the left arm (1) and the right arm (4) have the same structure and are arranged in a mirror-symmetrical manner.

6. The heavy-load industrial-grade humanoid robot upper body module according to claim 1, characterized in that: The head (2) is provided with a head shell, and the interior of the shell is provided with a first head mounting member (201), a second head mounting member (208), a third head mounting member (203), a fourth head mounting member (205), a first head driving joint (209), a second head driving joint (207), a third head driving joint (206), a front cover member (202) of the second head mounting member, a rear cover member (210) of the second head mounting member, and a head binocular depth camera (204); the first head mounting member (201) is rotatably connected to the upper body (3), the first head mounting member (201) is rotatably connected to the first head driving joint (209) upward, and the upper part of the first head driving joint (209) is rotatably connected to the second head mounting member (208), and the The front side of the second head mounting member (208) is fixedly connected to a front cover member (202) of the second head mounting member, the rear side of the second head mounting member (208) is fixedly connected to a rear cover member (210) of the second head mounting member, the upper part of the second head mounting member (208) is rotatably connected to a second head driving joint (207), the upper part of the second head driving joint (207) is rotatably connected to a third head mounting member (203), the third head mounting member (203) is fixedly connected to a third head driving joint (206), the third head driving joint (206) is rotatably connected to a fourth head mounting member (205), the fourth head mounting member (205) is fixedly connected to a head binocular depth camera (204), and a robot voice module (211) is arranged on the head shell.

7. The large-load industrial-grade humanoid robot upper body module according to claim 1, characterized in that: The left arm (1) comprises a first driving joint (101) of the left arm connected to the chest structure (301), the first driving joint (101) of the left arm is rotatably connected to one side of a first mounting member (104), the other side of the first mounting member (104) is rotatably connected to one side of a second driving joint (105), the other side of the second driving joint (105) is rotatably connected to one side of a second mounting member (106), the other side of the second mounting member (106) is rotatably connected to one side of a third driving joint (125), the other side of the third driving joint is rotatably connected to one side of a third mounting member (108), the other side of the third mounting member (108) is rotatably connected to one side of a third mounting member (108). The fourth driving joint (126) is rotatably connected to one side of the fourth mounting member (110), the other side of the fourth mounting member (110) is rotatably connected to one side of the fifth driving joint (130), the other side of the fifth driving joint (130) is rotatably connected to one side of the fifth mounting member (111), the other side of the fifth mounting member (111) is rotatably connected to one side of the sixth driving joint (127), the other side of the sixth driving joint (127) is rotatably connected to one side of the sixth mounting member (113), and the other side of the sixth mounting member (113) is rotatably connected to a seventh driving joint (115).

8. The large-load industrial-grade humanoid robot upper body module according to claim 7, characterized in that: A six-dimensional force sensor (117) is installed on the other installation side of the seventh driving joint (115), and the other side of the six-dimensional force sensor (117) is connected to the end effector (116).

9. A humanoid robot, characterized in that: It comprises an upper body module as described in any one of claims 1 to 8.

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