Telescopic and rotatable movable stacking type humanoid robot trunk

Abstract

The invention discloses a movable stacking type humanoid robot trunk capable of stretching, retracting and rotating. The trunk top mounting plate is installed on the trunk bottom mounting plate in an up-down moving and swinging mode through an air cylinder, the planetary gear train, the driving unit and the measuring unit are all connected to the trunk top mounting plate, a photoelectric blocking piece is installed on the planetary gear train, and the driving unit is used for driving the planetary gear train and the photoelectric blocking piece to rotate; the measuring unit is used for measuring the telescopic length and the rotating angle of the robot trunk, the swing unit, the driving unit and the measuring unit are all externally connected with a control system, and the control system accurately controls the pose of the robot trunk according to the telescopic length and the rotating angle of the robot trunk. In the stacking process of the mobile robot, after the stacking plane rises gradually, the height of the robot can be increased in a self-adaptive mode, so that goods at the higher position can be stacked more quickly, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and particularly relates to a telescopic and rotatable mobile palletizing humanoid robot torso. Background Art

[0002] With the accelerating integration and penetration of emerging technologies such as artificial intelligence, 5G, and industrial Internet, and the sharp increase in the demand for logistics palletizing, mobile palletizing humanoid robots have become an indispensable part of intelligent logistics. Although these technologies have greatly promoted logistics intelligence, existing mobile palletizing humanoid robots have significant limitations in practical applications, especially in terms of height adaptability and utilization of the spatial environment.

[0003] Traditional robots are restricted by the height of the robot body during palletizing and cannot meet the palletizing requirements above a certain height. In the storage environment of logistics, the stacking height of materials will be adjusted in a timely manner according to the nature of the materials and the required storage space. To solve this problem, the help of external devices such as lifting platforms is required. In a logistics storage warehouse, space resources are extremely precious. The combination of traditional palletizing robots and lifting platforms occupies a large amount of space, which to a certain extent restricts the optimization and upgrading of the logistics system. The use of a lifting platform not only increases costs but is also limited by factors such as the spatial environment. For example, the installation of a lifting platform in a narrow storage environment will occupy a large amount of space, and in severe cases, it will affect the normal operation of other devices and pose a safety hazard. At the same time, the separate installation of the lifting platform is not conducive to the cooperation of traditional palletizing humanoid robots. The communication delay or limited space between the two will lead to a decrease in the working efficiency of the palletizing robot. And when multiple traditional palletizing robots work simultaneously, there may also be differences in the paths planned by the robots, and the stability and reliability of cooperative work cannot be guaranteed. Summary of the Invention

[0004] In order to solve the problems in the background art, the purpose of the present invention is to provide a telescopic and rotatable mobile palletizing humanoid robot torso. The present invention can telescopic the torso part of the humanoid robot when needed, making the palletizing working range of the robot higher. At the same time, it combines the rotatability of the humanoid robot torso and the characteristic of being able to bend down, making the robot more flexible and greatly improving the production efficiency.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The robot torso includes a bottom mounting plate of the torso, a swing unit, a top mounting plate of the torso, a planetary gear train, a drive unit, and a measurement unit; the top mounting plate of the torso is movably mounted on the bottom mounting plate of the torso through the swing unit, and the planetary gear train, the drive unit, and the measurement unit are all connected to the top mounting plate of the torso. An optical-electronic baffle is mounted on the planetary gear train. The drive unit is used to drive the planetary gear train and the optical-electronic baffle to rotate. The measurement unit is used to measure the telescopic length and rotation angle of the robot torso. The swing unit, the drive unit, and the measurement unit are all externally connected to a control system, and the control system precisely controls the pose of the robot torso according to the telescopic length and rotation angle of the robot torso.

[0007] The planetary gear train includes a ring gear, a planetary gear carrier, planetary gears, and a sun gear; the ring gear is fixedly mounted in the middle of the top mounting plate of the torso. The planetary gears and the sun gear are both located inside the ring gear, and the inner gear and the outer gear of the planetary gear are respectively meshed and connected with the gear on the outer ring of the sun gear and the gear on the inner ring of the ring gear. The planetary gear carrier is fixedly mounted on the planetary gear, and an optical-electronic baffle is connected to the outer periphery of the planetary gear carrier;

[0008] The rotary motor in the drive unit is used to drive the sun gear to rotate, thereby driving the planetary gears and the optical-electronic baffle on the planetary gear carrier to move.

[0009] The measurement unit includes an optical-electronic proximity switch mounting base, an optical-electronic proximity switch, and a wire-pulling sensor; the optical-electronic proximity switch is mounted on the outer periphery of the top mounting plate of the torso through the optical-electronic proximity switch mounting base. The optical-electronic proximity switch is used to sense the optical-electronic baffle, thereby obtaining the rotation angle of the robot torso. The torso end of the wire-pulling sensor is connected to the upper surface of the bottom mounting plate of the torso, and the wire end of the wire-pulling sensor is connected to the lower surface of the top mounting plate of the torso. The wire-pulling sensor is used to measure the distance between the bottom mounting plate of the torso and the top mounting plate of the torso, thereby obtaining the telescopic length of the robot torso.

[0010] The swing unit mainly consists of an inertial measurement unit and four cylinders. Four cylinders are respectively arranged at the four corners of the bottom mounting plate of the torso and the top mounting plate of the torso. The cylinder block of the cylinder is fixedly connected to the upper surface of the bottom mounting plate of the torso, and the cylinder telescopic shaft of the cylinder is hinged to the lower surface of the top mounting plate of the torso, so that the top mounting plate of the torso is movably mounted on the bottom mounting plate of the torso through the cylinders and can swing. The inertial measurement unit is connected to the top mounting plate of the torso and is used to measure the angular velocity and angular displacement of the top mounting plate of the torso.

[0011] The described drive unit includes a rotary motor, two Hall sensors, a rotary motor mounting seat, and a multi-stage radial magnetic ring; the rotary motor is mounted on the lower surface of the top mounting plate of the torso through the rotary motor mounting seat, the output shaft of the rotary motor is connected to the sun gear in the planetary gear train, the multi-stage radial magnetic ring is mounted at the end of the output shaft of the rotary motor, and the two Hall sensors are orthogonally placed on both sides of the multi-stage radial magnetic ring. The Hall sensors obtain the rotational speed of the rotary motor and measure the rotational direction of the output shaft of the rotary motor by detecting the magnetic field changes generated by the multi-stage radial magnetic ring.

[0012] The inertial measurement unit, cylinder in the swing unit, the rotary motor, Hall sensors, and multi-stage radial magnetic ring in the drive unit, and the photoelectric proximity switch and wire-pulling sensor in the measurement unit are all externally connected to the control system. The control system obtains the rotational angle of the robot torso through the data output by the Hall sensors and the photoelectric proximity switch, and precisely controls the rotational angle of the robot torso by controlling the rotation of the rotary motor. The control system obtains the telescopic length and top angular displacement of the robot torso through the data output by the inertial measurement unit and the wire-pulling sensor, and precisely controls the telescopic length and bending moment angle of the robot torso by controlling the telescopic movement of the cylinder.

[0013] When the photoelectric baffle on the planetary gear carrier is directly above the photoelectric proximity switch, the photoelectric proximity switch is triggered by the photoelectric baffle, and the rotational angle of the robot torso at this time is taken as the rotational zero position.

[0014] The photoelectric proximity switch is used to record the rotational zero position, the Hall sensors are used to represent the current rotational angle of the torso, the wire-pulling sensor is used to record the current telescopic length of the torso, and the gyroscope of the inertial measurement unit IMU is used to detect the bending angle of the torso.

[0015] The bottom mounting plate of the torso serves as the bottom of the robot torso, and the lower part of the bottom mounting plate of the torso is connected to other parts of the robot. The swing unit is the cylinder block and the cylinder telescopic shaft. The upper part of the cylinder telescopic shaft is connected to the bottom mounting plate of the torso, responsible for providing the lifting power requirement, and the wire-pulling sensor measures the displacement to determine the lifting position.

[0016] The rotary motor is mounted on a specific rotary motor mounting seat, and the rotary motor mounting seat is connected to the top mounting frame of the torso. After the rotary motor rotates through the planetary gear train, it can be connected to the upper part of the robot torso, enabling the torso part above the top mounting plate of the torso to rotate freely. The current rotational angle is determined by the photoelectric proximity switch and the Hall sensor located at the bottom of the rotary motor.

[0017] The beneficial effects of the present invention are:

[0018] 1. During the palletizing process of the mobile robot of the present invention, when the palletizing plane gradually rises, the height of the robot itself can be adaptively increased, so as to more quickly stack goods at higher positions, improving production efficiency.

[0019] 2. The present invention improves the torso structure of the mobile palletizing robot, enabling it to stack goods higher during palletizing, better utilize the vertical space efficiency in warehousing, improve space utilization rate, increase efficiency, and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a three-dimensional structure diagram provided for a specific embodiment of the present invention;

[0021] Figure 2 The figure is a schematic diagram of the position of the wire-pulling sensor of the present invention;

[0022] Figure 3 The figure is a partially enlarged view of the photoelectric proximity switch provided for a specific embodiment of the present invention;

[0023] Figure 4 The figure is a schematic diagram of the position of the sun gear provided for a specific embodiment of the present invention;

[0024] Figure 5 The figure is a schematic diagram of the planetary gear train structure provided for a specific embodiment of the present invention.

[0025] In the figure: 1. Torso bottom mounting plate; 2. Cylinder block; 3. Cylinder telescopic shaft; 4. Torso top mounting plate; 5. Photoelectric proximity switch mounting seat; 6. Photoelectric proximity switch; 7. Rotation motor; 8. Inertial measurement unit; 9. Planetary gear train; 10. Hall sensor; 11. Rotation motor mounting seat; 12. Wire-pulling sensor; 13. Ring gear; 14. Planetary gear carrier; 15. Planetary gear; 16. Sun gear; 17. Multi-stage radial magnetic ring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art further understand the present invention, but do not limit the present invention in any form.

[0027] As Figure 1As shown in the figure, the robot torso includes a torso bottom mounting plate 1, a swing unit, a torso top mounting plate 4, a planetary gear train 9, a drive unit, and a measurement unit; the torso top mounting plate 4 is mounted on the torso bottom mounting plate 1 through the swing unit so as to be movable up and down and swingable, the planetary gear train 9, the drive unit, and the measurement unit are all connected to the torso top mounting plate 4, a photoelectric baffle is mounted on the planetary gear train 9, the drive unit is used to drive the planetary gear train 9 and the photoelectric baffle to rotate, the measurement unit is used to measure the telescopic length and rotation angle of the robot torso, the swing unit, the drive unit, and the measurement unit are all externally connected to a control system, and the control system precisely controls the pose of the robot torso according to the telescopic length and rotation angle of the robot torso.

[0028] As Figures 4 - 5 shown, the planetary gear train 9 includes a ring gear 13, a planetary gear carrier 14, planetary gears 15, and a sun gear 16; the ring gear 13 is fixedly mounted in the middle of the torso top mounting plate 4, the planetary gears 15 and the sun gear 16 are both located inside the ring gear 13, the planetary gears 15 are located between the sun gear 16 and the ring gear 13, and the inner gears and outer gears of the planetary gears 15 are respectively meshed and connected with the gears on the outer ring of the sun gear 16 and the gears on the inner ring of the ring gear 13, the planetary gear carrier 14 is fixedly mounted on the planetary gears 15, and a photoelectric baffle is connected to the outer periphery of the planetary gear carrier 14;

[0029] The rotary motor 7 in the drive unit is used to drive the sun gear 16 to rotate, thereby driving the photoelectric baffle on the planetary gears 15 and the planetary gear carrier 14 to move.

[0030] As Figures 2 - 3 shown, the measurement unit includes a photoelectric proximity switch mounting seat 5, a photoelectric proximity switch 6, and a wire-pulling sensor 12; the photoelectric proximity switch 6 is mounted on the outer periphery of the torso top mounting plate 4 through the photoelectric proximity switch mounting seat 5, the photoelectric proximity switch 6 is used to sense the photoelectric baffle, thereby obtaining the rotation angle of the robot torso, the torso end of the wire-pulling sensor 12 is connected to the upper surface of the torso bottom mounting plate 1, the wire end of the wire-pulling sensor 12 is connected to the lower surface of the torso top mounting plate 4, and the wire-pulling sensor 12 is used to measure the distance between the torso bottom mounting plate 1 and the torso top mounting plate 4, thereby obtaining the telescopic length of the robot torso.

[0031] The swing unit mainly consists of an inertial measurement unit 8 and four cylinders. Four cylinders are respectively arranged at the four corners of the torso bottom mounting plate 1 and the torso top mounting plate 4. The cylinder block 2 of the cylinder is fixedly connected to the upper surface of the torso bottom mounting plate 1, and the cylinder telescopic shaft 3 of the cylinder is hinged to the lower surface of the torso top mounting plate 4, so that the torso top mounting plate 4 is mounted on the torso bottom mounting plate 1 through the cylinders so as to be movable up and down and swingable, and the inertial measurement unit 8 is connected to the torso top mounting plate 4 and is used to measure the angular velocity and angular displacement of the torso top mounting plate 4.

[0032] Specifically, the accelerometer in the inertial measurement unit is used to measure the acceleration of the top mounting plate 4 of the torso. After double integrating the acceleration of the top mounting plate 4 of the torso, displacement is obtained. The gyroscope in the inertial measurement unit is used to measure the angular velocity of the top mounting plate 4 of the torso, and the angle is obtained by integration.

[0033] The cylinder is used to drive the top mounting plate 4 of the torso, so that the torso of the mobile palletizing robot can stretch.

[0034] The drive unit includes a rotary motor 7, two Hall sensors 10, a rotary motor mounting seat 11, and a multi-stage radial magnetic ring 17. The housing of the rotary motor 7 is mounted on the lower surface of the top mounting plate 4 of the torso through the rotary motor mounting seat 11. The output shaft of the rotary motor 7 is connected to the sun gear 16 in the planetary gear train 9. The multi-stage radial magnetic ring 17 is mounted at the end of the output shaft of the rotary motor 7 and rotates with the output shaft of the rotary motor 7. The two Hall sensors 10 are orthogonally placed on both sides of the multi-stage radial magnetic ring 17 (that is, the two Hall sensors 10 are arranged at 90 degrees). The Hall sensors 10 detect the magnetic field change generated by the multi-stage radial magnetic ring 17, and then obtain the rotational speed of the rotary motor 7 and measure the rotational direction of the output shaft of the rotary motor 7.

[0035] The inertial measurement unit 8 and the cylinder in the swing unit, the rotary motor 7, the Hall sensors 10, and the multi-stage radial magnetic ring 17 in the drive unit, the photoelectric proximity switch 6 and the wire-pulling sensor 12 in the measurement unit are all externally connected to the control system. The control system obtains the rotation angle of the robot torso through the data output by the Hall sensors 10 and the photoelectric proximity switch 6, and precisely controls the rotation angle of the robot torso by controlling the rotation of the rotary motor 7. The control system obtains the telescopic length and the top angular displacement of the robot torso through the data output by the inertial measurement unit 8 and the wire-pulling sensor 12, and precisely controls the telescopic length and the bending moment angle of the robot torso by controlling the telescopic movement of the cylinder.

[0036] When the photoelectric baffle on the planetary gear carrier 14 is directly above the photoelectric proximity switch 6, the photoelectric proximity switch 6 is triggered by the photoelectric baffle, and the rotation angle of the robot torso at this time is used as the rotation zero position.

[0037] In the present invention, when the mobile palletizing robot is palletizing, the height of the robot can be adjusted by stretching and rotating the torso to cooperate with palletizing. When the cylinder drives the cylinder telescopic shaft 3 to rise, the top mounting plate 4 of the torso rises accordingly, driving the elongation of the robot torso. At the same time, the wire of the wire-pulling sensor 12 is also stretched, and the telescopic length of the robot torso can be controlled thereby. When the torso stretches to the required height, it can be stopped.

[0038] The housing of the rotary motor 7 is mounted on the top mounting plate 4 of the torso through the rotary motor mount 11. The output shaft of the rotary motor 7 is connected to the sun gear 16 in the planetary gear train, and the ring gear 13 is fixed on the top mounting plate 4 of the torso. When the rotary motor 7 rotates, it drives the planetary gear 15 and the planetary gear carrier 14 to rotate. The planetary gear carrier 14 is connected to the upper part of the torso, enabling the part of the torso above the top mounting plate of the torso to rotate freely.

[0039] When the robot torso needs to rotate, when the photoelectric baffle on the planetary gear carrier 14 touches the photoelectric proximity switch 6 during the rotation of the planetary gear carrier 14, this is the rotation zero position. The multi-stage radial magnetic ring 17 below the rotary motor 7 rotates one circle, obtaining multiple pulses of the Hall sensor 10. By the change amount and the accumulated amount of the externally connected encoder value, the current rotation angle of the robot torso can be known, and then the rotation angle can be precisely controlled.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A retractable and rotatable mobile stacking humanoid robot trunk, characterized in that: The robot comprises a trunk bottom mounting plate (1), a swing unit, a trunk top mounting plate (4), a planetary gear train (9), a drive unit and a measuring unit; the trunk top mounting plate (4) is mounted on the trunk bottom mounting plate (1) via the swing unit so as to be movable up and down; the planetary gear train (9), the drive unit and the measuring unit are all connected to the trunk top mounting plate (4); a photoelectric baffle is mounted on the planetary gear train (9); the drive unit is used to drive the planetary gear train (9) and the photoelectric baffle to rotate; the measuring unit is used to measure the telescopic length and rotation angle of the robot trunk; the swing unit, the drive unit and the measuring unit are all externally connected to a control system; the control system controls the posture of the robot trunk according to the telescopic length and rotation angle of the robot trunk.

2. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 1, characterized in that: The planetary gear train (9) comprises a ring gear (13), a planetary gear holder (14), planetary gears (15) and a sun gear (16); The ring gear (13) is fixedly mounted on the middle part of the trunk top mounting plate (4), the planetary gear (15) and the sun gear (16) are both located inside the ring gear (13), and the inner gear and the outer gear of the planetary gear (15) are respectively meshed with the gear of the outer ring of the sun gear (16) and the gear of the inner ring of the ring gear (13), the planetary gear holder (14) is fixedly mounted on the planetary gear (15), and the outer periphery of the planetary gear holder (14) is connected with a photoelectric baffle; the rotary motor (7) in the drive unit is used to drive the sun gear (16) to rotate, thereby driving the planetary gear (15) and the photoelectric baffle on the planetary gear holder (14) to move.

3. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 2, characterized in that: The measuring unit comprises a photoelectric proximity switch mounting seat (5), a photoelectric proximity switch (6) and a pull-wire sensor (12); The photoelectric proximity switch (6) is installed on the periphery of the trunk top mounting plate (4) through a photoelectric proximity switch mounting seat (5); the photoelectric proximity switch (6) is used to sense the photoelectric baffle, thereby obtaining the rotation angle of the robot trunk; the trunk end of the pull-wire sensor (12) is connected to the upper surface of the trunk bottom mounting plate (1), and the wire end of the pull-wire sensor (12) is connected to the lower surface of the trunk top mounting plate (4); the pull-wire sensor (12) is used to measure the distance between the trunk bottom mounting plate (1) and the trunk top mounting plate (4), thereby obtaining the telescopic length of the robot trunk.

4. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 1, characterized in that: The swing unit is mainly composed of an inertial measurement unit (8) and four cylinders. Four cylinders are respectively arranged at the four corners of the trunk bottom mounting plate (1) and the trunk top mounting plate (4). The cylinder body (2) of the cylinder is fixedly connected to the upper surface of the trunk bottom mounting plate (1). The cylinder telescopic shaft (3) of the cylinder is hinged to the lower surface of the trunk top mounting plate (4), so that the trunk top mounting plate (4) can be moved up and down and swung on the trunk bottom mounting plate (1) through the cylinder. The inertial measurement unit (8) is connected to the trunk top mounting plate (4) and is used to measure the angular velocity and angular displacement of the trunk top mounting plate (4).

5. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 1, characterized in that: The drive unit comprises a rotating motor (7), two Hall sensors (10), a rotating motor mounting seat (11) and a multi-stage radial magnetic ring (17); the rotating motor (7) is mounted on the lower surface of a trunk top mounting plate (4) via the rotating motor mounting seat (11); the output shaft of the rotating motor (7) is connected to a sun gear (16) in a planetary gear train (9); the multi-stage radial magnetic ring (17) is mounted at the end of the output shaft of the rotating motor (7); the two Hall sensors (10) are orthogonally placed on both sides of the multi-stage radial magnetic ring (17); the Hall sensors (10) detect the change in the magnetic field generated by the multi-stage radial magnetic ring (17) to thereby obtain the rotation speed of the rotating motor (7) and measure the rotation direction of the output shaft of the rotating motor (7).

6. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 1, characterized in that: The inertial measurement unit (8) and the cylinder in the swing unit, the rotating motor (7), the Hall sensor (10) and the multi-stage radial magnetic ring (17) in the drive unit, and the photoelectric proximity switch (6) and the wire sensor (12) in the measurement unit are all externally connected to a control system. The control system obtains the rotation angle of the robot trunk through the data output by the Hall sensor (10) and the photoelectric proximity switch (6), and controls the rotation of the rotating motor (7) to precisely control the rotation angle of the robot trunk. The control system obtains the telescopic length and top angular displacement of the robot trunk through the data output by the inertial measurement unit (8) and the wire sensor (12), and controls the telescopic length and bending moment angle of the robot trunk to precisely control the telescopic length and bending moment angle of the robot trunk by controlling the telescopic movement of the cylinder.

7. The telescopic and rotatable mobile stacking humanoid robot trunk according to claim 3, characterized in that: When the photoelectric baffle on the planetary wheel holder (14) is located directly above the photoelectric proximity switch (6), the photoelectric proximity switch (6) is triggered by the photoelectric baffle, and the rotation angle of the robot trunk at this time is taken as the rotation zero position.

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