A scalable and rotatable mobile palletizing humanoid robot trunk

Abstract

The application discloses a telescopic and rotatable mobile palletizing humanoid robot trunk. A top mounting plate of the trunk is movably and swingably mounted on a bottom mounting plate of the trunk through a cylinder, a planetary gear train, a driving unit and a measuring unit are connected to the top mounting plate, photoelectric baffles are mounted on the planetary gear train, the driving unit is used for driving the planetary gear train and the photoelectric baffles to rotate, the measuring unit is used for measuring the telescopic length and the rotation angle of the robot trunk, the swing unit, the driving unit and the measuring unit are externally connected to a control system, and the control system accurately controls the posture of the robot trunk according to the telescopic length and the rotation angle of the robot trunk. In the palletizing process of the mobile robot, when the palletizing plane gradually rises, the height of the robot can be automatically lifted, so that the goods at a higher position can be more quickly palletized, and the production efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a retractable and rotatable mobile palletizing humanoid robot torso. Background Technology

[0002] With the accelerated integration and penetration of emerging technologies such as artificial intelligence, 5G, and the industrial internet, the demand for logistics palletizing has increased dramatically, making mobile palletizing humanoid robots an indispensable part of intelligent logistics. Although these technologies have greatly promoted the intelligence of logistics, existing mobile palletizing humanoid robots have significant limitations in practical applications, especially in terms of adaptability and space utilization.

[0003] Traditional robots are limited by their own height when palletizing, failing to meet palletizing requirements above a certain height. In logistics storage environments, the stacking height of materials needs to be adjusted promptly based on the material's properties and required storage space. Solving this problem requires the assistance of external equipment such as lifting platforms. Space resources are extremely precious in logistics storage warehouses, and the large space occupied by the combination of traditional palletizing robots and lifting platforms limits the optimization and upgrading of the logistics system to some extent. The use of lifting platforms not only increases costs but is also limited by spatial constraints. For example, in confined storage environments, the installation of lifting platforms can occupy a significant amount of space and, in severe cases, affect the normal operation of other equipment, creating safety hazards. Furthermore, the separate installation of lifting platforms hinders the collaboration of traditional humanoid palletizing robots. Communication delays or space constraints between the two can reduce the efficiency of the palletizing robots. Additionally, when multiple traditional palletizing robots work simultaneously, the planned paths may differ, compromising the stability and reliability of collaborative work. Summary of the Invention

[0004] To address the problems existing in the background art, the purpose of this invention is to provide a retractable and rotatable mobile palletizing humanoid robot torso. This invention can extend and retract the torso of the humanoid robot when needed, increasing the robot's palletizing working range. At the same time, it combines the rotatability of the humanoid robot torso with the ability to bend over, making the robot more flexible and greatly improving production efficiency.

[0005] The technical solution adopted in this invention is as follows:

[0006] The robot torso includes a bottom mounting plate, a swing unit, a top mounting plate, a planetary gear system, a drive unit, and a measurement unit. The top mounting plate is mounted on the bottom mounting plate via the swing unit. The planetary gear system, drive unit, and measurement unit are all connected to the top mounting plate. Photoelectric baffles are mounted on the planetary gear system. The drive unit drives the planetary gear system and photoelectric baffles to rotate. The measurement unit measures the extension length and rotation angle of the robot torso. The swing unit, drive unit, and measurement unit are all connected to an external control system. The control system precisely controls the pose of the robot torso based on its extension length and rotation angle.

[0007] The planetary gear train includes a gear ring, a planetary gear cage, planetary gears, and a sun gear. The gear ring is fixedly installed in the middle of the mounting plate at the top of the torso. The planetary gears and the sun gear are both located inside the gear ring. The inner and outer gears of the planetary gears are respectively meshed with the gears on the outer ring of the sun gear and the gears on the inner ring of the gear ring. The planetary gear cage is fixedly installed on the planetary gears. Photoelectric baffles are connected to the outer periphery of the planetary gear cage.

[0008] The rotary motor in the drive unit is used to drive the sun gear to rotate, which in turn drives the planet gears and the photoelectric baffles on the planet gear cage to move.

[0009] The measurement unit includes a photoelectric proximity switch mounting base, a photoelectric proximity switch, and a pull-wire sensor. The photoelectric proximity switch is mounted on the outer periphery of the top mounting plate of the robot body via the photoelectric proximity switch mounting base. The photoelectric proximity switch is used to sense the photoelectric baffle to obtain the rotation angle of the robot body. The torso end of the pull-wire sensor is connected to the upper surface of the bottom mounting plate of the robot body, and the wire end of the pull-wire sensor is connected to the lower surface of the top mounting plate of the robot body. The pull-wire sensor is used to measure the distance between the bottom mounting plate and the top mounting plate of the robot body to obtain the extension length of the robot body.

[0010] The swing unit mainly consists of an inertial measurement unit and four cylinders. Four cylinders are respectively installed at the four corners of the bottom mounting plate and the top mounting plate of the torso. The cylinder body is fixedly connected to the upper surface of the bottom mounting plate of the torso, and the cylinder extension shaft is hinged to the lower surface of the top mounting plate of the torso, so that the top mounting plate of the torso can be moved up and down and swing on the bottom mounting plate of the torso by means of the cylinders. 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 drive unit includes a rotary motor, two Hall sensors, a rotary motor mounting base, and a multi-stage radial magnetic ring. The rotary motor is mounted on the lower surface of the mounting plate on the top of the torso via the rotary motor mounting base. 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. The two Hall sensors are placed orthogonally on both sides of the multi-stage radial magnetic ring. The Hall sensors detect the changes in the magnetic field generated by the multi-stage radial magnetic ring, thereby obtaining the rotational speed of the rotary motor and measuring the rotational direction of the output shaft of the rotary motor.

[0012] The inertial measurement unit and cylinder in the swing unit, the rotary motor, Hall sensor and multi-stage radial magnetic ring in the drive unit, and the photoelectric proximity switch and pull-wire sensor 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 sensor and photoelectric proximity switch, and then precisely controls the rotation angle of the robot torso by controlling the rotation of the rotary motor. The control system also obtains the extension length and top angular displacement of the robot torso through the data output by the inertial measurement unit and pull-wire sensor, and then precisely controls the extension length and bending moment angle of the robot torso by controlling the extension and retraction of the cylinder.

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

[0014] The photoelectric proximity switch is used to record the rotation zero position, the Hall sensor is used to indicate the current torso rotation angle, the draw wire sensor is used to record the current torso extension length, and the gyroscope of the inertial measurement unit (IMU) is used to detect the torso bending angle.

[0015] The torso bottom mounting plate serves as the base of the robot's torso, connecting to other parts of the robot below. The swing unit consists of a cylinder body and a cylinder extension shaft, with the torso bottom mounting plate connected above the cylinder extension shaft. It provides the lifting power, and a wire sensor measures displacement to determine the lifting position.

[0016] The rotary motor is mounted on a specific rotary motor mounting base, which is connected to the top mounting bracket of the torso. After the rotary motor rotates through the planetary gear train, it can connect to the upper part of the robot's torso, allowing the torso above the top mounting plate to rotate freely. The current rotation angle is determined by a photoelectric proximity switch and a Hall sensor located at the bottom of the rotary motor.

[0017] The beneficial effects of this invention are:

[0018] 1. In the process of palletizing mobile robots, as the palletizing plane gradually rises, the robot itself can adaptively increase its height, thereby stacking goods at higher positions more quickly and improving production efficiency.

[0019] 2. This invention improves the torso structure of the mobile palletizing robot, which can stack goods higher in palletizing, making better use of vertical space in warehousing, improving space utilization, increasing efficiency, and reducing costs. Attached Figure Description

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

[0021] Figure 2 This is a schematic diagram showing the position of the pull-wire sensor of the present invention;

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

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

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

[0025] In the diagram: 1. Bottom mounting plate of the torso; 2. Cylinder body; 3. Cylinder telescopic shaft; 4. Top mounting plate of the torso; 5. Photoelectric proximity switch mounting base; 6. Photoelectric proximity switch; 7. Rotary motor; 8. Inertial measurement unit; 9. Planetary gear train; 10. Hall sensor; 11. Rotary motor mounting base; 12. Wire sensor; 13. Gear ring; 14. Planetary gear cage; 15. Planetary gears; 16. Sun gear; 17. Multistage radial magnetic ring. Detailed Implementation

[0026] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0027] like Figure 1As shown, the robot torso includes a bottom mounting plate 1, a swing unit, a top mounting plate 4, a planetary gear train 9, a drive unit, and a measurement unit. The top mounting plate 4 is mounted on the bottom mounting plate 1 via the swing unit, allowing it to move up and down and swing. The planetary gear train 9, drive unit, and measurement unit are all connected to the top mounting plate 4. A photoelectric baffle is mounted on the planetary gear train 9. The drive unit drives the planetary gear train 9 and the photoelectric baffle to rotate. The measurement unit measures the extension length and rotation angle of the robot torso. The swing unit, drive unit, and measurement unit are all externally connected to a control system. The control system precisely controls the pose of the robot torso based on its extension length and rotation angle.

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

[0029] The rotary motor 7 in the drive unit is used to drive the sun gear 16 to rotate, which in turn drives the planet gear 15 and the photoelectric baffles on the planet gear cage 14 to move.

[0030] like Figures 2-3 As shown, the measurement unit includes a photoelectric proximity switch mounting base 5, a photoelectric proximity switch 6, and a pull-wire sensor 12. The photoelectric proximity switch 6 is mounted on the outer periphery of the top mounting plate 4 of the torso via the photoelectric proximity switch mounting base 5. The photoelectric proximity switch 6 is used to sense the photoelectric baffle and thus obtain the rotation angle of the robot torso. The torso end of the pull-wire sensor 12 is connected to the upper surface of the bottom mounting plate 1 of the torso, and the wire end of the pull-wire sensor 12 is connected to the lower surface of the top mounting plate 4 of the torso. The pull-wire sensor 12 is used to measure the distance between the bottom mounting plate 1 of the torso and the top mounting plate 4 of the torso, and thus obtain the extension length of the robot torso.

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

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

[0033] The cylinder is used to drive the mounting plate 4 on the top of the torso, which causes the torso of the mobile palletizing robot to extend and retract.

[0034] The drive unit includes a rotary motor 7, two Hall sensors 10, a rotary motor mounting base 11, and a multi-stage radial magnetic ring 17. The housing of the rotary motor 7 is mounted on the lower surface of the mounting plate 4 on the top of the body through the rotary motor mounting base 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 (i.e., the two Hall sensors 10 are set at 90 degrees). The Hall sensors 10 obtain the rotation speed of the rotary motor 7 and measure the rotation direction of the output shaft of the rotary motor 7 by detecting the change in the magnetic field generated by the multi-stage radial magnetic ring 17.

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

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

[0037] This invention allows for height adjustment of a mobile palletizing robot during palletizing by extending and rotating its torso: when the cylinder drives the cylinder extension shaft 3 to rise, the mounting plate 4 on the top of the torso rises accordingly, causing the robot torso to extend. Simultaneously, the wire of the pull-wire sensor 12 is also stretched, thus controlling the extension and retraction of the robot torso. The process stops when the torso reaches the desired height.

[0038] The housing of the rotary motor 7 is mounted on the top mounting plate 4 of the torso via the rotary motor mounting base 11. The output shaft of the rotary motor 7 is connected to the sun gear 16 in the planetary gear train, and the gear ring 13 is fixed on the top mounting plate 4 of the torso. When the rotary motor 7 rotates, it drives the planet gears 15 and the planet gear cage 14 to rotate. The planet gear cage 14 is connected to the upper part of the torso, so that the torso part above the top mounting plate of the torso can rotate freely.

[0039] When the robot torso needs to rotate, the planetary gear cage 14 rotates, and the photoelectric baffle on the planetary gear cage 14 triggers the photoelectric proximity switch 6. At this time, the rotation is at zero position. The multi-stage radial magnetic ring 17 below the rotary motor 7 rotates one revolution, and multiple pulses are obtained from the Hall sensor 10. By measuring the change in the value of the external encoder and the accumulation of the value, the current rotation angle of the robot torso can be known, and 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, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. A retractable and rotatable mobile palletizing humanoid robot torso, characterized in that: The robot includes a bottom mounting plate (1), a swing unit, a top mounting plate (4), a planetary gear train (9), a drive unit, and a measurement unit. The top mounting plate (4) is mounted on the bottom mounting plate (1) via the swing unit. The planetary gear train (9), drive unit, and measurement unit are all connected to the 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 extension length and rotation angle of the robot's torso. The swing unit, drive unit, and measurement unit are all connected to an external control system. The control system controls the pose of the robot's torso based on the extension length and rotation angle of the robot's torso.

2. The retractable and rotatable mobile palletizing humanoid robot torso according to claim 1, characterized in that: The planetary gear train (9) includes a ring gear (13), a planetary gear cage (14), planetary gears (15), and a sun gear (16); The gear ring (13) is fixedly installed in the middle of the mounting plate (4) at the top of the torso. The planet gears (15) and the sun gear (16) are both located inside the gear ring (13). The inner gear and outer gear of the planet gear (15) are meshed with the gears of the outer ring of the sun gear (16) and the gears of the inner ring of the gear ring (13), respectively. The planet gear cage (14) is fixedly installed on the planet gears (15). Photoelectric baffles are connected to the outer periphery of the planet gear cage (14). The rotary motor (7) in the drive unit is used to drive the sun gear (16) to rotate, thereby driving the planet gears (15) and the photoelectric baffles on the planet gear cage (14) to move.

3. The retractable and rotatable mobile palletizing humanoid robot torso according to claim 2, characterized in that: The measuring unit includes a photoelectric proximity switch mounting base (5), a photoelectric proximity switch (6), and a pull-wire sensor (12); The photoelectric proximity switch (6) is mounted on the outer periphery of the top mounting plate (4) of the torso via the photoelectric proximity switch mounting base (5). The photoelectric proximity switch (6) is used to sense the photoelectric baffle and thus obtain the rotation angle of the robot torso. The torso end of the pull-wire sensor (12) is connected to the upper surface of the bottom mounting plate (1) of the torso, and the wire end of the pull-wire sensor (12) is connected to the lower surface of the top mounting plate (4) of the torso. The pull-wire sensor (12) is used to measure the distance between the bottom mounting plate (1) and the top mounting plate (4) of the torso, and thus obtain the extension length of the robot torso.

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

5. The retractable and rotatable mobile palletizing humanoid robot torso according to claim 1, characterized in that: The drive unit includes a rotary motor (7), two Hall sensors (10), a rotary motor mounting base (11), and a multi-stage radial magnetic ring (17). The rotary motor (7) is mounted on the lower surface of the mounting plate (4) on the top of the torso via the rotary motor mounting base (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). 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 changes in the magnetic field generated by the multi-stage radial magnetic ring (17) to obtain the rotation speed of the rotary motor (7) and measure the rotation direction of the output shaft of the rotary motor (7).

6. The retractable and rotatable mobile palletizing humanoid robot torso according to claim 1, characterized in that: The inertial measurement unit (8) and cylinder in the swing unit, the rotary motor (7), Hall sensor (10) and multi-stage radial magnetic ring (17) in the drive unit, and the photoelectric proximity switch (6) and pull-wire 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 sensor (10) and photoelectric proximity switch (6), and then precisely controls the rotation angle of the robot torso by controlling the rotation of the rotary motor (7). The control system obtains the extension length and top angular displacement of the robot torso through the data output by the inertial measurement unit (8) and pull-wire sensor (12), and then precisely controls the extension length and bending moment angle of the robot torso by controlling the extension and retraction of the cylinder.

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

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