Operation and charging all-in-one machine for humanoid robot and using method thereof

Abstract

The invention relates to the technical field of robots, in particular to a running and charging all-in-one machine for a humanoid robot and a using method of the running and charging all-in-one machine. The chassis structure is connected with the fixing structure through the supporting structure; the chassis structure comprises a movable chassis; a roller mechanism is arranged on the movable chassis; the supporting structure comprises a supporting pile; the fixing structure comprises a fixing support connected to the supporting pile. The movable chassis is connected with the fixed support through the supporting piles. A charging unit is arranged on the supporting pile, and the charging unit comprises a charger connected to the supporting pile; a locking mechanism is arranged on the fixed bracket; the locking mechanism comprises a sliding block which is connected to the fixing support and can move transversely. Product design is carried out according to the gravity center of the humanoid robot, the robot is rapidly fixed in a sliding block mode, then charging or battery replacing is carried out, and the occupied area of equipment is small.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to an integrated operation and charging machine for a humanoid robot and its usage method. Background Art

[0002] With the continuous development and progress of robot technology, mobile robots can already replace humans to perform tasks in more and more environments.

[0003] However, when performing long-term tasks, the battery life of the robot is still restricted by aspects such as its charging pile and battery charging technology.

[0004] Currently, for a humanoid robot to charge or replace its battery, a gantry crane is usually required to lift the robot, and the equipment has a large volume.

[0005] Currently, for the transportation of a humanoid robot, usually several people are needed to slowly place the robot into a packing box through a crane, with low efficiency.

[0006] Currently, due to the lack of a self-locking function in humanoid robots, power needs to be cut off for charging or battery replacement, so the fixation of the robot is rather troublesome.

[0007] Currently, due to the relatively complex structure and many degrees of freedom of humanoid robots, the transportation of the products is relatively difficult.

[0008] The existing patent CN217753517U - A battery swapping structure, a battery swapping cabinet, a robot, and a robot battery swapping system can realize the battery swapping operation of the robot; however, the overall structure is relatively large; and the cost investment is relatively high.

[0009] Therefore, in order to improve or solve at least one of the above technical problems, it is necessary to optimize the design of the existing charging equipment for humanoid robots. Summary of the Invention

[0010] The purpose of the present invention is to provide an integrated operation and charging machine that facilitates the transportation and charging operations of a humanoid robot.

[0011] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0012] An integrated operation and charging machine for a humanoid robot, comprising a chassis structure, a fixing structure, and a support structure; the chassis structure is connected to the fixing structure through the support structure;

[0013] The chassis structure includes a mobile chassis; a roller mechanism is provided on the mobile chassis;

[0014] The support structure includes support piles connected to the mobile chassis;

[0015] The fixing structure includes a fixing bracket connected to the support piles;

[0016] The mobile chassis is connected to the fixed bracket through support piles;

[0017] A charging unit is provided on the support pile, and the charging unit includes a charger connected to the support pile;

[0018] A locking mechanism is provided on the fixed bracket; the locking mechanism includes a slider connected to the fixed bracket and capable of lateral movement.

[0019] The mobile chassis includes two chassis brackets distributed at intervals, and the two chassis brackets are connected by a chassis cross arm; a lateral adjustment unit for driving the chassis brackets to swing is provided between the chassis cross arm and the two chassis brackets.

[0020] The roller mechanism includes a single roller mechanism; each single roller mechanism includes a connecting bracket connected to the chassis bracket, and a roller unit is provided on the connecting bracket.

[0021] The locking mechanism further includes a placement groove provided on the fixed bracket, an adjustment unit is provided in the placement groove, the adjustment unit includes a guide block provided in the placement groove, the guide block is connected to the fixed bracket through a fixing pin; the guide block can move along the axial direction of the fixing pin; the slider horizontally penetrates through the guide block; a plugging component is further provided on the guide block; the plugging component includes a plug pin, and the plug pin passes through the guide block and is plugged on the slider.

[0022] A buffer component is provided between the guide block and the fixed bracket, the buffer component includes a buffer spring, and the buffer spring is sleeved on the fixing pin; one end of the buffer spring is connected to the guide block, and the other end is connected to the inner wall of the placement groove.

[0023] A through hole for the fixing pin to pass through is provided on the guide block, the through hole includes an upper through hole and a lower through hole, and the inner diameter of the lower through hole is larger than that of the upper through hole; the end of the buffer spring is embedded in the lower through hole.

[0024] The fixed bracket includes two single brackets distributed at intervals, one ends of the two single brackets are connected by a connecting frame; the horizontal projection of the fixed bracket is U-shaped; the fixed bracket is connected to the support pile through the connecting frame.

[0025] A suspension mechanism is provided on the support pile, the suspension mechanism includes a suspension bracket, a suspension cross beam is provided on the suspension bracket, and a hoisting rope is provided on the suspension cross beam.

[0026] A foot sole support unit is provided on the chassis cross arm, the foot sole support unit includes a support block provided on the chassis cross arm, and a placement groove is provided on the support block.

[0027] A method for using an integrated operation and charging machine for a humanoid robot, the method comprising the following steps:

[0028] Step 1: Determine the model of the robot to be processed; select an integrated operation and charging machine for a humanoid robot with a suitable size according to the robot model;

[0029] Step 2: After Step 1 is determined, then connect the integrated operation and charging machine to the robot to be processed;

[0030] Step 3: After Step 2 is completed, perform the transfer or charging operation of the robot to be processed according to the working conditions;

[0031] Step 4: Repeating Steps 1-3 can achieve the processing operation of the corresponding robot.

[0032] The advantages of the present invention are as follows;

[0033] The present invention discloses an integrated operation and charging machine for a humanoid robot and its use method.

[0034] The present invention designs the product according to the center of gravity of the humanoid robot, adopts the method of sliders to quickly fix the robot, and then performs charging or battery swapping, with a small footprint of the device.

[0035] Four rollers are designed under the mobile chassis of the present invention. During subsequent use, the humanoid robot is fixed on the integrated operation and charging machine, which facilitates the quick transportation and circulation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The following briefly describes the content expressed in each drawing of the specification of the present invention and the marks in the drawings:

[0037] Figure 1 It is a side view of the humanoid robot of the present invention when fixed on the integrated operation and charging machine.

[0038] Figure 2 It is an axonometric view of the humanoid robot of the present invention when fixed on the integrated operation and charging machine.

[0039] Figure 3 It is an axonometric view of the integrated operation and charging machine in the present invention.

[0040] Figure 4 It is a front view of the integrated operation and charging machine in the present invention.

[0041] Figure 5 It is a partial cross-sectional side view of the mechanism of the integrated operation and charging machine in the present invention.

[0042] Figure 6 It is Figure 5 A partial enlarged view of area A in

[0043] Figure 7 This is the front view of the partial cross-section of the mechanism of the integrated operation and charging machine in the present invention.

[0044] Figure 8 It is Figure 7 the partial enlarged view of area B in

[0045] Figure 9 This is the axonometric view of the integrated operation and charging machine with a suspension mechanism in the present invention.

[0046] Figure 10 This is the partial enlarged view when the mobile chassis is connected to the lateral adjustment unit in the present invention.

[0047] Figure 11 It is Figure 10 the structural schematic diagram after removing the footrest bracket.

[0048] The markings in the above figures are all:

[0049] 1. Chassis structure, 2. Support structure, 3. Fixing structure, 4. Robot. Specific embodiments

[0050] The following will further describe in detail the specific embodiments of the present invention by describing the optimal embodiments with reference to the accompanying drawings.

[0051] An integrated operation and charging machine for a humanoid robot includes a chassis structure 1, a fixing structure 3, and a support structure 2; the chassis structure 1 is connected to the fixing structure 3 through the support structure 2; the chassis structure 1 includes a mobile chassis 101; a roller mechanism is provided on the mobile chassis 101; the support structure 2 includes a support pile 21 connected to the mobile chassis 101; the fixing structure 3 includes a fixing bracket 31 connected to the support pile 21; the mobile chassis 101 is connected to the fixing bracket 31 through the support pile 21; a charging unit is provided on the support pile 21, and the charging unit includes a charger 22 connected to the support pile 21; a locking mechanism 32 is provided on the fixing bracket 31; the locking mechanism 32 includes a slider 321 connected to the fixing bracket 31 and capable of lateral movement; the present invention designs the product according to the center of gravity of the humanoid robot 4, and adopts the slider 321 to quickly fix the robot 4, and then conducts charging or battery replacement, and the equipment occupies a small area.

[0052] Four roller mechanisms are designed under the mobile chassis 101 of the present invention. During subsequent use, the humanoid robot 4 is fixed on the integrated operation and charging machine, which is convenient for quickly realizing the transportation and circulation of the robot 4.

[0053] The integrated operation and charging machine disclosed in the present invention is essentially a standby station structure, mainly for realizing the transfer of the robot 4 and subsequent charging operations.

[0054] In the present invention, the chassis structure 1 is the basic part of the entire device, which is used to bear the weight of the entire all-in-one machine and provide the moving function.

[0055] Support structure 2: It is used to connect the chassis structure 1 and the fixing structure 3, playing a role of connecting the upper and lower parts, and at the same time supporting the stability of the entire device.

[0056] The fixing structure 3 is used to fix the humanoid robot 4 to ensure the stability of the robot 4 during operation or charging.

[0057] The chassis structure 1 mainly includes a moving chassis 101: The moving chassis 101 is the main part of the chassis structure 1, on which a roller mechanism is provided for realizing the moving function of the device.

[0058] The roller mechanism is a key part of the moving chassis 101. It includes multiple rollers for supporting the device and enabling it to move smoothly on the ground.

[0059] The design of the roller mechanism usually considers terrain adaptability, load capacity, and steering flexibility.

[0060] The roller mechanism generally selects universal wheels.

[0061] The support structure 2 mainly includes support piles 21: The support piles 21 are connected to the moving chassis 101. The support piles 21 and the moving chassis 101 can be connected by bolts or welding, playing a role of support and connection.

[0062] A charging unit is provided on the support pile 21, which is the core part of the charging function.

[0063] The charging unit includes a charger 22 connected to the support pile 21 for providing power to the robot 4; the design of the charging unit needs to consider charging efficiency, compatibility, and safety.

[0064] The fixing structure 3 includes a fixing bracket 31: The fixing bracket 31 is connected to the support pile 21 for fixing the robot 4.

[0065] The design of the fixing bracket 31 needs to consider the size and shape of the robot 4 to ensure that it can firmly fix the robot 4.

[0066] The locking mechanism 32 is a key part of the fixing structure 3 for ensuring the stability of the position of the robot 4 during operation or charging.

[0067] The locking mechanism 32 includes a slider 321 that can move horizontally. The slider 321 can move horizontally to adapt to robots 4 of different sizes and fix them in appropriate positions.

[0068] Working principle:

[0069] Through the roller mechanism, the mobile chassis 101 can move the device so that the device can reach the position of the robot 4.

[0070] After reaching the position of the robot 4, the robot 4 is fixed on the fixed bracket 31 through the locking mechanism 32; the slider 321 moves horizontally to adapt to the size of the robot 4, and the plug-in component further fixes the position of the slider 321.

[0071] Charging: After the robot 4 is fixed, the robot 4 is charged through the charging unit on the support pile 21.

[0072] The all-in-one machine disclosed by the present invention integrates the functions of operation and charging, reduces the number of devices, and improves the use efficiency.

[0073] Through the reasonable design of the chassis structure 1, the support structure 2 and the fixing structure 3, the stability of the device during operation and charging is ensured.

[0074] Furthermore, in the present invention, the mobile chassis 101 includes two chassis brackets 11 distributed at intervals, and the two chassis brackets 11 are connected by a chassis cross arm 12; a lateral adjustment unit 6 for driving the chassis bracket 11 to swing is provided between the chassis cross arm 12 and the two chassis brackets 11; the mobile chassis 101 of the present invention mainly includes two chassis brackets 11 and a chassis cross arm 12, so that the horizontal projection of the mobile chassis 101 is U-shaped, forming an opening on one side, which facilitates the subsequent cooperation and use of the all-in-one machine and the robot 4.

[0075] In the present invention, the mobile chassis 101 includes two chassis brackets 11 distributed at intervals; the chassis brackets 11 are distributed on both sides of the robot 4, and this design can provide more stable support and at the same time provide installation positions for the roller mechanism and other components.

[0076] The two chassis brackets 11 are connected by a chassis cross arm 12.

[0077] The function of the chassis cross arm 12 is to connect the two chassis brackets 11 to form an integral structure, enhancing the rigidity and stability of the entire mobile chassis 101.

[0078] A lateral adjustment unit 6 is provided between the chassis cross arm 12 and the two chassis brackets 11 for driving the chassis bracket 11 to swing.

[0079] In the present invention, there are many types of the lateral adjustment unit 6, and specific selection can be made according to needs.

[0080] For example: the lateral adjustment unit 6 includes a hinged unit, and both ends of the chassis cross arm 12 are respectively connected to the chassis bracket 11 through a hinged unit, and the hinged unit can be a rotating pin or a rotating shaft.

[0081] Meanwhile, the lateral adjustment unit 6 further includes a footrest bracket 61. The middle of the footrest bracket 61 is connected to the chassis cross arm 12 through a rotating shaft. The footrest bracket 61 is further connected to a chassis bracket 11 through a connecting rod 62 respectively. To avoid interference, the connecting rod 62 is hinged to adjacent components. Subsequently, by stepping on the footrest bracket 61, the footrest bracket 61 swings, and through the connecting rod 62, the chassis bracket 11 realizes an opening and closing swing relative to the chassis cross arm 12 around the hinge unit.

[0082] Of course, other lateral adjustment units 6 are also feasible. Theoretically, any lateral adjustment unit 6 that can change the gap size between the two footrest brackets 61 is feasible.

[0083] The function of the lateral adjustment unit 6 in the present invention:

[0084] Swing drive: The moving chassis 101 can be adjusted to open and close through the lateral adjustment unit 6. In the contracted state, the floor area can be reduced, which is convenient for transportation and circulation; in the opened state, it is convenient for the robot 4 to enter and exit.

[0085] Furthermore, in the present invention, the roller mechanism includes a single roller mechanism 5; each single roller mechanism 5 includes a connecting bracket 51 connected to the chassis bracket 11, and a roller unit 52 is provided on the connecting bracket 51; in the present invention, the connecting bracket 51 can be welded to the chassis bracket 11 or can be connected in a detachable connection manner, such as bolts; the roller unit 52 is selected as a universal wheel.

[0086] The roller mechanism includes multiple single roller mechanisms 5, and each single roller mechanism 5 works independently to jointly realize the moving function of the entire device.

[0087] Each single roller mechanism 5 includes a connecting bracket 51, and the connecting bracket 51 is connected to the chassis bracket 11, playing a role in supporting and fixing the roller unit 52.

[0088] The roller unit 52 is installed on the connecting bracket 51 and is the core part of the roller mechanism, which is used to realize the moving and steering functions of the device.

[0089] The main function of the connecting bracket 51 is to support the roller unit 52 and fix it on the chassis bracket 11.

[0090] Through the connecting bracket 51, the roller unit 52 can be firmly installed on the chassis bracket 11 to ensure that it will not loosen or fall off during the moving process.

[0091] The connecting bracket 51 can also be used to adjust the position and angle of the roller unit 52 to adapt to different working conditions. For example, by adjusting the angle of the connecting bracket 51, the direction of the roller can be changed to realize the steering function of the device.

[0092] The roller unit 52 is the core component for the movement of the device. Through the rotation of the rollers, the device can move smoothly on the ground.

[0093] The design of the roller unit 52 usually takes into account the steering function. By changing the direction of the rollers, the device can achieve flexible steering operations.

[0094] The roller unit 52 needs to have sufficient load-bearing capacity to support the weight of the entire device and the weight of the robot 4.

[0095] Furthermore, in the present invention, the locking mechanism 32 further includes a placement groove 326 provided on the fixed bracket 31. The placement groove 326 is generally arranged horizontally and horizontally penetrates through the fixed bracket 31. And an adjustment unit is provided in the placement groove 326. The adjustment unit includes a guide block 322 provided in the placement groove 326. The guide block 322 is connected to the fixed bracket 31 through a fixing pin 323. The guide block 322 can move along the axial direction of the fixing pin 323. The setting of the guide block 322 facilitates the installation of the slider 321 on the fixed bracket 31. The slider 321 is inserted into the guide block 322, and the guide block 322 can move along the axial direction of the fixing pin 323. The slider 321 horizontally penetrates through the guide block 322. At the same time, in order to facilitate the locking and fixing of the slider 321, a plugging component is further provided on the guide block 322 in the present invention. The plugging component includes a plug pin 325. The plug pin 325 passes through the guide block 322 and is inserted into the slider 321. Subsequently, the plug pin 325 is inserted into the guide block 322 and the slider 321, thereby realizing the stability of the position of the slider 321 on the guide block 322 and facilitating the stability of the connection between the locking mechanism 32 and the robot 4.

[0096] In the present invention, the placement groove 326 is provided on the fixed bracket 31 for accommodating and fixing the adjustment unit.

[0097] The design of the placement groove 326 needs to ensure that the adjustment unit can be stably installed on the fixed bracket 31 and can perform necessary movement operations.

[0098] The adjustment unit is installed in the placement groove 326 for adjusting the position and state of the locking mechanism 32.

[0099] The main components of the adjustment unit include a guide block 322 and a fixing pin 323.

[0100] The guide block 322 is provided in the placement groove 326 and is connected to the fixed bracket 31 through a fixing pin 323.

[0101] The guide block 322 can move along the axial direction of the fixing pin 323, thereby realizing the adjustment function.

[0102] The fixing pin 323 is used to connect the guiding block 322 and the fixing bracket 31, ensuring that the guiding block 322 can move axially on the fixing bracket 31.

[0103] The slider 321 is arranged transversely through the guiding block 322. The slider 321 is a key component of the locking mechanism 32 and is used to fix the robot 4.

[0104] The slider 321 can adapt to robots 4 of different sizes by moving transversely and fix it in place.

[0105] The plug-in component is arranged on the guiding block 322 for further fixing the position of the slider 321.

[0106] The plug-in component includes a pin 325. The pin 325 passes through the guiding block 322 and is plugged on the slider 321 to ensure that the slider 321 does not move when fixing the robot 4.

[0107] Working principle

[0108] Installation and fixation:

[0109] The guiding block 322 is installed in the placement groove 326 of the fixing bracket 31 through the fixing pin 323. The fixing pin 323 ensures that the guiding block 322 can move axially in the placement groove 326 along the fixing pin 323.

[0110] The slider 321 passes transversely through the guiding block 322. The slider 321 can move transversely within the guiding block 322 to adapt to robots 4 of different sizes.

[0111] Adjustment and fixation:

[0112] When it is necessary to fix the robot 4, the slider 321 is adjusted to a suitable position by moving transversely to adapt to the size of the robot 4.

[0113] The guiding block 322 moves axially along the fixing pin 323 to further adjust the position of the slider 321, ensuring that the slider 321 can firmly fix the robot 4.

[0114] The pin 325 of the plug-in component passes through the guiding block 322 and is plugged on the slider 321 to further fix the position of the slider 321 and prevent the slider 321 from moving when fixing the robot 4.

[0115] Through the transverse movement of the slider 321 and the axial movement of the guiding block 322, the locking mechanism 32 can firmly fix the robot 4, ensuring that the robot 4 does not displace during operation or charging.

[0116] The pin 325 of the plug-in component further enhances the stability of the locking mechanism 32, ensuring that the robot 4 remains stable during use.

[0117] The designs of the slider 321 and the guiding block 322 enable the locking mechanism 32 to adapt to robots 4 of different sizes, improving the versatility and flexibility of the device.

[0118] Through the designs of the fixing pin 323 and the plug-in component, the locking mechanism 32 can firmly fix the robot 4, ensuring that the robot 4 remains stable during operation or charging.

[0119] Furthermore, in the present invention, a buffer component is provided between the guiding block 322 and the fixing bracket 31. The buffer component includes a buffer spring 324, and the buffer spring 324 is sleeved on the fixing pin 323; one end of the buffer spring 324 is connected to the guiding block 322, and the other end is connected to the inner wall of the placement groove 326; the buffer spring 324 is the core component of the buffer component and is used to absorb and relieve the impact force generated during the operation or charging of the robot 4.

[0120] The buffer spring 324 is sleeved on the fixing pin 323. The fixing pin 323 not only connects the guiding block 322 and the fixing bracket 31 but also provides support for the buffer spring 324.

[0121] One end of the buffer spring 324 is connected to the guiding block 322; the other end of the buffer spring 324 is connected to the inner wall of the placement groove 326.

[0122] The main function of the buffer spring 324 is to absorb the impact force generated during the operation or charging of the robot 4, protecting the locking mechanism 32 and the robot 4 from damage.

[0123] Providing elastic support: The buffer spring 324 provides elastic support, ensuring that the guiding block 322 can smoothly return to the initial position during movement, enhancing the stability and reliability of the locking mechanism 32.

[0124] By absorbing the impact force, the buffer spring 324 can reduce the wear between the guiding block 322 and the fixing bracket 31, extending the service life of the device.

[0125] Meanwhile, due to various inevitable errors in the manufacturing and control processes of the robot 4; that is to say, the holes fixed to the slider 321 on the robot 4 may have vertical offsets; in the case where the holes on the slider 321 and the plug pin 325 are not paired, the plug pin 325 can be pressed, and the plug pin 325 presses the slider 321 to axially descend a certain distance; the setting of this mechanism well solves the problem of the errors of the robot 4.

[0126] Further, in the present invention, a through hole for the fixing pin 323 to pass through is provided on the guiding block 322. The through hole includes an upper through hole and a lower through hole, and the inner diameter of the lower through hole is larger than that of the upper through hole; the end of the buffer spring 324 is embedded in the lower through hole; based on such a setting, the through hole is a stepped hole. Such a setting can not only facilitate the passing through of the fixing pin 323, but also form a stepped hole at the end of the through hole, facilitating the upper limit position of the support spring 324 and generating a coordinated cooperation effect.

[0127] In addition, the through hole is for the fixing pin 323 to pass through, ensuring that the guiding block 322 can move axially along the fixing pin 323 while maintaining stability.

[0128] The inner diameter of the lower through hole is larger than that of the upper through hole, providing an installation space for the buffer spring 324 to ensure that the buffer spring 324 can be stably embedded in the guiding block 322.

[0129] Through this design, the guiding block 322 can maintain stability during movement, and at the same time, the buffer spring 324 can effectively absorb the impact force and reduce wear.

[0130] The fixing pin 323 passes through the upper through hole on the guiding block 322 to ensure that the guiding block 322 can move axially along the fixing pin 323.

[0131] The end of the buffer spring 324 is embedded in the lower through hole, and the larger inner diameter of the lower through hole provides enough space for the buffer spring 324 to ensure that the spring 324 can be stably installed on the guiding block 322.

[0132] When the guiding block 322 is subjected to an external force, the buffer spring 324 is compressed or stretched in the lower through hole to absorb the impact force.

[0133] The elastic restoring force of the buffer spring 324 enables the guiding block 322 to smoothly return to the initial position, reducing the influence of the external force on the locking mechanism 32.

[0134] Further, in the present invention, the fixed bracket 31 includes two monomer brackets 311 distributed at intervals. One ends of the two monomer brackets 311 are connected by a connecting frame 312; the horizontal projection of the fixed bracket 31 is in a U shape; the fixed bracket 31 is connected to the support pile 21 through the connecting frame 312; with such a setting, the fixed bracket 31 includes two monomer brackets 311 distributed at intervals. This design can provide more stable support and at the same time provide installation positions for the locking mechanism 32 and other components.

[0135] One ends of the two monomer brackets 311 are connected by a connecting frame 312. The function of the connecting frame 312 is to connect the two monomer brackets 311 into a whole, enhancing the rigidity and stability of the entire fixed bracket 31.

[0136] The horizontal projection is U-shaped: The horizontal projection of the fixed bracket 31 is U-shaped. This design can better adapt to the shape of the humanoid robot 4 and ensure that the robot 4 can be stably fixed on the bracket.

[0137] The fixed bracket 31 is connected to the support pile 21 through the connecting frame 312. The support pile 21 plays a role in supporting and connecting, and fixes the fixed bracket 31 on the mobile chassis 101; the fixed bracket 31 and the support pile 21 can be connected by welding.

[0138] Furthermore, in the present invention, a suspension mechanism is provided on the support pile 21. The suspension mechanism includes a suspension bracket 8. A suspension crossbeam 81 is provided on the suspension bracket 8, and a hoisting rope is provided on the suspension crossbeam 81; both the suspension mechanism and the locking mechanism 32 can achieve the hanging connection of the robot 4; it is convenient for area assembly and avoids the influence of a single connection point on the assembly of the robot 4 shell.

[0139] In the present invention, the suspension bracket 8 is an arc-shaped bracket. One end of the suspension bracket 8 is inserted into the support pile 21, and an assembly sinking groove is provided on the support pile 21; subsequently, bolts can be used to achieve the fixed connection between the suspension bracket 8 and the support pile 21.

[0140] The suspension bracket 8 is installed on the support pile 21 to support and fix the suspension crossbeam 81.

[0141] The design of the suspension bracket 8 needs to consider strength and stability to ensure that it can withstand the forces generated during hoisting.

[0142] The suspension crossbeam 81 is installed on the suspension bracket 8 to connect the hoisting rope.

[0143] The suspension crossbeam 81 usually has a certain length to be able to adapt to robots 4 or devices of different sizes.

[0144] The hoisting rope is connected to the suspension crossbeam 81 for hoisting the robot 4.

[0145] The hoisting rope can be made of steel wire rope, nylon rope or other high-strength materials. The specific selection depends on the weight to be hoisted and the working condition requirements.

[0146] In the present invention, the main function of the suspension mechanism is to hoist the robot 4 through the hoisting rope.

[0147] This design enables the device to conveniently perform hoisting operations, especially when it is necessary to move the robot 4 from one position to another.

[0148] Further, in the present invention, a foot support unit 7 is provided on the chassis cross arm 12. The foot support unit 7 includes a support block 71 provided on the chassis cross arm 12, and a placement groove 72 is provided on the support block 71; the support block 71 is installed on the chassis cross arm 12 for supporting the foot of the humanoid robot 4.

[0149] The design of the support block 71 needs to consider strength and stability to ensure that it can bear the weight of the robot 4.

[0150] The placement groove 72 is provided on the support block 71 for placing the foot of the humanoid robot 4.

[0151] The shape and size of the placement groove 72 need to match the foot of the robot 4 to ensure that the robot 4 can be stably placed on the support block 71.

[0152] The foot support unit 7 is mainly used for the lapping and placement of the foot area of the robot 4 when using the integrated machine to transfer the robot 4, facilitating the separation of the robot 4's feet from the ground and facilitating subsequent transfer operations.

[0153] The main function of the foot support unit 7 is to support the foot of the humanoid robot 4 to ensure the stability of the robot 4 during operation.

[0154] Through the design of the support block 71 and the placement groove 72, the foot support unit 7 can provide stable support to prevent the robot 4 from shaking or tipping over during operation or charging.

[0155] The shape and size of the placement groove 72 can be adjusted according to different models of the robot 4 to adapt to feet of different sizes.

[0156] A method of using an integrated machine for operation and charging of a humanoid robot 4, the method comprising the following steps:

[0157] Step 1: Determine the model of the robot 4 to be processed; select an integrated machine for operation and charging of a humanoid robot 4 with a suitable size according to the model of the robot 4;

[0158] Step 2: After Step 1 is determined, then connect the integrated machine for operation and charging to the robot 4 to be processed;

[0159] Step 3: After Step 2 is completed, perform transfer or charging operations on the robot 4 to be processed according to the working conditions;

[0160] Step 4: Repeat Steps 1 - 3 to achieve the processing operation of the corresponding robot 4.

[0161] Based on the above method of use, the transfer or charging operation of the robot 4 can be achieved.

[0162] The specific method of use is as follows:

[0163] Step 1: Determine the model of the robot 4 and select a device with a suitable size

[0164] Determine the model of the robot 4: First, it is necessary to clarify the specific model of the humanoid robot 4 to be processed.

[0165] Robots 4 of different models may vary in size, weight, interfaces, etc. Therefore, it is necessary to select a suitable device according to the specific model.

[0166] Select a device with a suitable size: According to the model of the robot 4, select a suitable-sized integrated operation and charging device.

[0167] The size of the device should be able to adapt to the size of the robot 4 to ensure that the robot 4 can be stably fixed on the device and the operation and charging can be carried out smoothly.

[0168] Step 2: Connect the integrated operation and charging device to the robot 4

[0169] After determining the suitable device, connect the integrated operation and charging device to the robot 4. The connection methods may include mechanical connection (such as fixing the robot 4 with the locking mechanism 32) and electrical connection (such as connecting the charging interface).

[0170] Ensure that all connections are firm and reliable, the mechanical connection can stably fix the robot 4, and the electrical connection can supply power normally.

[0171] The purpose of checking the connection is to ensure that there will be no loosening or poor contact during the operation and charging processes.

[0172] Step 3: Perform operation or charging according to the working conditions

[0173] Operation: If the working conditions require the robot 4 to move to another position, move the robot 4 to the specified position through the moving chassis 101 and the roller mechanism of the integrated operation and charging device.

[0174] During the movement, components such as the locking mechanism 32 and the sole support unit 7 should ensure the stability of the robot 4 and prevent it from shaking or tipping over.

[0175] Charging: If the working conditions require charging the robot 4, charge the robot 4 through the charging unit on the support pile 21.

[0176] Ensure that the charging interface is correctly connected and the charging process proceeds stably. During the charging process, the locking mechanism 32 should ensure that the robot 4 is fixed in place and does not move.

[0177] Step 4: Repeat the above steps

[0178] For multiple robots 4 or multiple operations, repeat steps 1-3.

[0179] Before each operation, it is necessary to confirm the model of the robot 4 and the compatibility of the equipment, ensure a firm connection, and perform corresponding operation or charging operations according to the working conditions.

[0181] The present invention discloses an integrated operation and charging machine for a humanoid robot 4, which mainly includes a chassis structure 1, a fixing structure 3, and a supporting structure 2; the chassis structure 1 is connected to the fixing structure 3 through the supporting structure 2; the chassis structure 1 includes a moving chassis 101; a roller mechanism is provided on the moving chassis 101; the supporting structure 2 includes a supporting pile 21 connected to the moving chassis 101; the fixing structure 3 includes a fixing bracket 31 connected to the supporting pile 21; the moving chassis 101 is connected to the fixing bracket 31 through the supporting pile 21; a charging unit is provided on the supporting pile 21, and the charging unit includes a charger 22 connected to the supporting pile 21; a locking mechanism 32 is provided on the fixing bracket 31; the locking mechanism 32 includes a slider 321 connected to the fixing bracket 31 and capable of lateral movement.

[0182] The moving chassis 101 includes two chassis brackets 11 and a chassis cross arm 12 distributed at intervals; the two chassis brackets 11 are respectively a left chassis bracket 11 and a right chassis bracket 11.

[0183] The chassis cross arm 12 is connected to the footrest bracket 61 through a hinge pin 63, and at the same time, a lateral adjustment unit 6 is provided between the chassis cross arm 12 and the footrest bracket 61. The lateral adjustment unit 6 is essentially a footrest link 62 assembly; the footrest bracket 61 is used to control the opening and closing of the left chassis bracket 11 and the right chassis bracket 11.

[0184] In the present invention, a single roller mechanism 5 is provided at each end of each chassis bracket 11; facilitating the movement of the equipment.

[0185] The fixing structure 3 includes a fixing bracket 31, and a locking mechanism 32 is provided at the end of the fixing bracket 31. The locking mechanism 32 includes a guide block 322, a fixing pin 323, a spring 324, a slider 321, and a bolt 325.

[0186] Two fixing pins 323 limit the guide block 322 in the placement groove 326 of the fixing bracket 31.

[0187] Meanwhile, the spring 324 is nested on the fixed pin 323 and placed below the guide block 322, providing axial support to the guide block 322 under no pressure. The slider 321 is fixed to the waist of the humanoid robot 4 and is laterally locked by the bolt 325 to fix the robot 4. After the robot 4 loses power, since the robot 4 has no self-locking mechanism, the slider 321 is pressed and slides downward axially. The spring 324 is compressed under force, playing a buffering role and reducing the impact of the robot 4's descent after power failure to achieve the effect of protecting the robot 4.

[0188] After the robot 4 loses power, the two feet of the robot 4 can be placed between the chassis cross arm 12 and the footrest bracket 61, restricting the free sliding of the two feet of the robot 4 while lifting the robot 4 off the ground, facilitating transportation and transfer.

[0189] A charging unit is provided on the support pile 21. The charging unit includes a charger 22 connected to the support pile 21. The charger 22 is fixed to the support pile 21 by screws and can charge the robot 4.

[0190] The mobile chassis 101 can be adjusted in terms of opening and closing through the foot pedal structure. In the contracted state, the floor area can be reduced, facilitating transportation and transfer. In the opened state, it is convenient for the robot 4 to enter and exit.

[0191] A hole is provided on the slider 321, which cooperates with the bolt 325 to achieve a locking effect. Without locking, lateral sliding can be realized.

[0192] Due to various inevitable errors in the manufacturing and control processes of the robot 4, that is, the hole where the slider 321 is fixed may have vertical offsets. When the hole of the slider 321 and the bolt 325 are not paired, by pressing the bolt 325, the bolt 325 presses the slider 321 to axially descend a certain distance. The setting of this mechanism well solves the problem of the robot 4's errors.

[0193] Based on the above disclosure, the robot 4 can be quickly lifted, then charged or battery-swapped, with a small floor area of the equipment. The robot 4 can be quickly transported and transferred.

[0194] The present invention designs the product according to the center of gravity of the humanoid robot 4 and adopts the slider 321 to quickly fix the robot 4, then charge or battery-swap it, with a small floor area of the equipment.

[0195] Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. An integrated operation and charging machine for a humanoid robot, characterized in that, It includes a chassis structure, a fixing structure and a supporting structure; the chassis structure is connected to the fixing structure through the supporting structure; The chassis structure includes a mobile chassis; a roller mechanism is provided on the mobile chassis; The supporting structure includes supporting piles connected to the mobile chassis; The fixing structure includes a fixing bracket connected to the supporting piles; The mobile chassis is connected to the fixing bracket through the supporting piles; A charging unit is provided on the supporting piles, and the charging unit includes a charger connected to the supporting piles; A locking mechanism is provided on the fixing bracket; the locking mechanism includes a slider connected to the fixing bracket and capable of moving horizontally.

2. The integrated operation and charging machine for a humanoid robot according to claim 1, characterized in that The mobile chassis includes two chassis brackets distributed at intervals, and the two chassis brackets are connected by a chassis cross arm; a lateral adjustment unit for driving the chassis brackets to swing is provided between the chassis cross arm and the two chassis brackets.

3. The integrated operation and charging machine for a humanoid robot according to claim 1, characterized in that, The roller mechanism includes a single roller mechanism; each single roller mechanism includes a connecting bracket connected to the chassis bracket, and a roller unit is provided on the connecting bracket.

4. The integrated operation and charging machine for a humanoid robot according to claim 1, wherein The locking mechanism further includes a placement groove provided on the fixing bracket, an adjustment unit is provided in the placement groove, the adjustment unit includes a guiding block provided in the placement groove, and the guiding block is connected to the fixing bracket through a fixing pin; the guiding block can move along the axial direction of the fixing pin; the slider horizontally penetrates through the guiding block; a plugging component is further provided on the guiding block; the plugging component includes a plug pin, and the plug pin passes through the guiding block and is plugged on the slider.

5. The integrated operation and charging machine for a humanoid robot according to claim 4, characterized in that, A buffer component is provided between the guiding block and the fixing bracket, the buffer component includes a buffer spring, and the buffer spring is sleeved on the fixing pin; one end of the buffer spring is connected to the guiding block, and the other end is connected to the inner wall of the placement groove.

6. The integrated operation and charging device for a humanoid robot according to claim 5, wherein, A through hole for the fixing pin to pass through is provided on the guiding block, the through hole includes an upper through hole and a lower through hole, and the inner diameter of the lower through hole is larger than that of the upper through hole; the end of the buffer spring is embedded in the lower through hole.

7. A combined operation and charging device for a humanoid robot according to claim 1, characterized in that, The fixing bracket includes two single brackets distributed at intervals, and one ends of the two single brackets are connected by a connecting frame; the horizontal projection of the fixing bracket is U-shaped; the fixing bracket is connected to the supporting piles through the connecting frame.

8. The integrated operation and charging machine for a humanoid robot according to claim 1, characterized in that, A suspension mechanism is provided on the supporting piles, the suspension mechanism includes a suspension bracket, a suspension cross beam is provided on the suspension bracket, and a hoisting rope is provided on the suspension cross beam.

9. The integrated operation and charging machine for a humanoid robot according to claim 2, wherein A foot sole support unit is provided on the chassis cross arm, the foot sole support unit includes a support block provided on the chassis cross arm, and a placement groove is provided on the support block.

10. The usage method of an integrated operation and charging machine for a humanoid robot according to any one of claims 1-9, characterized in that, The usage method includes the following steps: Step 1: Determine the model of the robot to be processed; select a running and charging integrated machine for humanoid robots with a suitable size according to the robot model; Step 2: After Step 1 is determined, then connect the running and charging integrated machine to the robot to be processed; Step 3: After Step 2 is completed, perform operations of transporting or charging the robot to be processed according to the working conditions requirements; Step 4: Repeat Steps 1-3 to realize the processing operation of the corresponding robot.

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