A waist structure of a palletizing humanoid robot integrating telescopic swing and rotation

Abstract

The application discloses a kind of set telescopic swing rotation integration's stacking type humanoid robot waist structure.In the bottom of trunk, rotary bearing is installed with driving link and circular arc spring in;In the main body of trunk, bottom mounting plate is connected with rotary bearing, between bottom mounting plate and top mounting plate, driving motor is driven the sliding end of scissor mechanism through slider guide rail mechanism;In the top of trunk, harmonic reducer is installed on top mounting plate, and is connected with top trunk transmission;Measurement unit includes absolute value encoder, guyed height displacement sensor and inclination angle sensor, respectively for real-time monitoring the rotation angle of waist structure, telescopic displacement and swing amplitude;Absolute value encoder is connected with driving link.The application optimizes motion performance and load capacity by the structure integration of movement, swing and rotation, while combining sensor greatly improves stacking efficiency and reliability.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a waist structure for a palletizing humanoid robot that integrates telescopic, swinging, and rotating mechanisms. Background Technology

[0002] With the deep integration of artificial intelligence, 5G communication, and industrial internet technologies, intelligent logistics systems are rapidly evolving towards greater autonomy and flexibility. In this process, mobile palletizing humanoid robots with three-dimensional spatial operation capabilities are gradually becoming the core execution unit of intelligent warehousing systems. Humanoid palletizing robots, with their biomimetic structural advantages, can better adapt to unstructured warehousing environments. However, due to limitations in their structure, traditional palletizing robots have difficulty meeting the operational needs of modern high-density warehousing scenarios for automated storage and retrieval systems in their vertical operating range. Furthermore, reliance on external lifting devices for auxiliary solutions leads to secondary problems such as decreased system coordination efficiency and insufficient spatial adaptability.

[0003] Traditional palletizing robots are kinematically constrained by the geometric limitations of rigid joint chains. This structural feature limits the vertical working range of the end effector, making it difficult to cover the high-bay racking commonly used in modern smart warehouses. Furthermore, engineering practice often employs combined solutions with additional lifting platforms, but this strategy not only increases equipment weight and energy consumption, but its movement space requirements also conflict with the space-constrained design principles of warehouse environments. In multi-robot collaborative operation scenarios, the dynamic interference of such external equipment further exacerbates the complexity of path planning, significantly degrading the overall system efficiency and reliability. Summary of the Invention

[0004] The purpose of this invention is to provide a waist design for a palletizing humanoid robot that integrates telescopic, swinging, and rotating functions. To address the problems existing in the background art, this invention improves the flexibility of the waist by integrating its rotation, telescopic, and swinging functions. At the same time, by adopting a slewing bearing, a harmonic reducer, and a scissor mechanism, the load-bearing capacity, telescopic range, and swinging range of the robot's waist are significantly improved, ensuring the reliability and practicality of the robot during palletizing. This solves the problem of work hindrance caused by structural limitations and further improves work efficiency.

[0005] The technical solution adopted in this invention is: I. A waist structure for a palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms. The waist structure includes: The bottom of the torso includes a slewing bearing, a drive link, and a circular arc spring. The slewing bearing is used to realize rotational movement, and the circular arc spring is used to drive the slewing bearing to return to its original position and stabilize its swing. The drive link is connected to the rotating part of the slewing bearing. The main body includes a bottom mounting plate, a scissor mechanism, a slider guide rail mechanism, a drive motor, and a top mounting plate. The bottom mounting plate is connected to the rotating part of the slewing bearing. The drive motor drives the sliding end of the scissor mechanism through the slider guide rail mechanism, thereby realizing the telescopic movement. The top of the torso includes a harmonic reducer and a top torso. The harmonic reducer is mounted on a top mounting plate and is connected to the top torso for reciprocating swinging motion. The measurement unit includes an absolute encoder, a wire height displacement sensor, and a tilt angle sensor, which are respectively installed at the bottom of the torso, the main body of the torso, and the top of the torso, and are used to monitor the rotation angle, extension displacement, and swing amplitude of the waist structure in real time; the absolute encoder is connected to the drive linkage.

[0006] Specifically, the bottom of the torso also includes a rotating outer shell, an internal gear, a rotating shaft, a main bevel gear, and a driven bevel gear. The rotating outer shell is a cylindrical shell with an open top. A slewing bearing is installed on the annular end face of the top. An absolute encoder and a motor are installed on the inner bottom surface, with the absolute encoder located at the center of the inner bottom surface. A main bevel gear is arranged on the output side of the motor. A coaxial internal gear, a rotating shaft, and a driven bevel gear are arranged between the main bevel gear and the inner sidewall of the rotating outer shell. The rotating shaft passes through the center of the internal gear and the driven bevel gear, and the rotation axes of the driven bevel gear and the main bevel gear are perpendicular to each other. The main bevel gear has a horizontally positioned rotating shaft, while the driven bevel gear and the internal gear have vertically positioned rotating shafts. The motor is connected to the main bevel gear, and the main bevel gear meshes with the driven bevel gear, so that when the motor drives the main bevel gear to rotate, it can drive the driven bevel gear to rotate synchronously. The driven bevel gear is connected to the internal gear through a rotary shaft. The lower end of the rotary shaft is connected to the inner bottom surface of the rotating housing through a thrust ball bearing. The outer ring of the internal gear meshes with the inner ring tooth profile of the rotary support bearing. The inner ring of the rotary support bearing is connected to the detection shaft of the absolute encoder through a drive linkage. The inner ring of the rotary support bearing is connected to the bottom mounting plate.

[0007] Specifically, the circular arc spring is arc-shaped and arranged circumferentially along the slewing bearing. One end of the circular arc spring is fixed to the outer ring of the slewing bearing by a spring fixing member, and the other end is connected to the drive connecting rod. The circular arc spring provides elastic cushioning when the drive connecting rod rotates to its limit position and applies a return force to the drive connecting rod after the drive motor stops driving, thereby improving the smoothness of the rotating mechanism and the angle control accuracy.

[0008] Optionally, the outer ring of the slewing support bearing is fixedly connected to the rotating housing, and an annular connecting block is connected above the inner ring. The annular connecting block is connected to the bottom mounting plate. A connecting groove is provided on the annular connecting block. One end of the drive connecting rod extends into the connecting groove and connects to the inner ring of the slewing support bearing. The other end of the drive connecting rod is connected to the absolute encoder through a keyway.

[0009] Specifically, the main body of the torso also includes a bottom mounting plate, a drive cylinder, a bottom push rod, and a top mounting plate; each of the bottom and top mounting plates is provided with a set of slider guide rail mechanisms, and two sets of scissor mechanisms are arranged between the bottom and top mounting plates. The lower fixed end of each scissor mechanism is hinged to the bottom mounting plate, the upper fixed end is hinged to the top mounting plate, the lower movable end is hinged to the slider guide rail mechanism on the bottom mounting plate, and the upper movable end is hinged to the slider guide rail mechanism on the top mounting plate; a pull wire height displacement sensor and a drive cylinder are mounted on the bottom mounting plate, the pull wire of the pull wire height displacement sensor is fixedly connected to the top mounting plate, the drive cylinder is drivenly connected to the bottom push rod, and the bottom push rod is connected to the slider guide rail mechanism on the bottom mounting plate.

[0010] Furthermore, the main body of the torso also includes an elastic auxiliary component, which includes a lifting tension spring and a lifting compression spring. The two ends of the lifting tension spring are respectively connected to the bottom mounting plate and the top mounting plate. When the scissor mechanism rises, it is stretched to provide auxiliary lifting force, and when the scissor mechanism retracts, it provides return force. The lifting compression spring is arranged between the lower fixed end and the lower movable end of each scissor mechanism, and / or between the drive cylinder and the bottom push rod. When the scissor mechanism descends or retracts rapidly, the lifting compression spring is compressed to provide cushioning, reduce inertial impact, and improve the smoothness and reliability of the telescopic movement.

[0011] Specifically, the scissor lift mechanism mainly consists of a scissor lift rod; the scissor lift rod is mainly composed of a driving rod and a driven rod hinged together, with the upper and lower ends of the driving rod being the upper fixed end and lower movable end of the scissor lift mechanism, respectively, and the upper and lower ends of the driven rod being the upper movable end and lower fixed end of the scissor lift mechanism, respectively; the slider guide rail mechanism mainly consists of two guide rails, a slider, a limiting block, and a connecting plate; the two guide rails are arranged in parallel and spaced apart, with two limiting blocks arranged at both ends of each guide rail, and a slider slidingly arranged on each guide rail, the two sliders being connected by a connecting plate, the connecting plate being hinged to the movable end of the scissor lift rod, and the connecting plate on the bottom mounting plate being connected to the bottom push rod.

[0012] Specifically, the top of the torso also includes a harmonic reducer base and a top bearing base; the harmonic reducer base and the top bearing base are symmetrically arranged at intervals on the top surface of the top mounting plate of the torso body, and a harmonic reducer is installed at the center of the harmonic reducer base; the top torso is T-shaped, including a transverse part and a longitudinal part, a tilt angle sensor is installed on the transverse part of the top torso, and the longitudinal part located below the transverse part is arranged between the harmonic reducer base and the top bearing base, the side of the transverse part near the harmonic reducer base is fixedly connected to the output disc of the harmonic reducer, and the side near the top bearing base is engaged with the shaft of the top bearing base through a support shaft.

[0013] Specifically, the absolute encoder, the draw wire height displacement sensor, and the tilt angle sensor are all connected to an external control unit and transmit their respective real-time signals to the control unit; the drive motor, the drive cylinder, and the harmonic reducer are all connected to an external control unit and receive their respective control signals from the control unit.

[0014] II. A control method applied to the waist structure of the above-mentioned palletizing humanoid robot The control method includes: Rotational control: The bottom of the torso employs a dual-closed-loop rotational control system, which includes position closed-loop control and elastic torque compensation closed-loop control. The position closed-loop control includes using the real-time rotation angle of the drive link detected by the absolute encoder as a feedback signal to control the rotation angle position of the drive motor. The elastic torque compensation closed-loop control includes establishing a compensation model based on the elastic torque-angle characteristics of the arc spring, calculating the elastic disturbance torque of the arc spring acting on the drive link based on the real-time rotation angle of the drive link, generating a corresponding torque compensation amount, and applying it to the drive motor in a feedforward manner to counteract the disturbance torque caused by the arc spring return force, gear transmission clearance, and external force disturbance, thereby improving the control stability and angle accuracy of the rotation mechanism. Controlling telescopic movement: The current telescopic displacement is obtained based on the real-time signal collected by the cable height displacement sensor. The difference between the current telescopic displacement and the target telescopic displacement is obtained to obtain the displacement deviation. The control quantity of the drive cylinder is obtained based on the displacement deviation through the PID control method and a control signal is generated. The drive cylinder is controlled through the control signal to achieve closed-loop regulation. Controlling reciprocating oscillating motion: The current oscillation angle is obtained based on the real-time signal collected by the tilt angle sensor. The difference between the current oscillation angle and the target oscillation angle is obtained to obtain the oscillation angle deviation. The control quantity of the harmonic reducer is obtained based on the oscillation angle deviation through the PID control method, and a control signal is generated. The speed of the harmonic reducer is controlled by the control signal to achieve closed-loop regulation.

[0015] The beneficial effects of this invention are: 1. This invention integrates the robot's waist rotation, extension, and swing into one unit, improving the flexibility of the waist's operation and ensuring the ease with which the robot can lift and lower goods in all directions when palletizing.

[0016] 2. This invention employs three driving mechanisms that work independently, achieving the independence of each movement. This allows the operation of the three movements to be completed simultaneously in a short time, significantly reducing palletizing time and improving work efficiency.

[0017] 3. The present invention adopts a slewing support bearing, a harmonic reducer and a scissor mechanism to greatly improve the load-bearing capacity, extension and swing range of the waist of the palletizing robot. At the same time, the scissor mechanism ensures the portability of the robot waist when it is not working and improves its spatial adaptability. Attached Figure Description

[0018] Figure 1 A three-dimensional structural diagram provided for a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the torso bottom structure of a specific embodiment of the present invention; Figure 3 This is a schematic diagram of the main body structure of the torso in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the torso structure from below, representing a specific embodiment of the present invention. Figure 5 This is a schematic diagram of the top structure of the torso in a specific embodiment of the present invention; Figure 6 This is a three-dimensional schematic diagram of the robot's waist structure, which is a specific embodiment of the present invention.

[0019] In the diagram: 1. Bottom of the torso; 2. Main body of the torso; 3. Top of the torso; 4. Waist structure shell; 5. Rotating shell; 6. Drive linkage; 7. Slewing support bearing; 8. Internal gear; 9. Slewing shaft; 10. Main bevel gear; 11. Drive motor; 12. Absolute encoder; 13. Driven bevel gear; 14. Cable height displacement sensor; 15. Bottom mounting plate; 16. Bottom bearing seat; 17. Drive cylinder; 18. Scissor lift; 19. Bottom 20. Push rod; 21. Bottom connecting plate; 22. Limiting block; 23. Guide rail; 24. Slider; 25. Top mounting plate; 26. Top front connecting plate; 27. Top rear connecting plate; 28. Harmonic reducer; 29. ​​Harmonic reducer base; 30. Top torso; 31. Tilt angle sensor; 32. Top bearing seat; 33. Spring fixing component; 34. Circular arc spring; 35. Lifting tension spring; 36. Lifting compression spring; 37. Annular connecting block. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] 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.

[0022] The first aspect of the present invention provides a waist structure for a palletizing humanoid robot that integrates telescopic, swinging, and rotating functions.

[0023] like Figure 1As shown, the waist structure of the present invention includes: The bottom of the torso 1, located at the lowest point of the waist structure, includes a slewing bearing 7, a drive link 6, and a circular arc spring 33. The slewing bearing 7 is used to realize rotational movement, and the circular arc spring 33 is used to drive the slewing bearing 7 to return to its original position and stabilize its swing. The drive link 6 is connected to the rotating part of the slewing bearing 7. The torso body 2 is arranged above the torso bottom 1 and includes a bottom mounting plate 15, a scissor mechanism, a slider guide rail mechanism, a drive motor 11, and a top mounting plate 24. The bottom mounting plate 15 is connected to the slewing bearing 7 of the torso bottom 1. When the slewing bearing 7 rotates, it can drive the torso body 2 to rotate. The scissor mechanism and the slider guide rail mechanism are arranged between the bottom mounting plate 15 and the top mounting plate 24. The drive motor 11 drives the slider guide rail mechanism, and then drives the sliding end of the scissor mechanism, thereby realizing the telescopic movement. The top of the torso 3 is arranged above the main body 2 of the torso and includes a harmonic reducer 27 and a top torso 29. The harmonic reducer 27 is mounted on the top mounting plate 24 of the main body 2 of the torso and is connected to the top torso 29 for transmission to realize reciprocating swinging motion. The measurement unit includes an absolute encoder 12, a wire height displacement sensor 14, and a tilt angle sensor 30, which are respectively installed at the bottom of the torso 1, the main body of the torso 2, and the top of the torso 3, and are used to monitor the rotation angle, telescopic displacement, and swing amplitude of the waist structure in real time. The detection shaft of the absolute encoder 12 is connected to the drive linkage 6.

[0024] The movement process of the waist structure of the present invention is as follows: the bottom of the torso 1 drives the main body of the torso 2 and the top of the torso 3 to rotate; the main body of the torso 2 drives the top of the torso 3 to move in a straight line in the vertical direction; and the top of the torso 3 drives the top torso 29 to swing, with the swing axis being the horizontal axis.

[0025] like Figure 2 As shown, the bottom of the body 1 also includes a rotating housing 5, an internal gear 8, a rotating shaft 9, a main bevel gear 10, and a driven bevel gear 13; the rotating housing 5 is a cylindrical housing with an open top, and a slewing bearing 7 is installed on the annular end face of the top of the rotating housing 5. The outer ring of the slewing bearing 7 is fixedly installed, and the inner ring is a rotating component; an absolute encoder 12 and a motor 11 are installed on the inner bottom surface of the rotating housing 5, and the absolute encoder 12 is located at the center of the inner bottom surface.

[0026] A main bevel gear 10 is arranged on the output side of the motor 11. A coaxial internal gear 8, a rotating shaft 9, and a driven bevel gear 13 are arranged between the main bevel gear 10 and the inner wall of the rotating housing 5. The rotating shaft 9 passes through the center of the internal gear 8 and the driven bevel gear 13. The rotation axes of the driven bevel gear 13 and the main bevel gear 10 are perpendicular to each other, with the rotation axis of the main bevel gear 10 parallel to the horizontal direction, and the rotation axes of the driven bevel gear 13 and the internal gear 8 parallel to the vertical direction. The motor 11 is connected to the main bevel gear 10 in a transmission manner. The main bevel gear 10 meshes with the driven bevel gear 13, so that when the main bevel gear 10 is running, it can drive the driven bevel gear 13 to rotate synchronously. The driven bevel gear 13 is connected to the internal gear 8 through the rotary shaft 9. The lower end of the rotary shaft 9 is connected to the inner bottom surface of the rotating housing 5 through the thrust ball bearing. The outer ring of the internal gear 8 meshes with the inner ring tooth profile of the rotary support bearing 7. The inner ring of the rotary support bearing 7 is connected to the output shaft of the absolute encoder 12 through the drive connecting rod 6. The inner ring of the rotary support bearing 7 is connected to the bottom mounting plate 15.

[0027] In practice, there are two circular arc springs 33. The circular arc springs 33 are arc-shaped and are arranged circumferentially on the outer side of the inner ring of the slewing bearing 7, with their two ends connected to the spring fixing member 32 and the drive connecting rod 6, respectively.

[0028] One end of each circular arc spring 33 is fixed to the outer ring of the slewing bearing 7 via a spring fixing member 32, and the other end is fixed to the connecting part at the bottom of the drive link 6. When the drive motor 11 drives the main bevel gear 10, the driven bevel gear 13, and the slewing shaft 9 to rotate the drive link 6 around the center, the circular arc springs 33 on both sides synchronously generate elastic deformation, providing elastic buffer when the drive link 6 moves to its limit position, and applying a return force after the drive motor 11 stops driving, so that the drive link 6 can stably return to its initial position. By setting two symmetrically arranged circular arc springs 33, the swing stability of the drive link 6 can be effectively improved, the impact and vibration of the link during rapid start and stop can be reduced, the smoothness and response accuracy of the rotational action can be improved, and the angle signal collected by the absolute encoder 12 can be made more stable and reliable.

[0029] Specifically, the outer ring of the slewing support bearing 7 is fixedly connected to the rotating housing 5 by bolts, and an annular connecting block 36 is connected above the inner ring. The annular connecting block 36 is connected to the bottom mounting plate 15. A connecting groove is provided on the annular connecting block. One end of the drive connecting rod 6 extends into the connecting groove and connects to the inner ring of the slewing support bearing 7. The other end of the drive connecting rod 6 is connected to the absolute encoder 12 through a keyway, and the keyways are interference-fitted.

[0030] Specifically, threaded holes are provided on the inner bottom surface of the connecting groove and the end of the drive connecting rod 6, and the drive connecting rod 6 is threadedly connected to the inner ring of the slewing support bearing 7.

[0031] Specifically, the main bevel gear 10 and the output shaft of the motor 11, the driven bevel gear 13 and the rotary shaft 9, and the internal gear 8 and the rotary shaft 9 are all keyway connections.

[0032] Furthermore, the lower end of the rotary shaft 9 is provided with a radially protruding stepped portion, which is located between the bevel gear 13 and the thrust ball bearing.

[0033] like Figure 3 and Figure 4 As shown, the main body 2 also includes a bottom mounting plate 15, a drive cylinder 17, a bottom push rod 19, and a top mounting plate 24. A set of slider guide rail mechanisms are arranged on the top surface of the bottom mounting plate 15 and the bottom surface of the top mounting plate 24. Two sets of scissor mechanisms are arranged between the bottom mounting plate 15 and the top mounting plate 24. The lower fixed end of each scissor mechanism is hinged to the bottom mounting plate 15, the upper fixed end is hinged to the top mounting plate 24, the lower movable end is hinged to the slider guide rail mechanism on the bottom mounting plate 15, and the upper movable end is hinged to the slider guide rail mechanism on the top mounting plate 24. A pull wire height displacement sensor 14 and a drive cylinder 17 are installed on the bottom mounting plate 15. The pull wire of the pull wire height displacement sensor 14 is fixedly connected to the lower surface of the top mounting plate 24. The drive cylinder 17 is connected to the bottom push rod 19. The extension and retraction direction of the drive cylinder 17 is parallel to the movement direction of the slider 23 on the guide rail 22. The bottom push rod 19 is connected to the slider guide rail mechanism on the bottom mounting plate 15.

[0034] Furthermore, such as Figure 3 As shown, the main body 2 also includes an elastic auxiliary component for assisting the telescopic movement of the scissor mechanism. This elastic auxiliary component includes a lifting tension spring 34 and a lifting compression spring 35. The lifting tension spring 34 is positioned between the two sets of scissor mechanisms and arranged vertically. When the drive cylinder 17 drives the scissor mechanism upward, the lifting tension spring 34 is stretched to provide auxiliary lift and reduce the load on the drive cylinder 17. When the scissor mechanism descends, the lifting tension spring 34 releases its elastic potential energy to provide a return force for the descent of the top mounting plate 24, thereby improving the smoothness of the telescopic process. The lifting compression spring 35 is located at the lower part of the scissor mechanism, with both ends connected to the bottom bearing seat 16 and the bottom push rod 19, respectively. It is compressed when the scissor mechanism descends or retracts rapidly to provide cushioning, absorb the inertial impact of the scissor mechanism, and prevent structural collisions or damage caused by rapid movement of the telescopic mechanism, thus improving the overall reliability and service life of the telescopic mechanism.

[0035] Specifically, the pull wire height displacement sensor 14 is fixedly installed on the bottom mounting plate 15 to ensure verticality. The pull wire is fixedly connected to the lower surface of the top mounting plate 24. When the top mounting plate 24 moves up and down, it pulls the pull wire to move up and down, thereby obtaining the extension and retraction displacement of the robot's waist and torso.

[0036] Specifically, the scissor mechanism mainly consists of four scissor rods 18, each primarily composed of two intersecting straight rods hinged together. These two rods are the driving rod and the driven rod, respectively. The upper and lower ends of the driving rod are the upper fixed end and lower movable end of the scissor mechanism, respectively, while the upper and lower ends of the driven rod are the upper movable end and lower fixed end, respectively. The slider guide mechanism mainly consists of two guide rails 22, sliders 23, limiting blocks 21, and a connecting plate. The two guide rails 22 are arranged in parallel and spaced apart. Two limiting blocks 21 are arranged at both ends of each guide rail 22. A slider 23 is slidably arranged on each guide rail 22. The sliders 23 on the two guide rails 22 are connected by a connecting plate, which is hinged to the movable ends (upper and lower movable ends) of the scissor rods 18. The connecting plate in the slider guide mechanism on the bottom mounting plate 15 is connected to the bottom push rod 19. The scissor mechanism has a wider range of extension and retraction, further improving the spatial adaptability of the robot's waist structure.

[0037] Furthermore, in each scissor lift mechanism, the lower fixed end of the scissor lift 18 is hinged to the bottom bearing seat 16, which is mounted on the bottom mounting plate 15. The upper fixed ends of the scissor lift 18 in both scissor lift mechanisms are respectively hinged to two bearing seats on the top front connecting plate 25, which is mounted on the top mounting plate 24.

[0038] like Figure 5 As shown, the top of the torso 3 also includes a harmonic reducer base 28 and a top bearing base 31. The harmonic reducer base 28 and the top bearing base 31 are symmetrically arranged at intervals on the top surface of the top mounting plate 24 of the torso body 2. A harmonic reducer 27 is installed at the center of the harmonic reducer base 28. The top torso 29 is T-shaped and includes a transverse part and a longitudinal part. A tilt angle sensor 30 is installed on the bottom surface of the transverse part of the top torso 29. The longitudinal part located below the transverse part is arranged between the harmonic reducer base 28 and the top bearing base 31. The side surface of the transverse part near the harmonic reducer base 28 is fixedly connected to the output disc of the harmonic reducer 27. The side near the top bearing base 31 is shaft-fitted with the top bearing base 31 through a support shaft provided on this side surface.

[0039] Preferably, the upper surface of the tilt angle sensor 30 is fitted to the bottom surface of the lateral portion of the top torso 29. The tilt angle sensor 30 is threadedly connected to the bottom surface of the lateral portion of the top torso 29. When the top torso 3 swings, it causes the tilt angle sensor 30 to swing with the same amplitude, thereby directly obtaining the swing amplitude of the robot's waist and torso.

[0040] Furthermore, the absolute encoder 12, the draw wire height displacement sensor 14, and the tilt angle sensor 30 are all connected to the external control unit and transmit their respective real-time signals to the control unit; the drive motor 11, the drive cylinder 17, and the harmonic reducer 27 are all connected to the external control unit and receive their respective control signals from the control unit.

[0041] Furthermore, such as Figure 6 As shown, the waist structure also includes a waist structure shell 4.

[0042] The working process of the waist structure of this invention is as follows: Bottom of the torso 1: Motor 11 drives the main bevel gear 10 to rotate around a horizontal rotation axis. The main bevel gear 10 drives the driven bevel gear 13 to rotate around a vertical rotation axis. The driven bevel gear 13 drives the internal gear 8 to rotate coaxially through the rotary shaft 9. The internal gear 8 drives the inner ring of the rotary support bearing 7 to rotate, which in turn drives the bottom mounting plate 15 to rotate. While the inner ring of the rotary support bearing 7 is rotating, it drives the input shaft of the absolute encoder 12 to rotate through the drive linkage 6, thereby obtaining the rotation angle of the robot's waist and torso.

[0043] Body 2: The drive cylinder 17 drives the bottom connecting plate 20 to reciprocate along the sliding block 23 on the guide rail 22 via the bottom push rod 19, causing the active rod of the scissor lift 18 to move, which in turn drives the top mounting plate 24 to move up and down. The cable height displacement sensor 14 detects the displacement of the top mounting plate 24 through the cable mechanism, and, together with the limit block 21, constrains the stroke of the sliding block 23 to prevent overtravel from damaging the mechanical structure, thereby improving the robot's adaptability to different working environments and ensuring the stability and reliability of height adjustment.

[0044] The top of the torso 3 is driven by a harmonic reducer 27 to achieve a back-and-forth swinging function. The top bearing housing 31 provides support for the harmonic reducer 27 to reduce the radial load on the transmission system. The tilt angle sensor 30 synchronously detects the swing angle and provides real-time feedback for robot posture adjustment.

[0045] A second aspect of the present invention provides a control method applied to the waist structure of the above-mentioned palletizing humanoid robot.

[0046] The method of the present invention includes the following steps: Rotational control: The bottom of the torso 1 adopts a dual closed-loop rotational control system, which includes position closed-loop control and elastic torque compensation closed-loop control. The position closed-loop control includes: using the real-time rotation angle of the drive link 6 detected by the absolute encoder 12 as a feedback signal to control the rotation angle position of the drive motor 11. The elastic torque compensation closed-loop control includes: establishing a compensation model based on the elastic torque-angle characteristics of the arc spring 33, calculating the elastic disturbance torque of the arc spring 33 acting on the drive link 6 based on the real-time rotation angle of the drive link 6, and generating a corresponding torque compensation amount, which is applied to the drive motor 11 in a feedforward manner to counteract the disturbance torque caused by the arc spring return force, gear transmission clearance and external force disturbance, thereby improving the control stability and angle accuracy of the rotation mechanism. Controlling telescopic movement: The current telescopic displacement is obtained based on the real-time signal collected by the cable height displacement sensor 14. The difference between the current telescopic displacement and the target telescopic displacement is obtained to obtain the displacement deviation. The control quantity of the drive cylinder 17 is obtained based on the displacement deviation through the PID control method and a control signal is generated. The drive cylinder 17 is controlled through the control signal to achieve closed-loop regulation. Controlling reciprocating oscillating motion: The current oscillation angle is obtained based on the real-time signal collected by the tilt angle sensor 30. The difference between the current oscillation angle and the target oscillation angle is obtained to obtain the oscillation angle deviation. The control quantity of the harmonic reducer 27 is obtained based on the oscillation angle deviation through the PID control method and a control signal is generated. The speed of the harmonic reducer 27 is controlled by the control signal to achieve closed-loop regulation.

[0047] The waist structure and control method of the palletizing humanoid robot provided by this invention can be applied to palletizing humanoid robots.

[0048] 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 waist structure for a palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms, characterized in that: include: The bottom of the torso (1) includes a slewing bearing (7), a drive link (6) and a circular arc spring (33). The slewing bearing (7) is used to realize rotational movement, and the circular arc spring (33) is used to drive the slewing bearing (7) to return to its original position and swing stably. The drive link (6) is connected to the rotating part of the slewing bearing (7). The main body (2) includes a bottom mounting plate (15), a scissor mechanism, a slider guide rail mechanism, a drive cylinder (17) and a top mounting plate (24). The bottom mounting plate (15) is connected to the rotating part of the slewing bearing (7). The drive cylinder (17) drives the sliding end of the scissor mechanism through the slider guide rail mechanism, thereby realizing the telescopic movement. The top of the torso (3) includes a harmonic reducer (27) and a top torso (29). The harmonic reducer (27) is mounted on the top mounting plate (24) and is connected to the top torso (29) for the purpose of realizing swinging motion. The measuring unit includes an absolute encoder (12), a wire height displacement sensor (14), and a tilt angle sensor (30), which are respectively installed at the bottom of the torso (1), the main body of the torso (2), and the top of the torso (3) to monitor the rotation angle, extension displacement, and swing amplitude of the waist structure in real time; the absolute encoder (12) is connected to the drive linkage (6).

2. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 1, characterized in that: The bottom of the trunk (1) also includes a rotating outer shell (5), an internal gear (8), a rotating shaft (9), a main bevel gear (10), and a secondary bevel gear (13). The rotating outer shell (5) is a cylindrical shell with an open top. A slewing bearing (7) is installed on the end face of the top. An absolute encoder (12) and a drive motor (11) are installed on the inner bottom surface. The absolute encoder (12) is located at the center of the inner bottom surface. The output side of the drive motor (11) is provided with a main bevel gear (10). A coaxial internal gear (8), a rotating shaft (9), and a driven bevel gear (13) are arranged between the main bevel gear (10) and the inner wall of the rotating housing (5). The rotating shaft (9) passes through the internal gear (8) and the driven bevel gear (13). The rotation axes of the driven bevel gear (13) and the main bevel gear (10) are perpendicular to each other. The rotation axis of the main bevel gear (10) is horizontal, while the rotation axes of the driven bevel gear (13) and the internal gear (8) are vertical. The main bevel gear (10) is connected to the main bevel gear (10), the main bevel gear (10) meshes with the driven bevel gear (13), the driven bevel gear (13) is connected to the internal gear (8) through the rotary shaft (9), the lower end of the rotary shaft (9) is connected to the inner bottom surface of the rotating housing (5) through the thrust ball bearing, the outer ring of the internal gear (8) meshes with the inner ring of the slewing bearing (7), the inner ring of the slewing bearing (7) is connected to the detection shaft of the absolute encoder (12) through the drive linkage (6), and the inner ring of the slewing bearing (7) is connected to the bottom mounting plate (15).

3. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 2, characterized in that: The circular arc spring (33) is arc-shaped and is arranged along the circumference of the slewing bearing (7). One end of the circular arc spring (33) is fixed to the outer ring of the slewing bearing (7) by the spring fixing member (32), and the other end is connected to the drive connecting rod (6).

4. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 2, characterized in that: The outer ring of the slewing bearing (7) is fixedly connected to the rotating housing (5), and an annular connecting block (36) is connected above the inner ring. The annular connecting block (36) is connected to the bottom mounting plate (15). A connecting groove is provided on the annular connecting block (36). One end of the drive rod (6) extends into the connecting groove and is connected to the inner ring of the slewing bearing (7). The other end of the drive rod (6) is connected to the absolute encoder (12) through a keyway.

5. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 1, characterized in that: The main body (2) also includes a bottom push rod (19). Each of the bottom mounting plate (15) and the top mounting plate (24) is provided with a set of slider guide rail mechanism. Two sets of scissor mechanisms are arranged between the bottom mounting plate (15) and the top mounting plate (24). The lower fixed end of each scissor mechanism is hinged to the bottom mounting plate (15), the upper fixed end is hinged to the top mounting plate (24), the lower movable end is hinged to the slider guide rail mechanism on the bottom mounting plate (15), and the upper movable end is hinged to the slider guide rail mechanism on the top mounting plate (24). A pull wire height displacement sensor (14) and a drive cylinder (17) are installed on the bottom mounting plate (15). The pull wire of the pull wire height displacement sensor (14) is fixedly connected to the top mounting plate (24). The drive cylinder (17) is connected to the bottom push rod (19) for transmission. The bottom push rod (19) is connected to the slider guide rail mechanism on the bottom mounting plate (15).

6. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 5, characterized in that: The main body (2) also includes an elastic auxiliary component, which includes a lifting tension spring (34) and a lifting compression spring (35); the two ends of the lifting tension spring (34) are respectively connected to the bottom mounting plate (15) and the top mounting plate (24); the lifting compression spring (35) is arranged between the lower fixed end and the lower movable end of each scissor mechanism, and / or between the drive cylinder (17) and the bottom push rod (19).

7. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 5, characterized in that: The scissor mechanism is mainly composed of a scissor bar (18); the scissor bar (18) is mainly composed of a driving bar and a driven bar hinged together. The upper end and lower end of the driving bar are the upper fixed end and the lower movable end of the scissor mechanism, respectively, and the upper end and lower end of the driven bar are the upper movable end and the lower fixed end of the scissor mechanism, respectively. The slider guide mechanism mainly consists of two guide rails (22), sliders (23), limiting blocks (21) and connecting plates. The two guide rails (22) are arranged in parallel and spaced apart. Two limiting blocks (21) are arranged at both ends of each guide rail (22). A slider (23) is slidably arranged on each guide rail (22). The two sliders (23) are connected by a connecting plate. The connecting plate is hinged to the movable end of the scissor bar (18). The connecting plate on the bottom mounting plate (15) is connected to the bottom push rod (19).

8. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 5, characterized in that: The top of the torso (3) also includes a harmonic reducer seat (28) and a top bearing seat (31); the harmonic reducer seat (28) and the top bearing seat (31) are symmetrically arranged at intervals on the top surface of the top mounting plate (24) of the torso body (2), and a harmonic reducer (27) is installed at the center of the harmonic reducer seat (28); the top torso (29) is T-shaped, including a transverse part and a longitudinal part, and a tilt angle sensor (30) is installed on the transverse part of the top torso (29). The longitudinal part located below the transverse part is arranged between the harmonic reducer seat (28) and the top bearing seat (31). The side of the transverse part near the harmonic reducer seat (28) is fixedly connected to the output disk of the harmonic reducer (27), and the side near the top bearing seat (31) is shaft-fitted with the top bearing seat (31) through a support shaft.

9. The waist structure of the palletizing humanoid robot integrating telescopic, swinging, and rotating mechanisms as described in claim 8, characterized in that: The absolute encoder (12), the draw wire height displacement sensor (14), and the tilt angle sensor (30) are all connected to the external control unit and transmit their respective real-time signals to the control unit. The drive motor (11), the drive cylinder (17), and the harmonic reducer (27) are all connected to the external control unit and receive their respective control signals from the control unit.

10. A control method applied to the waist structure of a palletizing humanoid robot as described in any one of claims 1 to 9, characterized in that, include: Controlling rotational motion: The bottom of the torso (1) adopts a dual closed-loop rotational control system, which includes position closed-loop control and elastic torque compensation closed-loop control; The position closed-loop control includes: using the real-time rotation angle of the drive link (6) detected by the absolute encoder (12) as a feedback signal to control the rotation angle position of the drive motor (11); the elastic torque compensation closed-loop control includes: establishing a compensation model based on the elastic torque-angle characteristics of the arc spring (33), calculating the elastic disturbance torque of the arc spring (33) acting on the drive link (6) based on the real-time rotation angle of the drive link (6), generating the corresponding torque compensation amount, and applying it to the drive motor (11) in a feedforward manner. Controlling telescopic motion: The current telescopic displacement is obtained based on the real-time signal collected by the cable height displacement sensor (14). The difference between the current telescopic displacement and the target telescopic displacement is obtained to obtain the displacement deviation. The control quantity of the drive cylinder (17) is obtained based on the displacement deviation through the PID control method and a control signal is generated. The drive cylinder (17) is controlled through the control signal to achieve closed-loop regulation. Controlling reciprocating swing motion: The current swing angle is obtained based on the real-time signal collected by the tilt angle sensor (30). The difference between the current swing angle and the target swing angle is obtained to obtain the swing angle deviation. The control quantity of the harmonic reducer (27) is obtained based on the swing angle deviation by the PID control method and a control signal is generated. The speed of the harmonic reducer (27) is controlled by the control signal to achieve closed-loop regulation.

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