Humanoid robot for operating a template machine

Abstract

The utility model provides a kind of humanoid robot for operating template machine, comprising: chassis;Control cabinet is set on chassis;Waist component includes waist rotation component and the waist pitch component connected with waist rotation component;Body part is connected with pitch driving part, and body part is provided with body part camera;Left movable arm is set in the left side of body part;Right movable arm is set in the right side of body part;Left gripper part is connected with left movable arm, and left gripper part is equipped with left gripper camera and left gripper force sensor;Right gripper part is connected with right movable arm, and right gripper part is equipped with right gripper camera and right gripper force sensor.The humanoid robot is mainly aimed at large size template machine sewing operation to carry out machine replacement.The humanoid robot can realize the grabbing of cutting piece, the placement of cutting piece, the opening and closing of template and the start-stop operation of template machine.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a humanoid robot for operating a template machine. Background Technology

[0002] Currently, all template machines on the market are operated manually, which involves monotonous tasks and long working hours. Coupled with the current labor shortage, factories are finding it difficult to recruit workers to operate these machines. With the development of embodied intelligence, new technologies are gradually migrating from the virtual world into reality, and numerous humanoid robots are being developed to solve real-world problems.

[0003] How to design a humanoid robot capable of picking up and placing cut pieces, opening and closing templates, arranging cut pieces, and starting and stopping the template machine is a problem that needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by this utility model is to provide a humanoid robot for operating a template machine that can perform tasks such as picking up and placing cut pieces, opening and closing templates, arranging cut pieces, and starting and stopping the template machine.

[0005] To solve the above-mentioned technical problems, this utility model provides a humanoid robot for operating a template machine, comprising:

[0006] Chassis, wherein the chassis is movable;

[0007] The control cabinet is mounted on the chassis.

[0008] The waist assembly includes a waist rotation assembly and a waist pitch assembly connected to the waist rotation assembly; the waist rotation assembly includes a waist turntable and a waist rotation drive, the waist turntable is connected to the output shaft of the waist rotation drive, the central axis of the output shaft of the waist rotation drive is perpendicular to the horizontal plane, the waist rotation drive can drive the waist turntable to rotate, and the waist rotation drive is disposed inside the control cabinet; the waist pitch assembly includes a pitch connector and a pitch drive, the pitch connector is mounted on the waist turntable, the pitch drive is mounted on the pitch connector, and the central axis of the output shaft of the pitch drive is parallel to the horizontal plane;

[0009] A body component is connected to the output shaft of the pitch drive, which can drive the body component to rotate; a body camera is provided on the body component.

[0010] The left movable arm is located on the left side of the body part;

[0011] The right movable arm is located on the right side of the body part;

[0012] The left gripper component is connected to the left movable arm, and the left gripper component is equipped with a left gripper camera and a left gripper force sensor;

[0013] The right gripper component is connected to the right movable arm, and the right gripper component is equipped with a right gripper camera and a right gripper force sensor;

[0014] The waist rotation drive, the pitch drive, the body camera, the left gripper camera, the left gripper force sensor, the right gripper camera, and the right gripper force sensor are all connected to the controller.

[0015] Preferably, the waist turntable is provided with a rotation zero-point deceleration column; a detection switch is provided on the top surface of the control cabinet; the detection switch is connected to the controller; the rotation zero-point deceleration column senses the position of the detection switch and generates a sensing signal, the detection switch transmits the sensing signal to the controller, and the controller controls the waist rotation drive to rotate according to the sensing signal.

[0016] Preferably, a pitch limiting post is installed on the pitch connector, and the pitch limiting post is disposed on the rotation path of the body component.

[0017] Preferably, the waist rotation drive includes a rotary servo motor and a waist reducer connected to the rotary servo motor; the output shaft of the waist reducer is connected to the waist turntable.

[0018] Preferably, the pitch drive includes a pitch servo motor and a pitch reducer connected to the pitch servo motor; the output shaft of the pitch reducer is connected to the body component.

[0019] Preferably, the chassis is mounted on an automated guided vehicle.

[0020] Preferably, the controller employs an embodied intelligence algorithm to control the humanoid robot. The embodied intelligence algorithm involves manually remotely controlling the humanoid robot to perform actions. During the action execution, data is collected from the body camera, the left gripper camera, the left gripper force sensor, the right gripper camera, and the right gripper force sensor. This data is used to train a model. The model is a locally deployable model with specific execution tasks. The model controls the humanoid robot to autonomously assess the surrounding environment, identify the task and task objects, and perform operations, including grasping fabric pieces, placing fabric pieces, opening and closing garment templates, and starting and stopping the template machine.

[0021] As described above, the humanoid robot of this utility model for operating a template machine has the following beneficial effects: the humanoid robot is mainly used to replace the sewing operation of large-size template machines; the humanoid robot can realize the grasping of cut pieces, the placement of cut pieces, the opening and closing of templates, and the start and stop of template machines. Attached Figure Description

[0022] Figure 1 The diagram shown is a front three-dimensional structural diagram of the humanoid robot used to operate the template machine in this embodiment.

[0023] Figure 2 The diagram shown is a rear three-dimensional structural diagram of the humanoid robot used to operate the template machine in this embodiment.

[0024] Figure 3 The diagram shows a three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment, with a left gripper camera and a left gripper force sensor mounted on its left movable arm.

[0025] Figure 4 The diagram shows a three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment, with a right gripper camera and a right gripper force sensor mounted on its right movable arm.

[0026] Figure 5 The diagram shows a three-dimensional structure of a humanoid robot used to operate a template machine in this embodiment, with a rotation zero-point deceleration column and a detection switch.

[0027] Figure 6 The diagram shown is a front perspective three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment when the waist component is connected to the body parts.

[0028] Figure 7 This diagram shows the rear three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment when the waist component is connected to the body parts.

[0029] Figure 8 The diagram shown is a top view of the humanoid robot used to operate the template machine in this embodiment.

[0030] Figure 9 This diagram shows the humanoid robot used to operate the template machine in this embodiment, positioned in front of the cutting sheet table.

[0031] Figure 10 This is a three-dimensional structural diagram of a humanoid robot used to operate a template machine in this embodiment, when it opens an unsewn garment template.

[0032] Figure 11 The diagram shown is a three-dimensional structural schematic of the humanoid robot used to operate the template machine to grasp the cut piece in this embodiment.

[0033] Figure 12 The diagram shows a three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment, which grasps the cut piece and faces the cutting piece table after the waist turntable rotates.

[0034] Figure 13 The diagram shown is a three-dimensional structural schematic of the humanoid robot used to operate the template machine to grasp the cut piece in this embodiment.

[0035] Figure 14 The diagram shows a three-dimensional structure of the humanoid robot used to operate the template machine in this embodiment, which grasps the cut piece and faces the cutting table after the waist turntable rotates.

[0036] Figure 15 This is a three-dimensional structural diagram showing the humanoid robot used to operate the template machine in this embodiment driving the upper plate of an unsewn garment template to slowly fall.

[0037] Figure 16 The diagram shows a three-dimensional structure of a humanoid robot that operates a template machine pulling a sewn garment template out of the template machine.

[0038] Figure 17 The diagram shows a three-dimensional structure of a humanoid robot used to operate the template machine in this embodiment, moving a sewn garment template to the side table of the template machine.

[0039] Figure 18 The diagram shows a three-dimensional structure of a humanoid robot used to operate a template machine in this embodiment, clamping an unsewn garment template.

[0040] Figure 19 The diagram shows a three-dimensional structure of a humanoid robot used to operate a template machine in this embodiment, moving an unsewn garment template in front of the template machine.

[0041] Figure 20 This is a three-dimensional structural diagram showing the humanoid robot used to operate the template machine clamping a garment template that has been sewn.

[0042] Figure 21 The diagram shows a three-dimensional structure of a humanoid robot, used to operate a template machine, moving a sewn garment template to the cutting table in this embodiment.

[0043] Figure 22 This is a three-dimensional structural diagram showing the humanoid robot operating the template machine in this embodiment opening a garment template that has been sewn.

[0044] Figure 23The diagram shown is a three-dimensional structural schematic of the humanoid robot used to operate the template machine to grasp and complete the cut pieces in this embodiment.

[0045] Figure 24 This is a three-dimensional structural diagram showing the humanoid robot used to operate the template machine placing the finished cut pieces on the finished cut piece placement table in this embodiment.

[0046] Figure 25 The diagram shown is a schematic of the humanoid robot used to operate the template machine under the control of the controller in this embodiment.

[0047] Figure 26 This diagram shows the workflow of the humanoid robot operating the template machine in this embodiment.

[0048] Explanation of icon numbers

[0049] 100 chassis

[0050] 200 control cabinet

[0051] 210 Detection Switch

[0052] 300 waist component

[0053] 310 Waist Rotation Component

[0054] 311 Waist Turntable

[0055] 3111 Rotary Zero-Point Deceleration Column

[0056] 312 Waist Rotation Drive

[0057] 3121 Rotary Servo Motor

[0058] 3122 Waist Gear Reducer

[0059] 320 Waist Pitch Component

[0060] 321 Pitch connector

[0061] 3211 Pitch Limiting Post

[0062] 3212 Connecting Plate

[0063] 322 Pitch drive

[0064] 3221 Pitch Servo Motor

[0065] 3222 Pitch Gear Reducer

[0066] 400 body parts

[0067] 410 Body Headquarters

[0068] 420 Body Connection Section

[0069] 410 Body Camera

[0070] 510 Left movable arm

[0071] 520 Right movable arm

[0072] 610 Left gripper component

[0073] 620 Left Grip Camera

[0074] 630 Left Grip Force Sensor

[0075] 710 Right gripper assembly

[0076] 720 Right Grip Camera

[0077] 730 Right Grip Force Sensor

[0078] 800 controller

[0079] 11 Template Machine

[0080] 12 cutting tables

[0081] 13 Template machine side table

[0082] 14. Table for placing the cut pieces

[0083] 15. Place the cut pieces on a table.

[0084] 16. Complete the cutting piece placement table.

[0085] 21 pieces of fabric

[0086] 22. On the cut piece

[0087] 23. Complete the cutting process.

[0088] 31 Unsewn garment templates

[0089] 32. Garment templates that have been sewn. Detailed Implementation

[0090] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0091] Please refer to the accompanying drawings. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0092] like Figures 1 to 8 As shown, the humanoid robot for operating the template machine in this embodiment includes:

[0093] Chassis 100, chassis 100 is movable;

[0094] Control cabinet 200 is mounted on chassis 100;

[0095] The waist assembly 300 includes a waist rotation assembly 310 and a waist pitch assembly 320 connected to the waist rotation assembly 310. The waist rotation assembly 310 includes a waist turntable 311 and a waist rotation drive 312. The waist turntable 311 is connected to the output shaft of the waist rotation drive 312. The central axis of the output shaft of the waist rotation drive 312 is perpendicular to the horizontal plane. The waist rotation drive 312 can drive the waist turntable 311 to rotate. The waist rotation drive 312 is disposed inside the control cabinet 200. The waist pitch assembly 320 includes a pitch connector 321 and a pitch drive 322. The pitch connector 321 is mounted on the waist turntable 311, and the pitch drive 322 is mounted on the pitch connector 321. The central axis of the output shaft of the pitch drive 322 is parallel to the horizontal plane.

[0096] The body component 400 is connected to the output shaft of the pitch drive 322, which can drive the body component 400 to rotate; a body camera 410 is provided on the body component 400.

[0097] The left movable arm 510 is located on the left side of the body part 400;

[0098] The right movable arm 520 is located on the right side of the body part 400;

[0099] The left gripper component 610 is connected to the left movable arm 510. The left gripper component 610 is equipped with a left gripper camera 620 and a left gripper force sensor 630.

[0100] The right gripper component 710 is connected to the right movable arm 520. The right gripper component 710 is equipped with a right gripper camera 720 and a right gripper force sensor 730.

[0101] The waist rotation drive 312, pitch drive 322, body camera 410, left gripper camera 620, left gripper force sensor 630, right gripper camera 720 and right gripper force sensor 730 are all connected to the controller 800.

[0102] The waist assembly 300, including the waist turntable 311, pitch connector 321, and pitch drive 322, is mounted above the control cabinet 200. The waist assembly 300 provides ample operating space for the left movable arm 510 and right movable arm 520. The body component 400 is mounted above the waist assembly 300, and a body camera 410 is mounted on the body component 400 for visual monitoring of the robot's operation. The controller 800 is connected to the template machine 11 and controls the start and stop of the template machine 11.

[0103] Left movable arm 510 and right movable arm 520 are respectively mounted on both sides of body component 400. Both left and right movable arms 510 and 520 are robotic articulated arms. Left gripper component 610 is mounted at the end of left movable arm 510, and right gripper component 710 is mounted at the end of right movable arm 520. A left gripper camera 620 mounted on left movable arm 510 is used to monitor the end of left gripper component 610; a right gripper camera 720 mounted on right movable arm 520 is used to monitor the end of right gripper component 710. A left gripper force sensor 630 mounted on left movable arm 510 is used to monitor the force at the end of left gripper component 610; a right gripper force sensor 730 mounted on right movable arm 520 is used to monitor the force at the end of right gripper component 710.

[0104] The waist component 300 and the body component 400 constitute the body structure, enabling the left movable arm 510 and the right movable arm 520 to have capabilities beyond their basic working space, i.e. Figure 8 As shown, when the waist rotation drive 312 drives the waist turntable 311 to rotate 360 ​​degrees, the maximum actual working area of ​​the left movable arm 510 and the right movable arm 520 is the first circular working area A traversed by the left movable arm 510 and the right movable arm 520; when the waist rotation drive 312 drives the waist turntable 311 to rotate 360 ​​degrees, and the pitch drive 322 drives the body component 400 to rotate, as... Figure 8 As shown, the maximum actual working area of ​​the left movable arm 510 and the right movable arm 520 is the second extended circular working area B traversed by the left movable arm 510 and the right movable arm 520.

[0105] like Figure 7 As shown, the body component 400 includes a body body 410 and a body connection portion 420 connected to the lower part of the body body 410; the pitch connector 321 includes two opposing connecting plates 3211; the two connecting plates 3211 are mounted on a waist turntable 311; the pitch drive 322 is mounted on one of the connecting plates 3211. The body connection portion 420 is connected to the pitch drive 322.

[0106] like Figures 1 to 8 As shown, the waist rotation assembly 310 is based on the waist turntable 311 and is mounted on the top plate of the control cabinet 200. The waist turntable 311 has a cylindrical through hole in the middle, which allows the relevant cables of the body structure to pass through and be introduced into the interior of the control cabinet 200, and ensures that the cables will not be tangled when the waist rotation assembly 310 is working.

[0107] like Figure 9 As shown, the main workflow of this utility model revolves around the template machine 11, with the cutting piece laying table 12 and the template machine side table 13 respectively arranged on both sides of the template machine 11. Garment templates can be placed on the cutting piece laying table 12. The garment templates can be moved between the template machine 11, the template machine side table 13, and the cutting piece laying table 12 by a humanoid robot that operates the template machine. The template machine side table 13 is used to temporarily place the sewn garment templates, leaving working space for the upper template operation of the template machine 11. The lower cutting piece placement table 14 is used to place the lower cutting piece 21. The upper cutting piece placement table 15 is used to place the upper cutting piece 22. The finished cutting piece placement table 16 is used to place the sewn finished cutting piece 23. The lower cutting piece placement table 14 is placed perpendicular to the cutting piece laying table 12. The upper cutting piece placement table 15 is placed perpendicular to the lower cutting piece placement table 14. The finished cutting piece placement table 16 is placed side-by-side with the upper cutting piece placement table 15.

[0108] The humanoid robot used to operate the template machine is initially positioned between the cutting sheet laying table 12, the cutting sheet placement table 15, and the cutting sheet placement table 14, and can move between the cutting sheet laying table 12, the template machine 11, and the template machine side table 13.

[0109] The workflow of the humanoid robot operating the template machine in this embodiment includes the following steps:

[0110] like Figure 1 , Figure 9 and Figure 10As shown, 1) the humanoid robot for operating the template machine initially stops in front of the cutting table 12, and the unsewn garment template 31 is placed on the cutting table 12; the humanoid robot for operating the template machine moves the left gripper 610 and the right gripper 710 to below the unsewn garment template 31, and pushes open the upper plate of the unsewn garment template 31 through the synchronous movement of the left movable arm 510 and the right movable arm 520, thus opening the unsewn garment template 31;

[0111] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 10 , Figure 11 , Figure 12 , Figure 25 , Figure 26 As shown, 2) After the humanoid robot used to operate the template machine opens the unsewn garment template 31, the waist rotation drive 312 drives the waist turntable 311 to rotate 90 degrees, so that the humanoid robot faces the under-cut piece placement table 14; the humanoid robot's controller 800 drives the left movable arm 510 and the right movable arm 520 to move, so that the left gripper component 610 and the right gripper component 710 grasp the under-cut piece 21; the body camera 410, the left gripper camera 620 and the right gripper camera 720 monitor the state of the garment piece grasping, the left gripper force sensor 630 collects the force data of the left gripper component 610, and the right gripper force sensor 730 collects the force data of the right gripper component 710; the controller 800 controls the left movable arm 510, the right movable arm 520, the left gripper component 610 and the right gripper component 710 to ensure that the single-layer under-cut piece 21 is grasped; the controller 800 stores an embodied intelligent algorithm;

[0112] 3) After the humanoid robot operating the template machine grasps the lower piece 21, the waist rotation drive 312 drives the waist turntable 311 to rotate 90 degrees, so that the humanoid robot faces the cutting table 12; the humanoid robot's controller 800 drives the left movable arm 510 and the right movable arm 520 to move, so that the left gripper component 610 and the right gripper component 710 place the lower piece 21 on the unsewn garment template 31; at the same time, the body camera 410, the left gripper camera 620 and the right gripper camera 720 monitor the placement status of the lower piece, the left gripper force sensor 630 collects the force data of the left gripper component 610, and the right gripper force sensor 730 collects the force data of the right gripper component 710; the controller 800 controls the left movable arm 510, the right movable arm 520, the left gripper component 610 and the right gripper component 710 to ensure the accurate placement of the lower piece 21 on the unsewn garment template 31;

[0113] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 12 , Figure 13 , Figure 14 , Figure 25 , Figure 26 As shown in Figure 4), after the humanoid robot used to operate the template machine lays out the cut piece 21, the waist rotation drive 312 drives the waist turntable 311 to rotate 180 degrees, so that the humanoid robot faces the table 15 placed on the cut piece; the controller 800 of the humanoid robot drives the left movable arm 510 and the right movable arm 520 to move, so that the left gripper component 610 and the right gripper component 710 grasp the cut piece 22; at the same time, the body camera 410, the left gripper camera 620 and the right gripper camera 720 monitor the cut piece grasping status, the left gripper force sensor 630 collects the force data of the left gripper component 610, and the right gripper force sensor 730 collects the force data of the right gripper component 710; the controller 800 controls the left movable arm 510, the right movable arm 520, the left gripper component 610 and the right gripper component 710 to ensure that the single layer of cut piece 22 is grasped;

[0114] 5) After the humanoid robot operating the template machine grasps the cut piece 22, the waist rotation drive 312 drives the waist turntable 311 to rotate 180 degrees, so that the humanoid robot faces the cutting table 12; the humanoid robot's controller 800 drives the left movable arm 510 and the right movable arm 520 to move, so that the left gripper component 610 and the right gripper component 710 place the cut piece 22 on the unsewn garment template 31; at the same time, the body camera 410, the left gripper camera 620, and the right gripper camera 710 are used to guide the movement of the cut piece 22. The claw camera 720 monitors the placement of the cut pieces, and the force sensor 630 on the left claw component 610 collects the force data of the left claw component 610, and the force sensor 730 on the right claw component 710 collects the force data of the right claw component 710. The controller 800 controls the left movable arm 510, the right movable arm 520, the left claw component 610 and the right claw component 710 to ensure the accurate placement of the cut piece 22 on the unsewn garment template 31, and to ensure the relative position of the cut piece 22 and the cut piece 21.

[0115] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 15 , Figure 25 , Figure 26As shown in Figure 6), after the humanoid robot operating the template machine completes the action of laying out the cut pieces, its body part 400 lowers by 30 degrees. The controller 800 of the humanoid robot drives the left movable arm 510 and the right movable arm 520 to move, so that the left gripper part 610 and the right gripper part 710 of the humanoid robot contact the lower plate of the unsewn garment template 31. The left gripper force sensor 630 collects the force data of the left gripper part 610, and the right gripper force sensor 730 collects the force data of the right gripper part 710. The controller 800... The left movable arm 510, right movable arm 520, left gripper component 610, and right gripper component 710 are controlled to push the unsewn garment template 31; the upper plate of the unsewn garment template 31 will be blocked by the support of the cutting table 12 and will automatically fall towards one end of the humanoid robot; the left movable arm 510 and right movable arm 520 hold the upper plate of the unsewn garment template 31 and slowly retract, so that the upper plate of the unsewn garment template 31 slowly falls and finally covers the lower plate of the unsewn garment template 31.

[0116] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 16 , Figure 17 , Figure 25 , Figure 26 As shown, 7) After the humanoid robot closes the unsewn garment template 31, that is, after the humanoid robot completes the template closing action, its body part 400 tilts upwards by 30 degrees, and at the same time, it retracts the left movable arm 510 and right movable arm 520 of the humanoid robot. By moving the chassis 100, the humanoid robot faces the template machine 11; the left movable arm 510 and right movable arm 520 of the humanoid robot are moved so that the left gripper part 610 and right gripper part 710 of the humanoid robot contact the sewn garment template 32 on the template machine 11; the force sensor 630 of the left gripper collects the force of the left gripper. The force data of component 610 is collected by the right gripper force sensor 730. The controller 800 controls the left movable arm 510, right movable arm 520, left gripper component 610 and right gripper component 710 to pull out the sewn garment template 32 from the template machine 11. After the sewn garment template 32 is pulled out, the left gripper component 610 and right gripper component 710 of the humanoid robot clamp the sewn garment template 32. The sewn garment template 32 is moved to the template machine side table 13 by the moving chassis 100.

[0117] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 18 , Figure 19 , Figure 25 , Figure 26 As shown, 8) After the humanoid robot completes the template lowering action, the base 100 is moved so that the humanoid robot faces the cutting table 12; the left movable arm 510 and right movable arm 520 of the humanoid robot are moved so that the left gripper component 610 and right gripper component 710 of the humanoid robot clamp the unsewn garment template 31; the unsewn garment template 31 is moved to the front of the template machine 11 by moving the base 100; at the same time, the body camera 410 and the left gripper... Camera 620 and right gripper camera 720 monitor the state of the unsewn garment template 31. The left gripper force sensor 630 collects the force data of the left gripper component 610, and the right gripper force sensor 730 collects the force data of the right gripper component 710. The controller 800 controls the left movable arm 510, the right movable arm 520, the left gripper component 610, and the right gripper component 710 to push the unsewn garment template 31 onto the pressing frame assembly of the template machine 11.

[0118] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 20 , Figure 21 , Figure 25 , Figure 26 As shown in Figure 9), after the humanoid robot completes the upper template action, it moves the chassis 100 so that the humanoid robot faces the template machine side table 13; at the same time, the template machine 11 clamps the unsewn garment template 31 and moves it backward to make room for the sewn garment template 32 to move; the left movable arm 510 and the right movable arm 520 of the humanoid robot are moved so that the left gripper part 610 and the right gripper part 710 of the humanoid robot clamp the sewn garment template 32; by moving the chassis 100, the sewn garment template 32 is moved to the front of the cutting sheet table 12.

[0119] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 22 , Figure 25 , Figure 26 As shown, 10) after the humanoid robot moves in front of the cutting table 12, the body part 400 lowers by 30 degrees to open the sewn garment template 32; the left gripper part 610 and the right gripper part 710 move to the bottom of the sewn garment template 32, and through the synchronous movement of the left movable arm 510 and the right movable arm 520, the left gripper part 610 and the right gripper part 710 push open the upper plate of the sewn garment template 32, thereby opening the sewn garment template 32;

[0120] like Figure 1, Figure 3 , Figure 4 , Figure 6 , Figure 23 , Figure 24 , Figure 25 , Figure 26 As shown in Figure 11), after the humanoid robot opens the pre-sewn garment template 32, it moves the left movable arm 510 and the right movable arm 520, causing the left gripper component 610 and the right gripper component 710 to grasp the finished cut piece 23 on the pre-sewn garment template 32. Simultaneously, the placement of the finished cut piece 23 is monitored by the body camera 410, the left gripper camera 620, and the right gripper camera 720. Force data of the left gripper component 610 is collected by the left gripper force sensor 630, and force data of the right gripper force sensor is collected by the right gripper force sensor 720. Sensor 730 collects force data on right gripper component 710; controller 800 controls left movable arm 510, right movable arm 520, left gripper component 610 and right gripper component 710 to ensure successful gripping of finished piece 23; then, waist rotation drive 312 drives waist turntable 311 to rotate, while moving chassis 100 so that humanoid robot faces finished piece placement table 16, and then places finished piece 23 on finished piece placement table 16 and arranges finished piece 23 neatly;

[0121] like Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 9 , Figure 25 , Figure 26 As shown, after the above workflow is completed, the waist rotation drive 312 drives the waist turntable 311 to rotate 180 degrees, and moves the chassis 100 so that the robot faces the cutting piece placement table 14, returns to step 1), and continues the next cutting piece picking action; then the operation is repeated.

[0122] like Figures 1 to 8 , Figure 25 , Figure 26 As shown, the humanoid robot is mainly used to replace the sewing operation of the large-size template machine 11. The humanoid robot can perform operations such as grasping the cut pieces, placing the cut pieces, opening and closing the template, and starting and stopping the template machine 11.

[0123] The controller 800 uses an embodied intelligence algorithm to control the humanoid robot. The embodied intelligence algorithm enables the humanoid robot to perform actions through remote control. During the action execution, data is collected from the body camera 410, left gripper camera 620, left gripper force sensor 630, right gripper camera 720, and right gripper force sensor 730. This data is used to train a model. The model is a locally deployable model with specific execution tasks. The model controls the humanoid robot to autonomously judge the surrounding environment, identify the task and task objects, and perform operations, including the grasping of fabric pieces, the placement of fabric pieces, the opening and closing of the garment template, and the start and stop of the template machine 11.

[0124] The humanoid robot employs embodied intelligence algorithms, enabling it to autonomously identify cut pieces, templates, place pieces, and recognize its working status. Through large-scale model training, the robot's generalization ability is improved, allowing it to perform small-batch, rapid-response work and autonomously change working modes. This significantly promotes unmanned production in the template machine workshop 11, greatly enhancing overall production competitiveness.

[0125] A rotational zero-point reduction column 3111 is provided on the waist turntable 311; a detection switch 210 is provided on the top surface of the control cabinet 200; the detection switch 210 is connected to the controller 800; after the rotational zero-point reduction column 3111 senses the position of the detection switch 210, it generates a sensing signal, which is transmitted to the controller 800. The controller 800 controls the waist rotation drive 312 to rotate according to the sensing signal. In this embodiment, the waist rotation drive 312 is a rotary servo motor 3121. The rotary servo motor 3121 itself has an absolute encoder and has a zero point with the world coordinate system. There may be a slight deviation in actual assembly. The sensing signal of the rotational zero-point reduction column 3111 can be used to recalibrate the zero point position of the rotary servo motor 3121; this is the function of zero-return correction, similar to the zero-return operation of a servo motor or stepper motor.

[0126] A pitch limiting post 3211 is installed on the pitch connector 321, and the pitch limiting post 3211 is set on the rotation path of the body part 400. This allows the pitch limiting post 3211 to block the rotation of the body part 400 when the humanoid robot is powered off, preventing the left movable arm 510 and the right movable arm 520 from falling directly.

[0127] The waist rotation drive 312 includes a rotary servo motor 3121 and a waist reducer 3122 connected to the rotary servo motor 3121; the output shaft of the waist reducer 3122 is connected to the waist turntable 311. The waist reducer 3122 is mounted on the waist turntable 311, giving the rotary servo motor 3121 sufficient rotational inertia, which can suppress the vibration of the waist turntable 311 during movement. The rotary servo motor 3121 is mounted at the end of the waist reducer 3122, providing precise and controllable power.

[0128] The pitch drive 322 includes a pitch servo motor 3221 and a pitch reducer 3222 connected to the pitch servo motor 3221; the output shaft of the pitch reducer 3222 is connected to the body component 400. The pitch reducer 3222 can be a pitch harmonic reducer. The waist pitch assembly 320 is mounted at the end of the waist turntable 311, and the pitch harmonic reducer is connected to the end connector of the waist turntable 311. The pitch harmonic reducer can provide a large reduction ratio, enabling the pitch servo motor 3221 to have sufficient torque. The pitch servo motor 3221 is mounted at the end of the pitch harmonic reducer, providing pitch power.

[0129] The control cabinet 200 is installed above the chassis 100. The main control computer, controller 800, battery and communication module are placed inside the control cabinet 200. The main control computer, battery and communication module are all connected to the controller 800.

[0130] The chassis 100 is mounted on an Automated Guided Vehicle (AGV). The AGV serves as the bottom layer for the humanoid robot operating the template machine, enabling its movement and rotation. This humanoid robot possesses autonomous navigation, obstacle avoidance, and charging capabilities, allowing it to move between different workstations.

[0131] In this embodiment, the left gripper component 610 and the right gripper component 710 can have multiple forms depending on the material of the cut piece. The left gripper component 610 and the right gripper component 710 can be replaced or equipped with structures such as vacuum suction cups, needle suction cups, and Bernoulli suction cups.

[0132] The chassis 100 can move autonomously according to the needs of the site. The chassis 100 can also move along a fixed track to achieve movement between different workstations.

[0133] The left movable arm 510 and the right movable arm 520 can adopt different styles of robotic arms according to the needs of the action. The different styles of robotic arms can be 5-axis, 6-axis or 7-axis robotic arms.

[0134] The waist component 300 can be partially omitted as required, such as by canceling the waist rotation component 310 or the waist pitch component 320; or the waist component 300 can appear in the form of a fixed structure.

[0135] The humanoid robot in this embodiment enables unmanned production by operating the template machine 11. The robot can autonomously perform tasks such as picking up and placing cut pieces, opening and closing templates, arranging cut pieces, and starting and stopping the template machine 11. Furthermore, the production process can be monitored using image information from a camera carrier, and abnormal situations can be autonomously identified and handled.

[0136] New technologies in artificial intelligence enable humanoid robots to have strong generalization capabilities. Through a large amount of training data, the robots are equipped to handle the work requirements of different cut pieces and templates.

[0137] End-to-end models enable local deployment of robots. End-to-end is a method for achieving embodied intelligence, utilizing imitation learning and reinforcement learning algorithms. A humanoid robot is remotely controlled to perform actions, collecting data from body cameras 410, left gripper cameras 620, left gripper force sensors 630, right gripper cameras 720, and right gripper force sensors 730 during execution. This data is then used to train a model. This locally deployed model is capable of performing specific tasks. The locally deployed model then controls the humanoid robot to autonomously assess its surroundings, identify tasks and task objects, and execute operations. The more data collected and the longer the training time, the better the performance.

[0138] The humanoid robot in this embodiment is a mobile anthropomorphic robot structure that can perform work in multiple workstation scenarios.

[0139] The left movable arm 510, the right movable arm 520, the left gripper component 610, and the right gripper component 710 constitute the robot motion assembly. The robot motion assembly has force and position control function, which can accurately perform position movement and mechanical control, so that the humanoid robot can work with people without the need for protection and isolation.

[0140] The humanoid robot in this embodiment can be customized for the workflow of the template machine 11, and its characteristics can be set according to the characteristics of the cut pieces. Its mechanical characteristics and position control are determined according to the scenario.

[0141] In this embodiment, the humanoid robot is designed for the workflow of the template machine 11 in terms of artificial intelligence, and is developed in a targeted manner around the operational requirements of the template machine 11.

[0142] In summary, this embodiment effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0143] The above embodiments are merely illustrative of the principles and effects of this embodiment and are not intended to limit this embodiment. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this embodiment. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this embodiment should still be covered by the claims of this embodiment.

Claims

1. A humanoid robot for operating a template machine, characterized in that, include: A chassis (100) is movable; A control cabinet (200) is mounted on the chassis (100); The waist assembly (300) includes a waist rotation assembly (310) and a waist pitch assembly (320) connected to the waist rotation assembly (310); the waist rotation assembly (310) includes a waist turntable (311) and a waist rotation drive (312), the waist turntable (311) is connected to the output shaft of the waist rotation drive (312), the central axis of the output shaft of the waist rotation drive (312) is perpendicular to the horizontal plane, and the waist rotation drive (312) can... The waist turntable (311) is driven to rotate, and the waist rotation drive (312) is disposed inside the control cabinet (200); the waist pitch assembly (320) includes a pitch connector (321) and a pitch drive (322), the pitch connector (321) is mounted on the waist turntable (311), the pitch drive (322) is mounted on the pitch connector (321), and the central axis of the output shaft of the pitch drive (322) is parallel to the horizontal plane; A body component (400) is connected to the output shaft of the pitch drive (322), which can drive the body component (400) to rotate; a body camera (410) is provided on the body component (400); A left movable arm (510) is located on the left side of the body part (400); The right movable arm (520) is located on the right side of the body part (400); The left gripper component (610) is connected to the left movable arm (510), and the left gripper component (610) is provided with a left gripper camera (620) and a left gripper force sensor (630); The right gripper component (710) is connected to the right movable arm (520), and the right gripper component (710) is provided with a right gripper camera (720) and a right gripper force sensor (730); The waist rotation drive (312), the pitch drive (322), the body camera (410), the left gripper camera (620), the left gripper force sensor (630), the right gripper camera (720), and the right gripper force sensor (730) are all connected to the controller (800).

2. The humanoid robot for operating a template machine according to claim 1, characterized in that: The waist turntable (311) is provided with a rotation zero-point deceleration column (3111); the top surface of the control cabinet (200) is provided with a detection switch (210); the detection switch (210) is connected to the controller (800); after the rotation zero-point deceleration column (3111) senses the position of the detection switch (210), it generates a sensing signal, and the detection switch (210) transmits the sensing signal to the controller (800), and the controller (800) controls the waist rotation drive (312) to rotate according to the sensing signal.

3. The humanoid robot for operating a template machine according to claim 1, characterized in that: The pitch connector (321) is equipped with a pitch limiting post (3211), which is located on the rotation path of the body component (400).

4. The humanoid robot for operating a template machine according to claim 1, characterized in that: The waist rotation drive (312) includes a rotary servo motor (3121) and a waist reducer (3122) connected to the rotary servo motor (3121); the output shaft of the waist reducer (3122) is connected to the waist turntable (311).

5. The humanoid robot for operating a template machine according to claim 1, characterized in that: The pitch drive (322) includes a pitch servo motor (3221) and a pitch reducer (3222) connected to the pitch servo motor (3221); The output shaft of the pitch reducer (3222) is connected to the body component (400).

6. The humanoid robot for operating a template machine according to claim 1, characterized in that: The chassis (100) is mounted on the automated guided vehicle.

7. The humanoid robot for operating a template machine according to claim 1, characterized in that: The controller (800) uses an embodied intelligence algorithm to control the humanoid robot. The embodied intelligence algorithm is performed by manually remotely controlling the humanoid robot to perform actions. During the action execution, data is collected from the body camera (410), the left gripper camera (620), the left gripper force sensor (630), the right gripper camera (720), and the right gripper force sensor (730). A model is trained using this data. The model is a model that can be deployed locally and has specific execution tasks. The model controls the humanoid robot to autonomously judge the surrounding environment, identify the task and the task object, and perform operations, including the grasping of fabric pieces, the placement of fabric pieces, the opening and closing of the garment template, and the start and stop of the template machine.

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