A humanoid robot debugging rack

Abstract

The utility model discloses a humanoid robot debugging frame, including the bottom plate, be equipped with the fixing frame on the bottom plate, the cantilever is rotatably installed to the top of fixing frame, and the both ends of electric jar are rotatably connected with fixing frame and cantilever middle section, and the top rod telescoping of electric jar is driven to cantilever to turn over in vertical plane around fixing frame, be equipped with the wire winding machine on the connecting end of cantilever, be equipped with the pulley mechanism on the cantilever, and the pulley mechanism includes the dynamic pulley below the free end of cantilever, and the wire winding machine is rotated through motor drive reel, and the reel is wound with the pull rope, and the pull rope one end is fixed on the reel, and the pull rope other end is connected with dynamic pulley through the pulley mechanism, and the dynamic pulley bottom is connected with the connecting rope through the tension sensor, and the other end of connecting rope is used for connecting humanoid robot. The utility model has the following advantages compared with prior art: realize the pull up off the ground of humanoid robot in the unbalance moment, avoid humanoid robot collision damage, and can guarantee the personal safety of debugging personnel.

Description

Technical Field

[0001] This utility model relates to the field of robot debugging technology, and in particular to a humanoid robot debugging frame. Background Technology

[0002] The debugging of humanoid robots requires on-site testing, which introduces significant risks. Due to the inherent uncertainties of debugging, unforeseen malfunctions may occur upon landing, and various unexpected situations can arise during the debugging process, causing the robot to fall and be damaged. Currently, there are generally two methods to prevent humanoid robots from falling during on-site testing: one is to install a ceiling track on a rooftop to hoist the robot, which is costly and requires installation on the ceiling, limiting its use to specific areas; the second method involves debugging personnel being tied to a rope and pulling the robot along, but due to the uncertainties of debugging, this method is prone to injury to the debugging personnel. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a humanoid robot debugging frame that can lift the humanoid robot off the ground when it loses its balance, thus avoiding collision damage to the humanoid robot and ensuring the personal safety of the debugging personnel.

[0004] This utility model is achieved through the following technical solution: A humanoid robot debugging frame includes a base plate with a fixed frame on the base plate. A cantilever is rotatably mounted on the top of the fixed frame. The ends of the cantilever that are close to the fixed frame and far from the fixed frame are a connecting end and a free end, respectively. An electric cylinder is installed between the fixed frame and the cantilever. The two ends of the electric cylinder are rotatably connected to the fixed frame and the middle section of the cantilever, respectively. The cantilever is driven to rotate around the fixed frame in a vertical plane by extending and retracting the top rod of the electric cylinder. A winding machine is installed at the connecting end of the cantilever, and a pulley mechanism is installed on the cantilever. The pulley mechanism includes a movable pulley located below the free end of the cantilever. The winding machine drives the winding reel to rotate via a motor. A pull rope is wound on the winding reel. One end of the pull rope is fixed to the winding reel, and the other end of the pull rope is connected to the movable pulley via the pulley mechanism. The bottom of the movable pulley is connected to the connecting rope via a tension sensor. The other end of the connecting rope is used to connect to the humanoid robot.

[0005] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the pulley mechanism further includes three fixed pulleys. The first and second fixed pulleys are respectively located at the top of the middle section of the suspension and the top of the free end. The third fixed pulley is suspended at the bottom of the free end of the cantilever. The other end of the pull rope passes sequentially around the bottom of the first fixed pulley, the top of the second fixed pulley, the bottom of the movable pulley, and the top of the third fixed pulley before being fixedly connected to the top of the movable pulley. The movable pulley is located below the third fixed pulley.

[0006] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the bottom of the movable pulley is provided with a hanging ring, and the upper end of the tension sensor is connected to the hanging ring through an openable and closable latch.

[0007] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the cantilever is a telescopic arm with adjustable length.

[0008] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the cantilever includes an inner arm and an outer arm that are slidably fitted together. The outer arm has several external locking holes, and the inner arm has several internal locking holes. The locking and installation of the outer arm and the inner arm is achieved by passing a locking pin through the external locking holes and the internal locking holes.

[0009] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the bottom of the base plate is equipped with wheels.

[0010] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the cantilever is located on the front side of the fixed frame, and a handrail is provided on the rear side of the fixed frame.

[0011] As a preferred embodiment of the aforementioned humanoid robot debugging frame, the base plate is equipped with a battery.

[0012] This invention has the following advantages over the prior art: This utility model provides a humanoid robot debugging frame. By installing a cable reel and pulley mechanism on the cantilever, and utilizing the cable reel's pull trigger and the automatic cable retraction mechanism, the humanoid robot can be lifted off the ground in the event of imbalance, preventing collision damage and ensuring the safety of debugging personnel. Simultaneously, the frame's wheels and handrails allow the cantilever to flexibly follow the humanoid robot in any indoor or outdoor area without relying on a fixed building structure. The electric cylinder's height adjustment function can accommodate humanoid robots of different sizes, demonstrating strong versatility. Furthermore, before debugging the humanoid robot, the height of the free end of the cantilever can be adjusted via the electric cylinder, placing the connecting rope in a slack state without tension. This prevents the humanoid robot from being subjected to additional forces from the cantilever during subsequent normal debugging, avoiding the problem of "traction interference with the movement trajectory" caused by manually attaching the rope in existing technologies. This ensures that the on-site debugging data of the humanoid robot is consistent with the actual application scenario, improving the accuracy and reliability of the debugging results. Attached Figure Description

[0013] Figure 1 This is a perspective view of the present invention.

[0014] Figure 2 yes Figure 1 A magnified view of a portion of the image.

[0015] Figure 3 This is a side view of the present invention.

[0016] Figure 4 This is a schematic diagram of the installation structure of the tension sensor of this utility model.

[0017] Numbered in the diagram: 1. Base plate; 2. Walking wheel; 3. Fixed frame; 4. Handrail; 5. Battery; 6. Cantilever; 7. Hinge shaft; 8. Electric cylinder; 9. Winding machine; 10. Moving pulley; 11. Motor; 12. Winding reel; 13. Pull rope; 14. Tension sensor; 15. Connecting rope; 16. Lifting ring; 17. Lock; 18. Humanoid robot; 19. First fixed pulley; 20. Second fixed pulley; 21. Third fixed pulley; 22. Inner arm; 23. Outer arm; 24. Outer locking hole; 25. Locking pin. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. These embodiments are implemented based on the technical solution of this utility model and provide detailed implementation methods and specific operation processes. However, the protection scope of this utility model is not limited to the following embodiments.

[0019] See Figures 1 to 4 This embodiment discloses a humanoid robot debugging frame, including a base plate 1. Four wheels 2 are provided at the bottom of the base plate 1. These wheels 2 can be universal wheels with brakes to facilitate movement and locking of the entire debugging frame. A fixed frame 3 is provided on the base plate 1. The fixed frame 3 can be a triangular fixed frame 3 to improve stability. A cantilever 6 is located on the front side of the fixed frame 3, and two handrails 4 are provided on the rear side of the fixed frame 3. The handrails 4 facilitate the movement or fixing of the entire debugging frame by the operator. A battery 5 is provided on the base plate 1. The battery 5 can be a rechargeable storage battery 5, used to power the motor 11 and electric cylinder 8 of the winding machine 9. A cantilever 6 is rotatably mounted on the front top of the fixed frame 3. The ends of the cantilever 6 near and away from the fixed frame 3 are the connecting end and the free end, respectively. The connecting end of the cantilever 6 is connected to the top of the fixed frame 3 by a hinge shaft 7, which extends axially in the left-right direction. An electric cylinder 8 is installed between the fixed frame 3 and the cantilever 6. The two ends of the electric cylinder 8 are rotatably connected to the fixed frame 3 and the middle section of the cantilever 6 by hinges. The cantilever 6 is driven to rotate in the vertical plane relative to the fixed frame 3 around the hinge axis 7 by the extension and retraction of the push rod of the electric cylinder 8.

[0020] A winding machine 9 is installed at the connecting end of the cantilever 6. A pulley mechanism is also provided on the cantilever 6, including a movable pulley 10 located below the free end of the cantilever 6. The winding machine 9 drives a winding reel 12 to rotate via a motor 11. A pull rope 13 is wound around the winding reel 12. One end of the pull rope 13 is fixed to the winding reel 12, and the other end is connected to the movable pulley 10 via the pulley mechanism. The bottom of the movable pulley 10 is connected to a connecting rope 15 via a tension sensor 14. A lifting ring 16 is provided at the bottom of the movable pulley 10, and the upper end of the tension sensor 14 is connected to the lifting ring 16 via an openable and closable latch 17. The other end of the connecting rope 15 is used to connect to a humanoid robot 18.

[0021] The pulley mechanism includes three fixed pulleys. The first fixed pulley 19 and the second fixed pulley 20 are respectively located at the top of the middle section of the suspension and the top of the free end. The third fixed pulley 21 is suspended at the bottom of the free end of the cantilever 6. The other end of the rope 13 passes under the first fixed pulley 19, above the second fixed pulley 20, below the movable pulley 10, and above the third fixed pulley 21 in sequence, and is then fixedly connected to the top of the movable pulley 10. The movable pulley 10 is located below the third fixed pulley 21.

[0022] The cantilever 6 is an adjustable telescopic arm. The cantilever 6 includes an inner arm 22 and an outer arm 23 that slide together. The outer arm 23 has several external locking holes 24, and the inner arm 22 has several internal locking holes. A locking pin 25 passes through the external locking holes 24 and the internal locking holes to lock the outer arm 23 and the inner arm 22 in place. By inserting the locking pin 25 into the internal and external locking holes 24 at different positions, the length of the cantilever 6 can be adjusted. This allows for adjustment of the horizontal and vertical positions of the free end of the cantilever 6 relative to the fixed frame 3, thus meeting the traction requirements of humanoid robots 18 of different sizes.

[0023] The rear side of the mounting bracket 3 is equipped with a touch screen to enable the switching control of the electric cylinder 8 and the motor 11, and to facilitate the input of preset tension trigger threshold of the motor 11 and preset length of retraction of the pull rope 13.

[0024] In use, place the humanoid robot 18 in the debugging area. The operator holds the handles 4 with both hands and pushes, using the wheels 2 at the bottom of the base plate 1 to move the debugging frame to the appropriate position next to the humanoid robot 18. The connecting rope 15 of the debugging frame is tied to the waist of the humanoid robot 18, and the operator holds the handles 4 of the fixing frame 3 to maintain stability. The electric cylinder 8 is activated; when the top rod of the electric cylinder 8 extends, it drives the cantilever 6 to rotate upwards around the hinge axis 7, thereby adjusting the overall height of the free end of the cantilever 6. The operator observes the relative position of the humanoid robot 18 and the movable pulley 10. Initially, the connecting rope 15 is in a slack state, ensuring that the humanoid robot 18 is not subjected to additional force from the connecting rope 15 in the initial state, thus not affecting its natural movement debugging. At this time, the winding machine 9 is in standby mode. Next, the humanoid robot 18 is debugged. During the real-time debugging of the humanoid robot 18, if the debugging movement of the humanoid robot 18 is small, such as static joint debugging, the debugging frame can be locked by the brake of the walking wheel 2 to prevent the cantilever 6 from shifting. If the humanoid robot 18 needs to be moved for debugging, the staff holds the handrail 4 and pushes the cantilever 6 to move, so that the cantilever 6 and the movable pulley 10 move together with the movement trajectory of the humanoid robot 18, so as to ensure that the relative position of the connecting rope 15 and the humanoid robot 18 is kept within a certain range. When the humanoid robot 18 becomes unbalanced and is about to fall due to code deviation or environmental interference, its center of gravity shift will pull the connecting rope 15 at its waist, causing the tension of the connecting rope 15 to momentarily exceed the preset tension trigger threshold of the winding machine 9. The winding machine 9 immediately starts the motor 11 to drive the winding reel 12 to rotate and automatically retract the pull rope 13. Through the force transmission of the pulley mechanism, the moving pulley 10 lifts the humanoid robot 18 upward. After retracting the pull rope 13 to a preset length, the winding machine 9 stops working. At this time, the robot is instantly lifted off the ground to avoid collision with the ground and damage. At the same time, the staff does not need to directly contact the humanoid robot 18. They can avoid the risk of injury to the staff caused by the humanoid robot 18 going out of control by simply controlling the cantilever 6 through the handrail 4. After the humanoid robot 18 is debugged, the control cylinder 8 is reset to lower the height of the cantilever 6, the connecting rope 15 at the waist of the humanoid robot 18 is untied, the debugging frame is pushed to the storage area, and the battery 5 is charged for the next use.

[0025] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A humanoid robot debugging frame, comprising a base plate (1), wherein a fixing frame (3) is provided on the base plate (1), characterized in that: A cantilever (6) is rotatably mounted on the top of the fixed frame (3). The ends of the cantilever (6) that are close to the fixed frame (3) and far away from the fixed frame (3) are the connecting end and the free end, respectively. An electric cylinder (8) is installed between the fixed frame (3) and the cantilever (6). The two ends of the electric cylinder (8) are rotatably connected to the middle section of the fixed frame (3) and the cantilever (6), respectively. The cantilever (6) is driven to rotate around the fixed frame (3) in the vertical plane by the extension and retraction of the top rod of the electric cylinder (8). A winding machine (9) is provided on the connecting end of the cantilever (6), and a pulley mechanism is provided on the cantilever (6). The pulley mechanism includes a movable pulley (10) located below the free end of the cantilever (6). The winding machine (9) drives the winding reel (12) to rotate through the motor (11). A pull rope (13) is wound on the winding reel (12). One end of the pull rope (13) is fixed on the winding reel (12), and the other end of the pull rope (13) is connected to the movable pulley (10) through the pulley mechanism. The bottom of the movable pulley (10) is connected to the connecting rope (15) through the tension sensor (14). The other end of the connecting rope (15) is used to connect the humanoid robot (18).

2. The humanoid robot debugging frame as described in claim 1, characterized in that: The pulley mechanism also includes three fixed pulleys. The first fixed pulley (19) and the second fixed pulley (20) are respectively located at the top of the middle section of the suspension and the top of the free end. The third fixed pulley (21) is suspended at the bottom of the free end of the cantilever (6). The other end of the pull rope (13) passes under the first fixed pulley (19), above the second fixed pulley (20), below the movable pulley (10), and above the third fixed pulley (21) in sequence, and is then fixedly connected to the top of the movable pulley (10). The movable pulley (10) is located below the third fixed pulley (21).

3. The humanoid robot debugging frame as described in claim 1, characterized in that: The bottom of the movable pulley (10) is provided with a lifting ring (16), and the upper end of the tension sensor (14) is connected to the lifting ring (16) through an openable and closable buckle (17).

4. The humanoid robot debugging frame as described in claim 1, characterized in that: The cantilever (6) is a telescopic arm with adjustable length.

5. The humanoid robot debugging stand as described in claim 4, characterized in that: The cantilever (6) includes an inner arm (22) and an outer arm (23) with inner and outer sliding fittings. The outer arm (23) has several outer locking holes (24), and the inner arm (22) has several inner locking holes. The locking pin (25) passes through the outer locking holes (24) and the inner locking holes to achieve the locking installation of the outer arm (23) and the inner arm (22).

6. The humanoid robot debugging frame as described in claim 1, characterized in that: The bottom of the base plate (1) is provided with wheels (2).

7. The humanoid robot debugging frame as described in claim 1, characterized in that: The cantilever (6) is located in front of the fixed frame (3), and a handrail (4) is provided on the rear side of the fixed frame (3).

8. The humanoid robot debugging stand as described in claim 1, characterized in that: The base plate (1) is provided with a battery (5).

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