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CN-121972950-A - Multi-arm humanoid robot and robot locking system

CN121972950ACN 121972950 ACN121972950 ACN 121972950ACN-121972950-A

Abstract

The application relates to the field of robots, and provides a multi-arm humanoid robot and a robot locking system. The multi-arm humanoid robot comprises a trunk module, a plurality of mechanical arms, an actuator and a plurality of groups of mechanical arms, wherein each mechanical arm comprises a fixed end and an actuating end, the fixed ends are mounted on the trunk module, the mechanical arms are divided into a plurality of groups along the height direction of the trunk module, each group comprises at least one mechanical arm, the actuator is mounted on the actuating ends of the mechanical arms, and the height distance between the actuating ends of the mechanical arms in adjacent groups is smaller than the height distance between orthographic projection positions of the fixed ends of the corresponding mechanical arms on the trunk module under the condition that the mechanical arms are in a preset working state. The multi-arm humanoid robot provided by the application can effectively improve the operation effect and is suitable for operation in a narrow space.

Inventors

  • WEN ZHIHUA
  • XI WEI
  • SUN ZHIYU

Assignees

  • 美的集团股份有限公司

Dates

Publication Date
20260505
Application Date
20260211

Claims (11)

  1. 1. A multi-arm humanoid robot, comprising: A torso module (1); The system comprises a trunk module (1), a plurality of mechanical arms (2), a plurality of control units and a control unit, wherein each mechanical arm (2) comprises a fixed end (21) and an executing end (22), and the fixed end (21) is mounted on the trunk module (1); An actuator (3) mounted on an execution end (22) of the mechanical arm (2); Under the condition that the mechanical arms (2) are in a preset working state, the height distance between the actuating ends (22) of the mechanical arms (2) in adjacent groups is smaller than the height distance between the orthographic projection positions of the fixed ends (21) of the mechanical arms (2) on the trunk module (1).
  2. 2. The multi-arm humanoid robot according to claim 1, wherein a plurality of the robot arms (2) are divided into an upper group, a middle group, and a lower group in a height direction, each group including two of the robot arms (2); Under the condition that the mechanical arm (2) is in a preset working state, the mechanical arm (2) of the upper layer group and the execution end (22) of the mechanical arm (2) of the lower layer group are close towards the execution end (22) of the mechanical arm (2) of the middle layer group.
  3. 3. The multi-arm humanoid robot according to claim 2, characterized in that the mechanical arm (2) comprises a large arm (23) and a small arm (24) connected in rotation, the fixed end (21) being connected to the large arm (23), the actuation end (22) being connected to the small arm (24); When the mechanical arm (2) is in a preset working state, the height distance between the executing end (22) and the fixed end (21) of the mechanical arm (2) of the upper layer group and the orthographic projection position of the trunk module (1) is less than or equal to half of the length of the large arm (23) of the upper layer group; under the condition that the mechanical arm (2) is in a preset working state, the height distance between the executing end (22) and the fixed end (21) of the mechanical arm (2) of the lower layer group and the orthographic projection position of the trunk module (1) is smaller than or equal to half of the length of the large arm (23) of the lower layer group.
  4. 4. Multi-arm humanoid robot according to claim 2, characterized in that the trunk module (1) is formed with a connection face (11) to cooperate with the fixed end (21); The connecting surface (11) corresponding to the mechanical arm (2) of the middle layer group is used as a first connecting surface (111), the first connecting surface (111) is a vertical surface, and/or The connecting surface (11) corresponding to the mechanical arm (2) of the upper layer group is used as a second connecting surface (112), the normal line of the second connecting surface (112) forms a preset included angle with the horizontal plane, so that the extending direction of the fixed end (21) of the mechanical arm (2) of the upper layer group and the extending direction of the fixed end (21) of the mechanical arm (2) of the middle layer group form a corresponding included angle, and the distance between the connecting surfaces is gradually increased along the extending path deviating from the direction of the trunk module (1), and/or The connecting surface (11) corresponding to the mechanical arm (2) of the lower layer group is used as a third connecting surface (113), and a normal line of the third connecting surface (113) forms a preset included angle with the horizontal plane, so that the extending direction of the fixed end (21) of the mechanical arm (2) of the lower layer group and the extending direction of the fixed end (21) of the mechanical arm (2) of the middle layer group form a corresponding included angle, and the distance between the connecting surfaces is gradually increased along an extending path deviating from the direction of the trunk module (1).
  5. 5. The multi-arm humanoid robot of claim 4, characterized in that the angle between the normal of the second connection surface (112) and the horizontal plane is 20 ° to 45 °, and the angle between the normal of the third connection surface (113) and the horizontal plane is 20 ° to 45 °.
  6. 6. The multi-arm humanoid robot according to claim 4, characterized in that it further comprises a adaptor (4), said adaptor (4) being mounted on said connection face (11), said fixed end (21) being fixedly connected to said adaptor (4); the surface of the adapter seat (4) connected with the fixed end (21) is provided with an inclined surface so that the mechanical arm (2) extends obliquely towards the concentrated operation area.
  7. 7. Multi-arm humanoid robot according to claim 6, characterized in that the angle between the inclined plane formed by the adaptor (4) and the connection surface (11) is 10 ° to 30 °.
  8. 8. Multi-arm humanoid robot as claimed in claim 4, characterized in that the connection surface (11) is inclined towards the concentrated working area.
  9. 9. The multi-arm humanoid robot according to any one of claims 2 to 8, wherein the trunk module (1) includes an upper layer installation module (12), a middle layer installation module (13), and a lower layer installation module (14) arranged in order in a height direction, the upper layer group of mechanical arms (2) are installed to the upper layer installation module (12), the middle layer group of mechanical arms (2) are installed to the middle layer installation module (13), and the lower layer group of mechanical arms (2) are installed to the lower layer installation module (14); The upper layer installation module (12), the middle layer installation module (13) and the lower layer installation module (14) can rotate around the axis of the upper layer installation module to adjust the orientation of the mechanical arm (2).
  10. 10. Multi-arm humanoid robot according to any one of claims 1 to 8, characterized in that the actuator (3) is a screw locking mechanism comprising: the screw machine (31) is used for realizing automatic feeding and automatic locking of screws; and the vision module (32) is used for collecting the position information of the screw hole in the operation area and providing vision navigation support for screw locking operation.
  11. 11. A robotic locking system, comprising: the production line body is provided with a locking station; The multi-arm humanoid robot of any one of claims 1-10, disposed at the locking station, for performing locking operations.

Description

Multi-arm humanoid robot and robot locking system Technical Field The application relates to the field of robots, in particular to a multi-arm humanoid robot and a robot locking system. Background The humanoid robot can replace manual work to finish part of operation tasks by virtue of humanoid configuration design, and meets the application requirements of a general scene, and the form of the humanoid robot comprises a single-arm configuration, a double-arm configuration and a multi-arm configuration. Compared with a common single-arm or double-arm humanoid robot, the multi-arm humanoid robot can finish more operation tasks (such as screw locking, part assembling and the like) at a time through the cooperative operation of the multiple mechanical arms, so that the operation efficiency is remarkably improved, the assembly steps can be reduced, the assembly process is simplified, the space occupation of a production line is obviously improved, the production line is particularly suitable for the mixed line production requirements of a small batch of multiple varieties, and the application prospect is wide. In the field of home appliance manufacturing (such as a back plate locking process of a washing machine, a dryer, a refrigerator and other products), the number of screws to be locked is usually in the range of 6 to 20. In order to ensure the production takt, the locking working procedure is finished by arranging a single-arm or double-arm locking working station at a plurality of serial working stations in the prior art, but the scheme has obvious defects that on one hand, the layout of the serial working stations leads to larger occupied area of a production line, on the other hand, the layout adjustment flexibility of the production line is poor, the production line is difficult to adapt to the production requirements of mixed lines of small batches and multiple varieties, and the application of the multi-arm humanoid robot can just solve the defects. However, the space of the task area of the back plate locking process of the household appliance is relatively narrow, wherein the space between the adjacent screw holes to be locked in the height direction can be as small as 0.1m, and the space between the adjacent screw holes in the width direction can be as small as 0.3m. In such a narrow task area, when a plurality of mechanical arms of the multi-arm humanoid robot perform collaborative operation, because interference collision is easy to occur when each mechanical arm moves, the safety and stability of the operation are seriously affected, and the reliable application of the multi-arm humanoid robot in such narrow space operation scenes is limited. Disclosure of Invention The present application is directed to solving at least one of the technical problems existing in the related art. Therefore, the application provides the multi-arm humanoid robot which can effectively improve the operation effect and is suitable for operation in a narrow space. The application further provides a robot locking system. According to an embodiment of the first aspect of the present application, a multi-arm humanoid robot includes: A torso module; The system comprises a trunk module, a plurality of mechanical arms, a plurality of control units and a control unit, wherein each mechanical arm comprises a fixed end and an executing end, and the fixed end is mounted on the trunk module; The actuator is arranged at the execution end of the mechanical arm; under the condition that the mechanical arms are in a preset working state, the height distance between the actuating ends of the mechanical arms in adjacent groups is smaller than the height distance between the orthographic projection positions of the fixed ends of the corresponding mechanical arms on the trunk module. According to one embodiment of the application, the plurality of mechanical arms are divided into an upper layer group, a middle layer group and a lower layer group along the height direction, and each group comprises two mechanical arms; And under the condition that the mechanical arms are in a preset working state, the execution ends of the mechanical arms of the upper layer group and the mechanical arms of the lower layer group are close to the execution ends of the mechanical arms of the middle layer group. According to one embodiment of the application, the mechanical arm comprises a large arm and a small arm which are connected in a rotating way, the fixed end is connected with the large arm, and the execution end is connected with the small arm; Under the condition that the mechanical arm is in a preset working state, the height distance between the executing end and the fixed end of the mechanical arm of an upper layer group and the orthographic projection position of the fixed end on the trunk module is less than or equal to half of the length of the big arm of the upper layer group; under the condition that the mechanical arm is in a preset working