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CN-122008320-A - Automatic mounting and charging device for humanoid robot and control method thereof

CN122008320ACN 122008320 ACN122008320 ACN 122008320ACN-122008320-A

Abstract

The invention provides an automatic mounting and charging device of a humanoid robot and a control method thereof, and relates to the technical field of robot auxiliary equipment, the automatic mounting and charging device comprises a base, a wall support frame, an electric lifting driving assembly and a detection control module, wherein the wall support frame is arranged at the rear side of the top of the base, the electric lifting driving assembly is arranged on the wall support frame, a sliding seat is arranged at the output end of the electric lifting driving assembly, a through groove is arranged on the sliding seat, a transverse rail is arranged in the through groove, and two ends of the transverse rail are positioned at two sides of the sliding seat and are provided with armpit lifting assemblies in a sliding manner; the armpit lifting assembly is adjustable in distance and provided with floating compensation, the back lamination and waist limiting assembly cooperatively form a three-point type stable mount, the height of the magnetic attraction general contact charging assembly is adjustable, the butt joint reliability can be improved by combining the magnetic attraction alignment and the elastic contact, and the detection control module is provided with a limiting and charging linkage interlocking function, so that the use safety and the charging reliability are effectively improved.

Inventors

  • GUI HONGFAN
  • XIE CHAOMING
  • HU ZHIHUI

Assignees

  • 湖北职业技术学院

Dates

Publication Date
20260512
Application Date
20260327

Claims (10)

  1. 1. The utility model provides an automatic charging device that carries of humanoid robot, includes base (1), leans on wall support frame (2), electric lift drive subassembly (3) and detection control module (8), wherein base (1) top rear side is equipped with leans on wall support frame (2), be equipped with electric lift drive subassembly (3) on leaning on wall support frame (2), electric lift drive subassembly (3) output is equipped with slide (9), be equipped with logical groove (10) on slide (9), install rail (11) in logical groove (10), rail (11) both ends are located slide (9) both sides and slide on it and are equipped with armpit lifting assembly (4), slide (9) openly are equipped with back laminating subassembly (5), be equipped with on back laminating subassembly (5) and inhale general contact charging assembly (7) magnetism, be equipped with on slide (9) lateral wall and inhale general contact charging assembly (7) control connection's detection control module (8) with magnetism, be equipped with direction end (12) on the base (1) front end.
  2. 2. The automatic mounting and charging device for the humanoid robot is characterized in that the electric lifting driving assembly (3) comprises a fixed seat (301), an electric push rod (302) and guide rails (303), the fixed seat (301) is arranged above the front face of the wall supporting frame (2), the electric push rod (302) is arranged on the fixed seat (301), the guide rails (303) are arranged on the front face of the wall supporting frame (2) on two sides of the fixed seat (301), the sliding seat (9) is in sliding connection with the two guide rails (303), and the output end of the electric push rod (302) is connected with the top of the sliding seat (9).
  3. 3. The automatic mounting and charging device of the humanoid robot, as set forth in claim 2, characterized in that the armpit lifting assembly (4) comprises an adjusting arm (401), a lifting arm (402), a floating groove (403) and a lifting seat (404), the adjusting arm (401) is slidably connected with a transverse rail (11), the lifting arm (402) is arranged on the front surface of the adjusting arm (401), the floating groove (403) is arranged on the top of the lifting arm (402), two side walls at the lower end of the lifting seat (404) are slidably connected with the inner wall of the floating groove (403), a first spring (405) is arranged at the bottom of the lifting seat (404), the bottom of the first spring (405) is connected with the bottom of the floating groove (403), a plurality of locking holes (13) are formed in the tops of the two ends of the transverse rail (11), and a plurality of adjusting holes are formed in the tops of the adjusting arm (401), and adjusting bolts (14) which are adaptively connected with the locking holes (13) are arranged in the adjusting holes.
  4. 4. The automatic mounting and charging device for the humanoid robot is characterized in that the back attaching assembly (5) comprises a back plate (501), a flexible buffer pad (502) and second springs (503), floating holes (15) are formed in four corners of the front face of the sliding seat (9), the four corners of the back face of the back plate (501) are slidably connected with the floating holes (15) through floating columns (504), the back plate (501) is provided with a plurality of groups of second springs (503), one end of each second spring (503) is connected with the front face of the sliding seat (9), the flexible buffer pad (502) is symmetrically arranged on the front face of the back plate (501), the magnetic attraction type contact charging assembly (7) comprises magnetic contact plates (701) and elastic contacts (702), adjusting grooves (505) are formed in the front face of the back plate (501) between the two flexible buffer pads (502), the front face of each magnetic contact plates (701) is slidably connected with the corresponding adjusting grooves (505), elastic contacts (702) are arranged on the front face of the back plate (701) and are matched with the power receiving ends of the robot, and the back plate (501) is provided with adjusting screws (703) and the top screw rods (703) are connected with the top portions.
  5. 5. The automatic mounting and charging device for the humanoid robot, as set forth in claim 4, wherein the waist limiting component (6) comprises a turnover shaft (601) and limiting arms (602), turnover grooves (16) are formed in two side walls of the sliding seat (9), the turnover shaft (601) driven to rotate by a driving motor (603) is arranged in the turnover grooves (16), limiting arms (602) are symmetrically arranged on the turnover shaft (601), and flexible buffer layers (604) are arranged on inner side walls of the limiting arms (602).
  6. 6. The automatic mounting and charging device for the humanoid robot is characterized in that the detection control module (8) comprises a limit switch, a contact detection unit and a controller, the limit switch is used for detecting the mounting position state of the robot, the contact detection unit is used for detecting the contact state between the contact charging assembly (7) for magnetic attraction and the powered end of the robot, and the controller controls the action of the waist limit assembly (6) and the start and stop of the charging process of the robot according to feedback signals of the limit switch and the contact detection unit.
  7. 7. A control method for an automatic mounting and charging device of a humanoid robot, applying the automatic mounting and charging device of a humanoid robot according to claim 6, comprising the following steps: S1, guiding a humanoid robot to enter a preset mounting area along a guide slope (12) of a base (1); S2, driving a sliding seat (9) to move vertically through an electric lifting driving assembly (3) according to the body type parameters of the target humanoid robot, and adjusting the vertical positions of an armpit lifting assembly (4) and a back attaching assembly (5) to be matched with the armpit position and the back potential receiving position of the target humanoid robot; S3, supporting the upper body of the humanoid robot through an armpit lifting assembly (4) in the approaching process of the humanoid robot, and contacting the back of the humanoid robot through a back attaching assembly (5) to complete posture correction; S4, detecting the mounting in-place state of the humanoid robot through a limit switch of a detection control module (8), and controlling a waist limit component (6) to act after confirming the mounting in place, and limiting and fixing two sides of the trunk of the humanoid robot to form a stable mounting state; S5, magnetically attracting and attaching the contact charging assembly (7) for magnetic attraction to the power receiving end of the humanoid robot to complete charging docking preparation; S6, detecting the contact state of the magnetic attraction contact charging assembly (7) and the power receiving end through a contact detection unit of the detection control module (8), and after confirming that the contact is normal, conducting a charging loop to start charging; s7, in the charging process, detecting the mounting state and the contact state of the humanoid robot in real time, and immediately cutting off a charging loop when abnormality occurs; And S8, after the charging is finished or an off-site instruction is received, the charging loop is disconnected, the waist limiting component (6) is controlled to reset and unlock, and the humanoid robot is allowed to leave the site.
  8. 8. The method for controlling the automatic mounting and charging device of the humanoid robot according to claim 7, wherein in the step S2, the target adjustment height of the electric lifting driving assembly (3) is calculated by a self-adaptive height matching algorithm, and the calculation formula is as follows: , The device comprises a target height value, a standard height, a fixed height difference, a height compensation value and a value range, wherein Hset is a target height value, in which the electric lifting driving assembly (3) drives the sliding seat (9) to move, the standard height is in mm, hrobot is an armpit reference height of the target humanoid robot, the standard height is in mm, the standard height is obtained through pre-stored parameters or visual identification, hoffset is a fixed height difference between an initial state of a lifting seat (404) of the armpit lifting assembly (4) and a reference surface of the sliding seat (9), the standard height value is in mm, delta Hcomp is a height compensation value, the standard height is in mm, and the value range is [ -15,15] and is used for compensating vertical position errors when the humanoid robot stops.
  9. 9. The method for controlling an automatic mounting and charging device of a humanoid robot according to claim 7, wherein in S6, the contact state of the contact detection unit is determined by a contact reliability evaluation algorithm, and the calculation formula is: , Wherein Rcontact is a contact reliability coefficient, the value range is [0,1], uact is an actual measurement loop voltage between an elastic contact (702) and a receiving end of a magnetic attraction contact charging assembly (7), the unit is V, uset is a rated reference voltage of a charging loop, the unit is V, ract is an actual measurement contact resistance between the elastic contact (702) and the receiving end, the unit is mΩ, rstd is a standard contact resistance threshold between the elastic contact (702) and the receiving end, the unit is mΩ, k1 is a voltage weight coefficient, k2 is a resistance weight coefficient, k1+k2=1, k1 and k2 are both larger than 0, when Rcontact is more than or equal to Rth, the contact is judged to be normal, h is a preset contact reliability threshold, and the value range is [0.85,0.95].
  10. 10. The method for controlling the automatic mounting and charging device of the humanoid robot, as set forth in claim 7, is characterized in that in S5, before the magnetic attraction type contact charging assembly (7) is abutted, the vertical position of the magnetic contact plate (701) is preset through the adjusting screw (703) to enable the elastic contact (702) to be matched with the vertical position of the powered end of the humanoid robot, in the abutting process, the elastic contact (702) is guided to be accurately attached to the powered end through magnetic attraction force, and the attaching gap is compensated through elastic deformation, and in S7, the abnormal state comprises at least one of mounting position deviation of the humanoid robot, limit failure of the waist limit assembly (6) and contact reliability coefficient being lower than a threshold value, and sound and light alarm is synchronously triggered and abnormal event data are recorded when the abnormal state is detected.

Description

Automatic mounting and charging device for humanoid robot and control method thereof Technical Field The invention relates to the technical field of robot auxiliary equipment, in particular to an automatic mounting and charging device for a humanoid robot and a control method thereof. Background With the gradual application of humanoid robots in the scenes of home service, care, health care, business reception and the like, the robots have higher requirements on support stability, cross-model adaptability, automatic docking reliability and use safety in the daily parking and energy supplementing process. The existing humanoid robot energy supplementing scheme is matched with a combined specific robot platform, has limited cross-model adapting capability, and is difficult to adapt to the difference of different robots in height, shoulder width, trunk thickness and power receiving position setting; Meanwhile, compared with low-gravity-center mobile equipment, the humanoid robot generally has a higher gravity center and a more complex trunk shape, is easy to deviate in posture, shake left and right or unstable in contact in the parking process, not only affects the parking stability, but also can reduce the reliability of charging connection. In addition, the control logic of the existing robot energy supplementing scheme is simpler, and most of the existing robot energy supplementing scheme only has basic charging on-off functions, lacks the full-flow closed-loop control of the humanoid robot mounting process, the linkage interlocking mechanism of the in-place state and the contact state, and the adaptive adjustment algorithm of different models, and meanwhile, the existing scheme lacks the hierarchical processing and real-time protection mechanism of the abnormal state in the charging process, so that the charging device and the control method thereof can not meet the safety, continuity and intelligent requirements of unmanned automatic energy supplementing in family and commercial scenes once the deviation, the abnormal contact or the limit failure of the robot occur, and are extremely easy to cause charging interruption, equipment damage and even safety accidents. Disclosure of Invention In view of the above problems, the invention provides an automatic mounting and charging device for a humanoid robot and a control method thereof, wherein the two lifting arms of an underarm lifting assembly of the automatic mounting and charging device for the humanoid robot can adjust the distance along a transverse rail so as to adapt to humanoid robots with different shoulder widths or trunk widths, and the two lifting arms are connected with floating grooves on the lifting arms through first springs, so that the tiny position errors in the robot stopping process can be compensated, and the lifting stability is improved. The automatic mounting charging device for the humanoid robot comprises a base, a wall support frame, an electric lifting driving component and a detection control module, wherein the wall support frame is arranged on the rear side of the top of the base, the electric lifting driving component is arranged on the wall support frame, a sliding seat is arranged at the output end of the electric lifting driving component, a through groove is formed in the sliding seat, a transverse rail is arranged in the through groove, two ends of the transverse rail are positioned on two sides of the sliding seat, an underarm lifting component is arranged on the transverse rail in a sliding manner, a back attaching component is arranged on the front face of the sliding seat, a magnetic contact charging component is arranged on the back attaching component, a waist limiting component is arranged on the sliding seat on two sides of the back attaching component, a detection control module in control connection with the magnetic contact charging component is arranged on one side wall of the sliding seat, and a guide slope is arranged at the front end of the base. The electric lifting driving assembly is further improved in that the electric lifting driving assembly comprises a fixing seat, an electric push rod and guide rails, the fixing seat is arranged above the front face of the wall supporting frame, the electric push rod is arranged on the fixing seat, the guide rails are arranged on the front face of the wall supporting frame on two sides of the fixing seat, the sliding seat is in sliding connection with the two guide rails, and the output end of the electric push rod is connected with the top of the sliding seat. The underarm lifting assembly is further improved in that the underarm lifting assembly comprises an adjusting arm, a lifting arm, a floating groove and a lifting seat, the adjusting arm is in sliding connection with a transverse rail, the lifting arm is arranged on the front face of the adjusting arm, the floating groove is arranged at the top of the lifting arm, two side walls of the lower end of the lifti