CN-122008321-A - Body-equipped intelligent robot and control method thereof

CN122008321ACN 122008321 ACN122008321 ACN 122008321ACN-122008321-A

Abstract

The application provides a body-equipped intelligent robot and a control method thereof, wherein the body-equipped intelligent robot comprises an upper body, an adapter, a lower body, a counterweight mechanism and a driving structure, wherein the adapter is rotatably connected with the upper body; the counterweight mechanism comprises a connecting rod structure and a counterweight connecting rod, one end of the connecting rod structure is rotationally connected to the upper body, the other end of the connecting rod structure is rotationally connected to the counterweight connecting rod, the counterweight connecting rod is rotationally connected to the adapter, a counterweight is arranged at one end, far away from the connection with the connecting rod structure, of the counterweight connecting rod, a parallelogram connecting rod mechanism is formed among the connecting rod structure, the counterweight connecting rod, the adapter and the upper body, the driving structure is connected to the adapter, the output end of the driving structure is in transmission connection with the output end of the rotating module or the upper body, and the driving structure is suitable for enabling the upper body and the lower body to relatively move. The scheme of the application is used for improving the stability of the whole machine.

Inventors

FAN KAIJIE
SUN ZEYUAN
LI YONGYAO
ZHOU HAI

Assignees

人形机器人(上海)有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (12)

1. An intelligent robot with body, characterized by comprising: An upper torso; one end of the adapter is rotatably connected with the upper body around a first rotating shaft; The lower body is provided with a rotating module, the rotating module is suitable for outputting a rotating force rotating around a second rotating shaft, and the first rotating shaft is perpendicular to the second rotating shaft; The counterweight mechanism comprises a connecting rod structure and a counterweight connecting rod, one end of the connecting rod structure is rotationally connected with the upper body, the other end of the connecting rod structure is rotationally connected with the counterweight connecting rod, the counterweight connecting rod is rotationally connected with the adapter, one end, far away from the connection with the connecting rod structure, of the counterweight connecting rod is provided with a counterweight, and a parallelogram connecting rod mechanism is formed among the connecting rod structure, the counterweight connecting rod, the adapter and the upper body, and The driving structure is suitable for outputting force along the direction vertical to the first rotating shaft, the driving structure is connected with the adapter, the output end of the driving structure is in transmission connection with the output end of the rotating module or the upper body, and the driving structure is suitable for enabling the upper body and the lower body to relatively move along the direction vertical to the first rotating shaft.
2. The intelligent robot of claim 1, wherein the driving structure comprises a driving member, the adapter comprises an outer cylinder and an inner container, the inner container is inserted and matched into the outer cylinder to form a telescopic structure, one end of the inner container, which is far away from the outer cylinder, is rotatably connected with the upper body, one end of the outer cylinder, which is far away from the inner container, is rotatably connected with the counterweight connecting rod, the outer cylinder is fixedly connected with the rotating end of the rotating module, the driving member is an air cylinder or a hydraulic cylinder, the driving member is positioned in the outer cylinder and is fixedly connected with the outer cylinder, and the output end of the driving member is connected with the structure of the inner container, which is inserted and connected with the outer cylinder.
3. The intelligent robot with body according to claim 1, wherein the driving structure comprises a driving member, a driving member and a driven member, the driving member is a driving motor, the driving member is connected to an output end of the driving member, the driving member is a screw rod, one end of the length direction of the screw rod is coaxially connected to an output shaft of the driving member, the driven member is a nut structure, the nut structure is in threaded connection with the screw rod, the nut structure is in movable connection with the adapting member along a direction perpendicular to a first rotating shaft, and the driven member is fixedly connected to the rotating module.
4. The intelligent robot of claim 1, wherein the link structure comprises a first link and a second link, one end of the first link in the length direction is rotatably connected to the upper body, the other end of the first link in the length direction is connected to one end of the second link in the length direction through an elastic member, and the other end of the second link in the length direction is rotatably connected to a counterweight link.
5. The intelligent robot of claim 4, wherein a first connecting nut is disposed at an end of the first link adjacent to the second link, a second connecting nut is disposed at an end of the second link adjacent to the first link, the elastic member is connected between the first connecting nut and the second connecting nut, the link structure further comprises a fixing screw screwed to the first connecting nut or the second connecting nut, and the fixing screw is screwed between the first connecting nut and the second connecting nut through the elastic member.
6. The intelligent robot of claim 1, wherein the lower body comprises a movable base and a lifting mechanism, the rotating module is connected to one end of the lifting mechanism, and the other end of the lifting mechanism is movably connected to the movable base.
7. The intelligent robot of claim 6, wherein the lifting mechanism is movably disposed with respect to the movable base along one or more directions perpendicular to the second axis of rotation.
8. The intelligent robot of claim 6, wherein the lower body further comprises a moving assembly, the moving assembly comprises a linear guide rail and a power unit, the end of the lifting mechanism away from the rotating module is movably connected to the linear guide rail through a connecting block, the output end of the power unit is connected to the connecting block or the lifting mechanism, and the power unit is suitable for driving the lifting mechanism to move relative to the moving seat.
9. The intelligent robot of claim 6, wherein the movable base is further provided with a power member and at least one support, the support is drivingly connected to an output end of the power member, and the power member is capable of driving the support to move toward a bottom surface of the movable base to abut against a supporting surface supporting the movable base, so as to support the intelligent robot.
10. The intelligent robot of claim 1, wherein one weight is provided; Or, the balancing weights are provided with a plurality of balancing weight connecting rods, at least part of the balancing weights are connected with the balancing weight connecting rods, and the other part of the balancing weights are rotatably connected with the lower body.
11. A control method of a body-building intelligent robot according to any one of claims 1 to 10, wherein the weight mechanism includes a first weight block and a second weight block, the first weight block and the second weight block are driven based on different driving motors, the mass of the first weight block is smaller than the mass of the second weight block, and the response speed of the first weight block is larger than the response speed of the second weight block, the method comprising: Under the condition that the gravity center offset acceleration of the intelligent robot with body is detected to be larger than a second preset threshold value, the first balancing weight is started to move to a first preset balance position, so that gravity center balance of the intelligent robot with body is realized; And simultaneously starting the second balancing weight to move to a second preset balance position, and controlling the first balancing weight to return to the original position after the second balancing weight reaches the second preset balance position, wherein the self-contained intelligent robot can reach the gravity center balance at the second preset balance position.
12. The method for controlling a smart robot of claim 11, wherein the mobile base of the smart robot is provided with at least one bracket, the method comprising: and controlling the support to move to support the intelligent robot under the condition that the gravity center offset of the intelligent robot is detected to be larger than a first preset threshold, wherein the first preset threshold is determined according to the load capacity of the mechanical arm of the intelligent robot and is inversely related to the load capacity of the mechanical arm.

Description

Body-equipped intelligent robot and control method thereof Technical Field The application relates to the technical field of intelligent robots, in particular to an intelligent robot with a body and a control method thereof. Background Humanoid robots have wide application requirements in the fields of industrial automation, logistics transportation, service robots and the like, and particularly in scenes requiring complex actions and high stability. For example, on an industrial assembly line, a robot needs to frequently perform telescopic and grabbing actions and waist pitching actions of a mechanical arm so as to adapt to assembly requirements of different workpieces, in a logistics sorting scene, the robot needs to quickly grab or place goods through waist rotation and pitching adjustment gestures, and in a service robot field such as medical care or home assistant scenes, the robot needs to flexibly move and adjust gestures through a waist mechanism so as to finish actions of picking up goods, opening a door and the like. In these application scenarios, as the robot arm can extend forward in the actual operation process, the waist pitching joint can also tilt forward, which can lead to the forward shift of the center of gravity of the whole machine, and the stability of the whole machine is poor, and even the robot arm can tilt, which brings about a safety problem. Disclosure of Invention The application provides an intelligent robot with a body and a control method thereof, which are used for improving the stability of the whole robot. The application provides an intelligent robot with a body, which comprises an upper body, an adapter, a lower body, a counterweight mechanism and a driving structure, wherein one end of the adapter is rotatably connected with the upper body around a first rotating shaft, the lower body is provided with a rotating module, the rotating module is suitable for outputting rotating force which rotates around a second rotating shaft, the first rotating shaft is perpendicular to the second rotating shaft, the counterweight mechanism comprises a connecting rod structure and a counterweight connecting rod, one end of the connecting rod structure is rotatably connected with the upper body, the other end of the connecting rod structure is rotatably connected with the counterweight connecting rod, the counterweight connecting rod is rotatably connected with the adapter, a counterweight block is arranged at one end, far away from the connecting rod structure, of the counterweight connecting rod, a driving structure is suitable for outputting force along the direction perpendicular to the first rotating shaft, the driving structure is connected with the adapter, the output end of the body of the driving structure is in transmission connection with the output end or the upper part of the rotating module, and the driving structure is suitable for enabling the upper body and the lower body to relatively move along the direction perpendicular to the first rotating shaft. According to the application, the counterweight mechanism is arranged, so that the connecting rod structure, the counterweight connecting rod, the adapter and the upper body are connected to form the parallelogram connecting rod mechanism, namely, the upper body is related to the counterweight through the parallelogram connecting rod. When the upper body inclines, the balancing weight can move towards opposite directions according to the inclination of the upper body, and the balancing weight moves synchronously according to the movement of the upper body, so that the real-time dynamic movement of the balancing weight is realized, the gravity center position of the whole robot can be dynamically adjusted, the whole machine gravity center is prevented from moving forwards, the stability of the whole machine is improved, and the safety risk caused by dumping is avoided. In addition, through setting up the counter weight mechanism, when the crooked article of snatching of upper portion body, and need get back to the upright state again, the counter weight mechanism can also reduce the required moment output of upper portion body every single move action, reduces power loss, avoids risks such as motor overheat damage. Moreover, through setting up drive structure, can realize the relative movement between upper portion body and the lower part body, so, when the robot is in complicated topography or dynamic operation environment (such as upper and lower slope, external force interference, etc.), can also remove the relative position between upper portion body and the lower part body according to actual conditions to supply the adjustment to the whole machine focus, be applicable to when using counter weight mechanism to carry out the focus balance, still can't satisfy the circumstances of balanced demand, through the relative positional relationship between upper portion body and the lower part body, realize the further adjustm