Moving mechanism applied to humanoid robot and control method

Abstract

The invention relates to the technical field of humanoid robots, in particular to a moving mechanism applied to a humanoid robot and a control method, a multi-stage lifting mechanism adopts modular hierarchical design and independent driving and sequentially comprises a first-stage lifting unit, a second-stage lifting unit and a third-stage lifting unit from bottom to top, and cylinders of all stages are nested to form a telescopic structure. Lead screw transmission optimization is adopted, a servo motor has a braking function, reinforcing ribs are installed on all levels of lifting units, and pressure sensors are arranged in top connecting pieces of three levels of columns. The bidirectional linear moving mechanism comprises a moving stator, a sliding seat and other components, and based on the coreless linear motor technology, the moving stator adopts a sectional permanent magnet array layout. The working space of the humanoid robot is expanded, the large load and micron-order positioning capacity are both considered, and therefore the problem that the working range of an existing humanoid robot is limited is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and particularly to a moving mechanism and a control method applied to humanoid robots. Background Art

[0002] At present, with the rapid development of technology, humanoid robots are increasingly widely used in various fields such as industrial production, logistics handling, service fields, and daily life assistance, demonstrating great development potential. In these different application scenarios, in order to adapt to complex and changeable working environments and task requirements, humanoid robots must possess highly flexible and precise moving capabilities.

[0003] In the industrial handling scenario, due to the limited degrees of freedom of the joints of traditional legged robots, it is very difficult to maintain a stable squatting posture to carry out low-position operations under load, which greatly restricts the expansion of their functions.

[0004] Traditional hydraulic lifting mechanisms have many inherent defects, such as large volume, easy leakage, low positioning accuracy, etc. Most moving mechanisms adopt a split design, with the lifting module and the horizontal moving module arranged separately. This structure will cause the accumulation of motion coupling errors, making the power transmission path complex and difficult to achieve synchronous horizontal compensation motion during the lifting process.

[0005] In addition, in some scenarios where work needs to be carried out on working platforms at different heights, existing moving mechanisms often lack effective multi-stage lifting functions, resulting in a very limited working range of the robot. When the robot needs to make precise position adjustments in a narrow space, traditional moving methods are difficult to achieve fine position control, making the robot appear powerless when performing tasks with high position accuracy requirements.

[0006] In summary, developing a new moving mechanism integrating a multi-stage lifting mechanism and a bidirectional linear moving mechanism is of crucial significance for improving the performance of humanoid robots and expanding their application scope. Summary of the Invention

[0007] The purpose of the present invention is to provide a moving mechanism and a control method applied to humanoid robots, aiming to solve the problem of the limited working range of existing humanoid robots.

[0008] To achieve the above purpose, in the first aspect, the present invention provides a moving mechanism applied to a humanoid robot, including a moving chassis, a multi-stage lifting mechanism, a rotating frame, a bidirectional linear moving mechanism, and a top connecting member;

[0009] The bidirectional linear moving mechanism is connected to the multi-stage lifting mechanism through the rotating frame and is connected to the moving chassis, and the multi-stage lifting mechanism is connected to the humanoid robot body through the top connecting member.

[0010] Among them, the mobile chassis includes a bottom plate and a chassis housing, and the chassis housing is installed on the bottom plate.

[0011] Among them, the bidirectional linear movement mechanism includes a mounting seat, a moving stator, a sliding seat, a slider, a guide rail, a limit switch, a grating scale, and anti-collision blocks; the mounting seat is installed on the bottom plate, the moving stator is installed on the side of the mounting seat away from the bottom plate, the guide rail is installed on the mounting seat, the slider is installed on the guide rail, the limit switch is installed on one side of the mounting seat, the grating scale is installed on one side of the mounting seat, and the anti-collision blocks are installed at both ends of the mounting seat.

[0012] Among them, the multi-stage lifting mechanism includes a first-stage lifting unit, a second-stage lifting unit, and a third-stage lifting unit. The first-stage lifting unit is installed on the rotating frame, and the first-stage lifting unit, the second-stage lifting unit, and the third-stage lifting unit are connected in sequence.

[0013] Among them, the first-stage lifting unit includes a first-stage column, a first-stage guide rail, a first-stage slider, a first-stage lead screw, a first-stage lead screw module base, a first-stage sliding seat, a first-stage limit switch, and a first-stage servo motor; the first-stage column is installed on the rotating frame, the first-stage guide rail is installed on the first-stage column, the first-stage slider is installed on the first-stage guide rail, the first-stage lead screw module base is installed on one side of the first-stage column, the first-stage lead screw is installed on one side of the first-stage lead screw module base, the first-stage sliding seat is installed on the first-stage lead screw, the first-stage limit switch is installed on one side of the first-stage lead screw module base, and the first-stage servo motor is installed inside the first-stage column.

[0014] Among them, the second-stage lifting unit includes a second-stage column, a second-stage guide rail, a second-stage slider, a second-stage lead screw, a second-stage lead screw module base, a second-stage sliding seat, a second-stage limit switch, and a second-stage servo motor; the second-stage column is installed on the first-stage sliding seat, the second-stage guide rail is installed on the second-stage column, the second-stage slider is installed on the second-stage guide rail, the second-stage lead screw module base is installed on the second-stage column, the second-stage lead screw is installed on the second-stage lead screw module base, the second-stage sliding seat is installed on the second-stage lead screw, the second-stage limit switch is installed on one side of the second-stage lead screw module base, and the second-stage servo motor is installed inside the second-stage column.

[0015] Among them, the third-stage lifting unit includes a third-stage column and a third-stage pressure sensor. The third-stage column is installed on the second-stage sliding seat, and the third-stage pressure sensor is installed inside the third-stage column.

[0016] In a second aspect, a control method for a mobile mechanism applied to a humanoid robot is provided, which is used for the mobile mechanism applied to a humanoid robot described in the first aspect, and comprises the following steps:

[0017] Plan the path according to the task requirements;

[0018] The humanoid robot is fine-tuned on the X and Z axes before it moves into position;

[0019] After the humanoid robot moves into position, it completes the picking and placing of goods and returns to its original position.

[0020] A mobile mechanism applied to a humanoid robot of the present invention comprises a mobile chassis, a multi-stage lifting mechanism, a rotating frame, a bidirectional linear mobile mechanism and a top connecting piece; the bidirectional linear mobile mechanism is connected to the multi-stage lifting mechanism through the rotating frame and connected to the mobile chassis, and the multi-stage lifting mechanism is connected to the humanoid robot body through the top connecting piece. The AGV trolley and the mobile mechanism chassis, and the mobile mechanism chassis and the bidirectional linear mobile mechanism are rigidly fixed by bolt connection, the bidirectional linear mobile mechanism and the multi-stage lifting mechanism are connected through the rotating frame, and the multi-stage lifting mechanism is connected to the humanoid robot body through the top connecting piece. The multi-stage lifting mechanism adopts modular hierarchical design and independent drive, and is sequentially divided into a first-level, a second-level, and a third-level lifting unit from bottom to top, and each level of the column is nested to form a telescopic structure. The screw drive is optimized, the servo motor has a braking function, the lifting units at each level are installed with reinforcing ribs, and the top connecting piece of the third-level column has a built-in pressure sensor. The bidirectional linear mobile mechanism includes components such as a moving stator and a slide seat. Based on the coreless linear motor technology, the moving stator adopts a segmented permanent magnet array layout. The present invention expands the working space of the humanoid robot, takes into account both large load and micron-level positioning capabilities, thereby solving the problem of limited working range of the existing humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a moving mechanism applied to a humanoid robot provided by the present invention.

[0023] Figure 2 It is a front cross-sectional view of a moving mechanism applied to a humanoid robot provided by the present invention.

[0024] Figure 3 It is a side sectional view of a moving mechanism applied to a humanoid robot provided by the present invention.

[0025] Figure 4 This is an installation schematic diagram of a moving mechanism applied to a humanoid robot provided by the present invention.

[0026] Figure 5 This is a flowchart of a control method for a moving mechanism applied to a humanoid robot provided by the present invention.

[0027] In the figure: 100 - robot body, 200 - moving mechanism, 300 - AGV cart, 1 - moving chassis, 11 - base plate, 12 - chassis housing, 2 - bidirectional linear moving mechanism, 21 - mounting seat, 22 - moving stator, 23 - sliding seat, 24 - slider, 25 - guide rail, 26 - limit switch, 27 - grating ruler, 28 - anti-collision block, 3 - multi-stage lifting mechanism, 31 - first-stage lifting unit, 311 - first-stage column, 312 - first-stage guide rail, 313 - first-stage slider, 314 - first-stage lead screw, 315 - first-stage lead screw module base, 316 - first-stage sliding seat, 317 - first-stage limit switch, 318 - first-stage servo motor, 32 - second-stage lifting unit, 321 - second-stage column, 322 - second-stage guide rail, 323 - second-stage slider, 324 - second-stage lead screw, 325 - second-stage lead screw module base, 326 - second-stage sliding seat, 327 - second-stage limit switch, 328 - second-stage servo motor, 33 - third-stage lifting unit, 331 - third-stage column, 332 - third-stage pressure sensor, 4 - rotating frame, 5 - top connecting piece. Detailed implementation manners

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0029] Please refer to Figures 1 to 4 , in the first aspect, the present invention provides a moving mechanism applied to a humanoid robot, including a moving chassis 1, a multi-stage lifting mechanism 3, a rotating frame 4, a bidirectional linear moving mechanism 2 and a top connecting piece 5;

[0030] The bidirectional linear moving mechanism 2 is connected to the multi-stage lifting mechanism 3 through the rotating frame 4 and is connected to the moving chassis 1, and the multi-stage lifting mechanism 3 is connected to the humanoid robot body 100 through the top connecting piece 5.

[0031] In this embodiment, the AGV trolley 300 and the chassis of the mobile mechanism 200, and the chassis of the mobile mechanism 200 and the bidirectional linear mobile mechanism 2 are rigidly fixed by bolt connection. The bidirectional linear mobile mechanism 2 is connected to the multi-stage lifting mechanism 3 through a rotating frame 4, and the multi-stage lifting mechanism 3 is connected to the humanoid robot body 100 through a top connector 5. The multi-stage lifting mechanism 3 adopts a modular hierarchical design and independent drive, and is composed of a first-level, a second-level, and a third-level lifting unit 33 from bottom to top, and the columns of each level are nested to form a telescopic structure. The screw drive is optimized, the servo motor has a braking function, and the lifting units of each level are installed with reinforcing ribs. The top connector 5 has a built-in pressure sensor. The bidirectional linear mobile mechanism 2 includes a moving stator 22, a slide 23 and other components. Based on the coreless linear motor technology, the moving stator 22 adopts a segmented permanent magnet array layout. The present invention expands the working space of the humanoid robot, taking into account large loads and micron-level positioning capabilities, thereby solving the problem of limited working range of the existing humanoid robot.

[0032] Furthermore, the mobile chassis 1 includes a base plate 11 and a chassis shell 12 , and the chassis shell 12 is installed on the base plate 11 .

[0033] In this embodiment, the bottom plate 11 provides installation conditions for the chassis housing 12 .

[0034] Furthermore, the bidirectional linear motion mechanism 2 includes a mounting seat 21, a moving stator 22, a slide seat 23, a slider 24, a guide rail 25, a limit switch 26, a grating scale 27 and an anti-collision block 28; the mounting seat 21 is installed on the base plate 11, the moving stator 22 is installed on the side of the mounting seat 21 away from the base plate 11, the guide rail 25 is installed on the mounting seat 21, the slider 24 is installed on the guide rail 25, the limit switch 26 is installed on one side of the mounting seat 21, the grating scale 27 is installed on one side of the mounting seat 21, and the anti-collision blocks 28 are installed at both ends of the mounting seat 21.

[0035] In this embodiment, the moving stator 22 adopts a linear motor composed of a segmented permanent magnet array layout. Based on the ironless linear motor technology, it has the advantages of high response speed, high precision, and high thrust density. The design of the moving stator 22 undergoes optimized electromagnetic design, which can effectively reduce electromagnetic interference and energy loss. The cooperation of the sliding seat 23, the guide rail 25, and the slider 24 is similar to that in the multi-stage lifting mechanism 3, and all adopt high-precision components. The guide rail 25 provides precise linear motion guidance. A pre-tightening assembly is used between the slider 24 and the guide rail 25 to ensure the accuracy and stability of the motion. The sliding seat 23 slides on the guide rail 25 to achieve the forward and backward movement of the humanoid robot in the horizontal direction. The mounting seat 21 is used to fix the moving stator 22 and other components, and its structural design fully considers the mechanical properties and installation convenience. The mounting seat 21 is made of high-strength metal materials and undergoes precise machining and assembly to ensure the relative position accuracy between various components. The grating scale 27 is a high-precision position detection device that can real-time feedback the position information of the sliding seat 23, providing precise position data for the control system, thereby realizing the precise positioning of the humanoid robot in the horizontal direction. The anti-collision blocks 28 are installed at both ends of the sliding seat 23. When the sliding seat 23 moves to the limit position, the anti-collision blocks 28 can play a buffering and protective role to prevent the sliding seat 23 from undergoing rigid collision and damaging the equipment.

[0036] Further, the multi-stage lifting mechanism 3 includes a first-stage lifting unit 31, a second-stage lifting unit 32, and a third-stage lifting unit 33. The first-stage lifting unit 31 is installed on the rotating frame 4, and the first-stage lifting unit 31, the second-stage lifting unit 32, and the third-stage lifting unit 33 are connected in sequence.

[0037] In this embodiment, the multi-stage lifting mechanism 3 technology adopts modular hierarchical design and independent drive, and realizes rapid assembly and replacement through standardized interfaces. The first-stage column 311 and the rotating frame 4 are fixed by high-strength bolts. The second-stage column 321 and the third-stage column 331 are respectively nested in the previous-stage column 311 to form a telescopic structure. For the first-stage lifting unit 31 and the second-stage lifting unit 32, the lead screw drive is optimized. The lead screws of each stage of the lifting device adopt high-precision ball screws. The axial clearance of the lead screw module base is eliminated through a pre-tightening mechanism. The slide seat 23 is equipped with a self-lubricating bearing to reduce the frictional resistance. Photoelectric limit switches are provided for each stage of the lifting device, and emergency braking is triggered when the limit is exceeded. The third-stage pressure sensor 332 monitors the load change in real time to prevent mechanical damage caused by overload. The servo motors of each stage of the lifting mechanism all have a braking function, and can quickly brake when the motor stops rotating, preventing the lifting mechanism from accidentally sliding or falling due to inertia or external force, and ensuring the stable and safe operation of the equipment. High-strength reinforcing ribs are installed on each stage of the lifting unit. The reinforcing ribs are made of high-quality materials, and are installed at key stress-bearing parts through precise processes and strict procedures. They can disperse the pressure, improve the structural strength and anti-deformation ability, reduce the risk of damage, and ensure the stable operation of the lifting system.

[0038] Further, the first-stage lifting unit 31 includes a first-stage column 311, a first-stage guide rail 312, a first-stage slider 313, a first-stage lead screw 314, a first-stage lead screw module base 315, a first-stage slide seat 316, a first-stage limit switch 317, and a first-stage servo motor 318. The first-stage column 311 is installed on the rotating frame 4. The first-stage guide rail 312 is installed on the first-stage column 311. The first-stage slider 313 is installed on the first-stage guide rail 312. The first-stage lead screw module base 315 is installed on one side of the first-stage column 311. The first-stage lead screw 314 is installed on one side of the first-stage lead screw module base 315. The first-stage slide seat 316 is installed on one side of the first-stage lead screw 314. The first-stage limit switch 317 is installed on one side of the first-stage lead screw module base 315. The first-stage servo motor 318 is installed inside the first-stage column 311.

[0039] In this embodiment, the first-level guide rail 312 adopts a high-precision linear guide rail 25, whose straightness and surface roughness are strictly controlled to ensure that the first-level slider 313 can slide smoothly and precisely on the first-level guide rail 312. The first-level guide rail 312 and the first-level slider 313 are assembled in a pre-tightening manner to eliminate gaps and improve the motion accuracy. The first-level lead screw 314 is selected as a high-precision ball screw, and the axial clearance of the first-level lead screw module base 315 is eliminated through a pre-tightening mechanism to ensure that the first-level lead screw 314 can accurately transmit power when rotating. The first-level slide base 316 is equipped with a self-lubricating bearing, which can reduce the frictional resistance and extend the service life. The first-level limit switch 317 adopts a photoelectric limit switch, which has the characteristics of high precision and fast response. When the first-level slide base 316 runs to the limit position, it can trigger an emergency brake in time to ensure the safe operation of the equipment. The first-level servo motor 318 is selected as a high-performance servo motor, which has a high torque output and precise speed control ability. The servo motor shaft end and the input end of the lead screw module are connected through a synchronous pulley and a synchronous belt to improve the torque output and ensure stable operation.

[0040] Further, the second-level lifting unit 32 includes a second-level column 321, a second-level guide rail 322, a second-level slider 323, a second-level lead screw 324, a second-level lead screw module base 325, a second-level slide base 326, a second-level limit switch 327, and a second-level servo motor 328; the second-level column 321 is installed on the first-level slide base 316, the second-level guide rail 322 is installed on the first-level column 311, the second-level slider 323 is installed on the second-level guide rail 322, the second-level lead screw module base 325 is installed on the second-level column 321, the second-level lead screw 324 is installed on the second-level lead screw module base 325, the second-level slide base 326 is installed on the second-level lead screw 324, the second-level limit switch 327 is installed on one side of the second-level lead screw module base 325, and the second-level servo motor 328 is installed inside the second-level column 321.

[0041] In this embodiment, the structure and working principle are similar to those of the first-level lifting unit 31. Key components such as the guide rail 25, the slider 24, and the lead screw all adopt high-precision components to ensure the motion accuracy and stability. The servo motor also has a braking function and can quickly brake when the motor stops rotating, preventing the lifting mechanism from accidentally sliding or falling due to inertia or external force, and ensuring the stable and safe operation of the equipment.

[0042] Further, the third-level lifting unit 33 includes a third-level column 331 and a third-level pressure sensor 332. The third-level column 331 is installed on the second-level slide base 326, and the third-level pressure sensor 332 is installed inside the third-level column 331.

[0043] In this embodiment, the three - level pressure sensor 332 adopts a high - precision sensor, which can accurately measure the magnitude of the load and feedback the signal to the control system. When the load exceeds the set value, the control system can take timely measures to prevent mechanical damage caused by overload.

[0044] Please refer to Figure 5 , on the second aspect, a control method for a mobile mechanism of a humanoid robot, which is used for the mobile mechanism of the humanoid robot described in the first aspect, includes the following steps:

[0045] S1 Plan the path according to the task requirements;

[0046] Specifically, before the humanoid robot moves, according to the task requirements, it combines vision + AI models to detect the external environment, plans a specific path through a path algorithm, selects a specific work station, the robot receives a movement instruction, and confirms the work station position. The AGV cart 300 releases the restriction and starts to move, moves according to the planned path by proofreading the factory map, and sudden obstacles on the moving path will be scanned and sensed in real - time by the vision module and the obstacle - avoidance module. During real - time movement, the path - planning algorithm can calculate the optimal path in real - time according to the actual route situation until it reaches the work station.

[0047] S2 Fine - tune the X - axis and Z - axis before the humanoid robot moves into place;

[0048] Specifically, when the AGV cart 300 is in the path - leading stage, the multi - level lifting shaft and the bidirectional linear moving shaft are in a locked state, and the AGV cart 300 moves according to the algorithm - predetermined path;

[0049] When approaching a certain position of the work station, the multi - level lifting shaft and the bidirectional linear moving shaft are unlocked. The vision module can be used to scan and judge the height of the work station. According to the scanning result, decouple the spatial movement control, calculate the AGV translation (XY plane), the displacement of the bidirectional linear moving shaft (X - axis), and the height of the multi - level lifting shaft (Z - axis), and adjust the robot pose by itself to achieve the precise positioning of the humanoid robot. Establish a dynamic priority scheduling mechanism for each axis, call the "motion interference prediction model", and judge the constraint situation of each axis in real - time to avoid path conflicts affecting the overall stability. Through precision compensation, integrate the grating scale 27 and the pressure sensor to construct an error compensation model, and use the sensor to measure the current position of the humanoid robot in real - time; input the measured position data in real - time into the trained compensation model to obtain the predicted position error; according to the predicted position error, adjust the motion trajectory of the humanoid robot to achieve high - precision position control and realize the smooth movement of the humanoid robot.

[0050] S3 After the humanoid robot moves into place, complete the goods picking and placing and return to the original position.

[0051] Specifically, the AGV cart 300 carries a robot to achieve the handling and placement of goods from the production line to the shelf. When the goods on the production line are processed, the robot receives an instruction, and the AGV cart 300 intelligently plans the path for picking up and placing the goods. The AGV cart 300 carries the robot to move to the production line to carry the goods to the shelf. According to the position of the placement area, the bidirectional linear moving mechanism 2 and the multi-stage lifting mechanism 3 are automatically adjusted according to the position to complete the picking up and placing of the goods.

[0052] Beneficial effects:

[0053] First, the beneficial effect of the present invention lies in: adopting a new structural layout, expanding the working space. The total stroke of the multi-stage lifting mechanism can reach 1 m, and the stroke of the bidirectional linear moving mechanism is 0.55 m, which improves the vertical and horizontal working ranges of the humanoid robot by more than 200%.

[0054] Second, by organically combining the multi-stage lead screw drive and the linear motor direct drive technology, the moving mechanism of the present invention successfully takes into account large loads (maximum load of 100 kg) and micron-level positioning capabilities, achieving the dual goals of high precision and high rigidity. This enables the robot to withstand large loads during various operations and ensure the accuracy of positioning, meeting the operation requirements under various complex working conditions.

[0055] Third, by deeply integrating multi-stage lifting and high-precision linear movement, the present invention successfully solves the technical bottlenecks of the existing moving mechanism of humanoid robots in terms of stroke, precision, and environmental adaptability. This innovative achievement provides a reliable technical basis for its large-scale application in the fields of intelligent manufacturing, special operations, services, etc., and has broad market application prospects and great economic value.

[0056] The above-disclosed is only a preferred embodiment of a moving mechanism and control method of the present invention applied to a humanoid robot. Of course, the scope of the rights of the present invention cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.

Claims

1. A mobile mechanism applied to a humanoid robot, characterized in that: It includes a mobile chassis, a multi-stage lifting mechanism, a rotating frame, a bidirectional linear moving mechanism and a top connecting piece; The bidirectional linear moving mechanism is connected to the multi-stage lifting mechanism through a rotating frame and is connected to the moving chassis. The multi-stage lifting mechanism is connected to the humanoid robot body through a top connecting piece.

2. The mobile mechanism for a humanoid robot according to claim 1, characterized in that: The mobile chassis comprises a bottom plate and a chassis shell, and the chassis shell is mounted on the bottom plate.

3. The mobile mechanism for a humanoid robot as claimed in claim 2, characterized in that: The bidirectional linear motion mechanism includes a mounting seat, a moving stator, a sliding seat, a slider, a guide rail, a limit switch, a grating scale and an anti-collision block; the mounting seat is mounted on the base plate, the moving stator is mounted on the side of the mounting seat away from the base plate, the guide rail is mounted on the mounting seat, the slider is mounted on the guide rail, the limit switch is mounted on one side of the mounting seat, the grating scale is mounted on one side of the mounting seat, and the anti-collision blocks are mounted on both ends of the mounting seat.

4. The moving mechanism for a humanoid robot as claimed in claim 3, characterized in that: The multi-stage lifting mechanism comprises a primary lifting unit, a secondary lifting unit and a tertiary lifting unit, wherein the primary lifting unit is installed on the rotating frame, and the primary lifting unit, the secondary lifting unit and the tertiary lifting unit are connected in sequence.

5. The moving mechanism for a humanoid robot as claimed in claim 4, characterized in that: The first-level lifting unit includes a first-level column, a first-level guide rail, a first-level slider, a first-level screw, a first-level screw module base, a first-level slide, a first-level limit switch and a first-level servo motor; the first-level column is installed on the rotating frame, the first-level guide rail is installed on the first-level column, the first-level slider is installed on the first-level guide rail, the first-level screw module base is installed on one side of the first-level column, the first-level screw is installed on one side of the first-level screw module base, the first-level slide is installed on the first-level screw, the first-level limit switch is installed on one side of the first-level screw module base, and the first-level servo motor is installed in the first-level column.

6. The moving mechanism for a humanoid robot according to claim 5, characterized in that: The secondary lifting unit includes a secondary column, a secondary guide rail, a secondary slider, a secondary screw, a secondary screw module base, a secondary slide, a secondary limit switch and a secondary servo motor; the secondary column is installed on the primary slide, the secondary guide rail is installed on the secondary column, the secondary slider is installed on the secondary guide rail, the secondary screw module base is installed on the secondary column, the secondary screw is installed on the secondary screw module base, the secondary slide is installed on the secondary screw, the secondary limit switch is installed on one side of the secondary screw module base, and the secondary servo motor is installed in the secondary column.

7. The moving mechanism for a humanoid robot according to claim 6, characterized in that: The three-stage lifting unit includes a three-stage column and a three-stage pressure sensor. The three-stage column is installed on the two-stage slide, and the three-stage pressure sensor is installed in the three-stage column.

8. A method for controlling a moving mechanism applied to a humanoid robot, used for the moving mechanism applied to a humanoid robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: Plan the path according to the task requirements; The humanoid robot is fine-tuned on the X and Z axes before it moves into position; After the humanoid robot moves into position, it completes the picking and placing of goods and returns to its original position.

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