Humanoid robot with grabbing function and using method thereof

Abstract

The invention discloses a humanoid robot with a grabbing function and a using method thereof, and relates to the technical field of robots, the humanoid robot comprises a main body, a processor, a protection module and a pre-grabbing module, the protection module is connected with the processor through baseband transmission, and the pre-grabbing module is connected with the processor through signal transmission; a processor is installed on the upper portion of the inner wall of the body, a protection module is installed on the upper portion of the inner wall of the body, and a pre-grabbing module is installed in the middle of the inner wall of the body. According to the humanoid robot, the protection module is installed, so that the function of protecting an article when an unexpected situation occurs when the humanoid robot grabs the article is achieved, the problem that the article grabbed by the humanoid robot falls off and is damaged when the unexpected situation occurs is solved, damage to the article can be reduced, and the cost is saved; and the stability and safety of object grabbing of the humanoid robot are improved, and the reliability of the humanoid robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a humanoid robot with a grasping function and a method of using the same. Background Art

[0002] With the aging population and the weakening of the demographic dividend, the contradiction between supply and demand in the labor market has suddenly emerged. The humanoid robot market has shown great potential. As the intelligence level and autonomy of robots have been significantly enhanced, they can be used and complete tasks better. Humanoid robots have evolved from simple to complex. Robots are widely used in many fields such as industry, medical care, and services. Especially in the industrial field, they have become an important driving force for the intelligent transformation of manufacturing. They are widely used in many industries such as automobiles, new energy and electronics, replacing manual labor to complete various tasks, improving production efficiency and quality. Humanoid robots are intelligent robots with human-like body structures and movement methods. From the exploration stage of walking with swords and three steps to the functional breakthrough stage of gravity operation, and then to the high-dynamic development stage, they have higher environmental perception, decision-making, learning and motion control capabilities. They have broad application prospects in many fields such as industry, agriculture, manufacturing and services, which can improve production efficiency and people's quality of life. The existing humanoid robots on the market have certain defects in flexibility, creativity, imagination, human-computer interaction and the ability to handle positional situations. Among them, lack of flexibility is a more significant problem. The behavior of humanoid robots is constrained by strict logic and rules. When faced with complex, ambiguous and uncertain situations, humanoid robots cannot flexibly adapt and adjust their own behavior, resulting in humanoid robots appearing relatively rigid when performing tasks and unable to deal with various situations as freely as humans. At the same time, because the behavior of humanoid robots is derived from strict logic and rules, humanoid robots cannot think divergently when faced with problems that require innovative thinking, inspiration and nonlinear problem solving, and have certain limitations.

[0003] Patent document CN114347057B discloses a humanoid robot. The above patent achieves extremely high degrees of freedom, simulates human movements at each joint, has a reasonable structural design, and realizes a compact transmission method through the coordination of a parallel pull rod structure, a motor, and a servo. However, the above patent cannot realize the function of protecting objects when an unexpected situation occurs when the humanoid robot grasps objects.

[0004] Patent document CN106573371B discloses a humanoid robot. The above patent improves the operational safety of the robot through a completely passive solution, but the above patent cannot realize the function of the humanoid robot to simulate before grasping an object.

[0005] Patent document CN106142055B discloses a humanoid power-assisting robot. The above patent realizes the dream of exercising while sleeping; various exercise movements can be achieved through the intelligent control of a single-chip microcomputer, and the fast and slow rhythm and movement amplitude can be controlled by the control panel, which can help people exercise according to the user's requirements. However, the above patent cannot realize the function of the humanoid robot to reasonably choose the transportation method of goods.

[0006] Patent document CN112045710B discloses an arm mechanism and a humanoid robot. The above patent achieves high interchangeability, so that the arm mechanism has diversity and scalability in form and performance, and can meet more usage requirements to a greater extent. However, the above patent cannot achieve the function of monitoring the integrity of the internal structure of the humanoid robot.

[0007] In summary, the above patents cannot realize the function of protecting the humanoid robot when an unexpected situation occurs when the humanoid robot grasps the object, cannot realize the function of the humanoid robot to simulate the object before grasping it, cannot realize the function of the humanoid robot to reasonably select the method of transporting the object, and cannot realize the function of monitoring the integrity of the internal structure of the humanoid robot. As a result, the objects grasped by the humanoid robot may fall and be damaged, the humanoid robot may not grasp the object firmly during the process of grasping the object, the weight of the object may exceed the tolerance range, the internal structure of the humanoid robot may be damaged, the humanoid robot may use a single transportation method during the transportation of the object, the transportation route may be fixed, the protection of the object may be poor, and the internal structure of the humanoid robot may wear out, resulting in malfunctions during operation and a reduced service life. To this end, the present application proposes a humanoid robot with a grasping function and a method for using the same, which can realize the function of protecting objects when an unexpected situation occurs when the humanoid robot grasps objects, the function of simulating objects before the humanoid robot grasps them, the function of reasonably selecting the mode of transporting objects by the humanoid robot, and the function of monitoring the integrity of the internal structure of the humanoid robot. Summary of the Invention

[0008] The purpose of the present invention is to provide a humanoid robot with a grasping function and a method for using the same, so as to solve the technical problems raised in the above background technology that the humanoid robot cannot realize the function of protecting objects when an unexpected situation occurs when grasping objects, cannot realize the function of simulating objects before grasping them, cannot realize the function of reasonably selecting the mode of transporting objects by the humanoid robot, and cannot realize the function of monitoring the integrity of the internal structure of the humanoid robot, resulting in objects grasped by the humanoid robot falling and being damaged, the humanoid robot grasping objects loosely, the weight of objects exceeding the bearing range, the internal structure of the humanoid robot being damaged, the humanoid robot having a single transportation mode and a fixed transportation route, poor protection of objects, and wear of the internal structure of the humanoid robot leading to failures in operation and reduced service life.

[0009] To achieve the above objectives, the present invention provides the following technical solutions: a humanoid robot with a grasping function and a method for using the same, comprising a main body, a processor, a protection module, and a pre-grasping module, wherein the protection module is connected to the processor via baseband transmission, and the pre-grasping module is connected to the processor via signal transmission; A processor is installed on the upper part of the inner wall of the main body, a protection module is installed on the upper part of the inner wall of the main body, and a pre-grabbing module is installed in the middle part of the inner wall of the main body; The protection module includes: a spring, a protection net, an ejection motor and a recovery unit, the ejection motor is connected to the processor via baseband transmission, and the recovery unit is connected to the processor via baseband transmission; A spring is installed in the middle of the inner wall of the main body, a protective net is installed in the middle of the inner wall of the main body, an ejection motor is installed in the middle of the inner wall of the main body, and a recovery unit is installed in the middle of the inner wall of the main body.

[0010] Preferably, an anti-falling module is installed in the middle of the inner wall of the main body, and the anti-falling module is connected to the friction sensor through signal transmission. The anti-falling module includes: a fixing component and a buffer component, the fixing component is connected to the friction sensor through signal transmission, and the buffer component is connected to the friction sensor through signal transmission; A fixing component is installed in the middle of the inner wall of the main body, and a buffer component is installed in the middle of the inner wall of the main body; The fixing components include: a fixing rope, a slot and a buckle; A fixing rope is installed in the middle of the inner wall of the main body, a card slot is installed in the middle of the inner wall of the main body, and a buckle is installed in the middle of the inner wall of the main body; The buffer assembly includes: a telescopic unit, a compression sponge box and a power motor. The telescopic unit is connected to the friction sensor through signal transmission, the power motor is connected to the friction sensor through signal transmission, and the telescopic unit is connected to the power motor through a connecting shaft. A telescopic unit is installed at the lower part of the inner wall of the main body, a compression sponge box is installed at the lower part of the inner wall of the main body, and a power motor is installed at the lower part of the inner wall of the main body.

[0011] Preferably, the pre-grabbing module includes: a grasping component, a friction sensor and a weight sensor, the grasping component is connected to the processor via signal transmission, the friction sensor is connected to the processor via signal transmission, and the weight sensor is connected to the processor via a signal line; A gripping assembly is installed in the middle of the inner wall of the main body, a friction sensor is installed in the middle of the inner wall of the main body, and a weight sensor is installed in the middle of the inner wall of the main body; the gripping assembly includes a servo motor, a reducer, a roller screw, a torque sensor and a dexterous hand, the servo motor is connected to the processor through signal transmission, the reducer is connected to the processor through signal transmission, and the dexterous hand is connected to the processor through a signal line; A servo motor is installed in the middle of the inner wall of the main body, a reducer is installed in the middle of the inner wall of the main body, a roller screw is installed in the middle of the inner wall of the main body, a torque sensor is installed in the middle of the inner wall of the main body, and a dexterous hand is installed in the middle of the inner wall of the main body; The friction sensor is equipped with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two surfaces of materials with different friction characteristics contact each other and a certain force is applied, friction is generated, which in turn causes the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After processing and calculation by the signal processing unit, the magnitude of the friction force is obtained and the calculated friction force is transmitted to the processor. The weight sensor is equipped with an elastomer, a resistance strain gauge and a measurement circuit. Weighing is based on the principle of strain electrical measurement. The elastomer produces elastic deformation under the action of external force, and the resistance strain gauge attached to the elastomer is deformed accordingly, causing the resistance of the resistance strain gauge to change. The measurement circuit converts the resistance change of the resistance strain gauge into an electrical signal and transmits the signal to the processor.

[0012] Preferably, the processor is connected to the judgment module via wireless transmission, and the judgment module includes: a visual sensor, a tactile sensor and an inertial measurement unit, the visual sensor is connected to the processor via wireless transmission, the tactile sensor is connected to the processor via wireless transmission, and the inertial measurement unit is connected to the processor via wireless transmission; A visual sensor is installed on the upper part of the inner wall of the main body, a tactile sensor is installed in the middle part of the inner wall of the main body, and an inertial measurement unit is installed on the upper part of the inner wall of the main body; The visual sensor is equipped with an acquisition unit, an image processor, and an image memory, which involves the acquisition, analysis, recognition, and comparison of images. The acquisition unit uses photoelectric detection technology to convert images in the external environment into electrical signals. The image processor performs digital processing and determines the size, shape, and color based on pixel distribution, brightness, and color. The information is stored in the image memory and transmitted to the processor. The tactile sensor is equipped with an elastomeric material, a piezoresistive sensitive element and a signal processing circuit. Based on the piezoresistive effect of semiconductor materials, the elastomeric material deforms under the action of external force, and the deformation of the elastomeric material drives the piezoresistive sensitive element. When the piezoresistive sensitive element is subjected to force, its own resistance changes. After amplification and processing by the signal processing circuit, it is converted into a usable electrical signal output and transmitted to the processor.

[0013] Preferably, the processor is connected to the monitoring module via wireless transmission, and the monitoring module includes: an oil quality sensor, a sound sensor, a sampling probe, a test paper and a comparison unit. The oil quality sensor is connected to the processor via wireless transmission, and the comparison unit is connected to the processor via wireless transmission. An oil quality sensor is installed at the lower part of the inner wall of the main body, a sampling probe is installed at the lower part of the inner wall of the main body, a test paper is installed at the lower part of the inner wall of the main body, and a comparison unit is installed at the lower part of the main body; The oil quality sensor is equipped with a discharge unit, a detection probe and a processing unit. Based on the changes in the dielectric properties of the oil and the application of dielectric loss factor technology, the discharge unit introduces high-frequency alternating current into the oil sample. The detection probe measures the permittivity and conductivity of the oil sample. The processing unit compares the measured permittivity and conductivity with the permittivity and conductivity of healthy and intact oil, and transmits the comparison results to the processor.

[0014] Preferably, the torque sensor is internally provided with a piezomagnetic element, an elastic bracket, a force-transmitting steel ball and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, and an excitation winding and an output winding are arranged between the holes. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor.

[0015] Preferably, the inertial measurement unit is internally provided with a three-axis accelerometer, a three-axis gyroscope and a processing element. The three-axis accelerometer is based on the basic principle of acceleration and is used to measure the proportion of an object, that is, the total velocity and non-gravitational force acting on a unit mass in the absence of gravity. When the three-axis accelerometer remains stationary, it senses the acceleration of gravity and the overall acceleration is zero. In free fall motion, the overall acceleration is the acceleration of gravity. The inside of the three-axis accelerometer is in a state of weightlessness and the output is zero. The three-axis gyroscope is based on Coriolis force and measures angular velocity. The integral of the angular velocity can calculate the angle and angular acceleration. After processing by the processing element, the position, velocity and posture of the object are transmitted to the processor.

[0016] Preferably, the sound sensor is internally provided with a microphone, a processing chip, a filter and a control circuit. Based on the working mechanism of a capacitive electret microphone, the sound signal is received by the microphone, causing the internal film to vibrate, resulting in a change in capacitance and thus generating a voltage, which is converted into an electrical signal after A / D conversion. The environmental noise is filtered out by the filter, the processing chip processes, analyzes and extracts information from the electrical signal, and the control circuit transmits the extracted information to the processor.

[0017] Preferably, the method of use is: Step 1: The judgment module scans the object, determines the status of the object, and transmits the information to the processor; Step 2: The processor determines the appropriate grabbing and transporting method and controls the humanoid robot to grab and transport the item; Step 3: The processor controls the pre-grabbing module to simulate the grabbing of the object, further collect information about the object and improve the proposed grabbing plan; Step 4: The processor controls the humanoid robot to grab and transport the object according to the improved grabbing plan.

[0018] Preferably, the method of use also includes: Step 5: When the humanoid robot is grabbing and transporting items, an unexpected situation occurs, causing the items to be damaged or dropped. The processor receives the changes in the data transmitted by the friction sensor and controls the protection module to protect the items. Step 6: The processor controls the ejection motor to push the spring to eject the protective net to cushion the falling objects; Step 7: When the humanoid robot grabs the object again, the processor receives the signal transmitted by the friction sensor and controls the recovery unit to recycle the protective net.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention, by installing a protection module, implements the function of protecting objects when an unexpected situation occurs while the humanoid robot is grasping them. This solves the problem of objects falling and being damaged while being grasped by the humanoid robot, reduces damage to objects, saves costs, increases the stability and safety of the humanoid robot in grasping objects, and improves the reliability of the humanoid robot. 2. The present invention, by installing a pre-grasping module, enables the humanoid robot to simulate the object before grasping it. This solves the problems of the humanoid robot's grasping being unstable, objects weighing beyond its capacity, and damage to the robot's internal structure. It protects the integrity of the robot's internal structure, extends the robot's service life, and improves the robot's safety in grasping objects. 3. The present invention, by installing a judgment module, enables the humanoid robot to reasonably select the transportation method for items, solving the problems of the humanoid robot's single transportation method, fixed transportation route, and poor protection of items during the transportation process. It can increase the efficiency of the humanoid robot in transporting items, improve transportation efficiency, protect the integrity of items, and save transportation costs. 4. The present invention realizes the function of monitoring the integrity of the internal structure of the humanoid robot by installing a monitoring module, solves the problem of wear and tear of the internal structure of the humanoid robot leading to failures in operation and reduced service life, can timely detect failures in the internal structure of the humanoid robot, reduce safety hazards of the humanoid robot, and improve the safety of the humanoid robot, objects and staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the front structure of the present invention; Figure 3 This is a schematic diagram of the protection module structure of the present invention; Figure 4 Schematic diagram of the structure of the dexterous hand of the present invention; Figure 5 This is a structural diagram of the judgment module of the present invention; Figure 6 This is a schematic diagram of the monitoring module structure of the present invention; Figure 7 This is a schematic structural diagram of the anti-falling module of the present invention; Figure 8 It is a schematic structural diagram of the telescopic unit of the present invention.

[0021] In the figure: 1. Main body; 2. Processor; 3. Protection module; 4. Pre-grasp module; 5. Judgment module; 6. Monitoring module; 7. Grasping component; 8. Spring; 9. Protection net; 10. Ejection motor; 11. Recovery unit; 12. Friction sensor; 13. Weight sensor; 14. Servo motor; 15. Reducer; 16. Roller screw; 17. Torque sensor; 18. Dexterous hand; 19. Vision sensor; 20. Tactile sensor; 21. Inertial measurement unit; 22. Oil quality sensor; 23. Sound sensor; 24. Sampling probe; 25. Test paper; 26. Comparison unit; 27. Anti-fall module; 28. Fixing component; 29. ​​Buffering component; 30. Fixing rope; 31. Slot; 32. Buckle; 33. Telescopic unit; 34. Compression sponge box; 35. Power motor. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances. Example

[0025] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4, a humanoid robot with a grasping function, comprising a main body 1, a processor 2, a protection module 3 and a pre-grasping module 4, wherein the protection module 3 is connected to the processor 2 via baseband transmission, and the pre-grasping module 4 is connected to the processor 2 via signal transmission; A processor 2 is installed on the upper part of the inner wall of the main body 1, a protection module 3 is installed on the upper part of the inner wall of the main body 1, and a pre-grabbing module 4 is installed in the middle part of the inner wall of the main body 1; The protection module 3 includes: a spring 8, a protection net 9, an ejection motor 10 and a recovery unit 11, the ejection motor 10 is connected to the processor 2 via baseband transmission, and the recovery unit 11 is connected to the processor 2 via baseband transmission; A spring 8 is installed in the middle of the inner wall of the main body 1, a protective net 9 is installed in the middle of the inner wall of the main body 1, a catapult motor 10 is installed in the middle of the inner wall of the main body 1, and a recovery unit 11 is installed in the middle of the inner wall of the main body 1; The pre-grab module 4 includes: a grabbing component 7, a friction sensor 12 and a weight sensor 13, the grabbing component 7 is connected to the processor 2 via signal transmission, the friction sensor 12 is connected to the processor 2 via signal transmission, and the weight sensor 13 is connected to the processor 2 via a signal line; A gripping assembly 7 is installed in the middle of the inner wall of the main body 1, a friction sensor 12 is installed in the middle of the inner wall of the main body, and a weight sensor 13 is installed in the middle of the inner wall of the main body 1; the gripping assembly 7 includes a servo motor 14, a reducer 15, a roller screw 16, a torque sensor 17 and a dexterous hand 18, the servo motor 14 is connected to the processor 2 through signal transmission, the reducer 15 is connected to the processor 2 through signal transmission, and the dexterous hand 18 is connected to the processor 2 through a signal line; A servo motor 14 is installed in the middle of the inner wall of the main body 1, a reducer 15 is installed in the middle of the inner wall of the main body 1, a roller screw 16 is installed in the middle of the inner wall of the main body 1, a torque sensor 17 is installed in the middle of the inner wall of the main body 1, and a dexterous hand 18 is installed in the middle of the inner wall of the main body 1; The friction sensor 12 is internally provided with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two surfaces of materials with different friction characteristics contact each other and a certain force is applied, friction is generated, which in turn causes the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After processing and calculation by the signal processing unit, the magnitude of the friction force is obtained, and the calculated friction force magnitude is transmitted to the processor 2; The weight sensor 13 is internally provided with an elastic body, a resistance strain gauge, and a measurement circuit. It performs weighing based on the principle of electrical strain measurement. Under the action of an external force, the elastic body undergoes elastic deformation, and the resistance strain gauge attached to the elastic body deforms accordingly, causing the resistance of the resistance strain gauge to change. The measurement circuit converts the resistance change of the resistance strain gauge into an electrical signal and transmits the signal to the processor 2. The torque sensor 17 is internally provided with a piezomagnetic element, an elastic bracket, a force-transmitting steel ball, and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, between which there are excitation windings and output windings. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic field is parallel to the plane of the output winding, and no induced electromotive force is generated. When there is an external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor 2; Furthermore, after the humanoid robot grasps the object, the friction sensor 12 monitors the friction between the dexterous hand 18 and the object and transmits the data to the processor 2. When the processor 2 receives the data that the friction disappears, the processor 2 controls the ejection motor 10 to push the spring 8 to eject the protective net 9 to provide buffering protection for the fallen object. The processor 2 controls the grasping component 7 to re-grab the object. After the processor 2 receives the data transmitted by the friction sensor 12 that is not zero, the processor 2 controls the recovery unit 11 to recover the protective net 9, thereby realizing the function of protecting the object when the humanoid robot grasps the object in an unexpected situation, solving the problem of the object grasped by the humanoid robot falling and being damaged, reducing the damage to the object, saving costs, increasing the stability and safety of the humanoid robot in grasping the object, and improving the reliability of the humanoid robot. Example

[0026] See also Figure 1 、 Figure 2 、 Figure 4 and Figure 5 , a humanoid robot with a grasping function, the pre-grasping module 4 includes: a grasping component 7, a friction sensor 12 and a weight sensor 13, the grasping component 7 is connected to the processor 2 via signal transmission, the friction sensor 12 is connected to the processor 2 via signal transmission, and the weight sensor 13 is connected to the processor 2 via a signal line; A gripping assembly 7 is installed in the middle of the inner wall of the main body 1, a friction force sensor 12 is installed in the middle of the inner wall of the main body 1, and a weight sensor 13 is installed in the middle of the inner wall of the main body 1; The grasping assembly 7 includes: a servo motor 14, a reducer 15, a roller screw 16, a torque sensor 17 and a dexterous hand 18. The servo motor 14 is connected to the processor 2 via signal transmission, the reducer 15 is connected to the processor 2 via signal transmission, and the dexterous hand 18 is connected to the processor 2 via a signal line. A servo motor 14 is installed in the middle of the inner wall of the main body 1, a reducer 15 is installed in the middle of the inner wall of the main body 1, a roller screw 16 is installed in the middle of the inner wall of the main body 1, a torque sensor 17 is installed in the middle of the inner wall of the main body 1, and a dexterous hand 18 is installed in the middle of the inner wall of the main body 1; The friction sensor 12 is internally provided with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two surfaces of materials with different friction characteristics contact each other and a certain force is applied, friction is generated, which in turn causes the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After processing and calculation by the signal processing unit, the magnitude of the friction force is obtained, and the calculated friction force magnitude is transmitted to the processor 2; The weight sensor 13 is internally provided with an elastic body, a resistance strain gauge, and a measurement circuit. It performs weighing based on the principle of electrical strain measurement. Under the action of an external force, the elastic body undergoes elastic deformation, and the resistance strain gauge attached to the elastic body deforms accordingly, causing the resistance of the resistance strain gauge to change. The measurement circuit converts the resistance change of the resistance strain gauge into an electrical signal and transmits the signal to the processor 2. The torque sensor 17 is internally provided with a piezomagnetic element, an elastic bracket, a force-transmitting steel ball, and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, between which there are excitation windings and output windings. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic field is parallel to the plane of the output winding, and no induced electromotive force is generated. When there is an external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor 2; The processor 2 is connected to the judgment module 5 via wireless transmission. The judgment module 5 includes: a visual sensor 19, a tactile sensor 20 and an inertial measurement unit 21. The visual sensor 19 is connected to the processor 2 via wireless transmission, the tactile sensor 20 is connected to the processor 2 via wireless transmission, and the inertial measurement unit 21 is connected to the processor 2 via wireless transmission; A visual sensor 19 is installed on the upper part of the inner wall of the main body 1, a tactile sensor 20 is installed in the middle part of the inner wall of the main body 1, and an inertial measurement unit 21 is installed on the upper part of the inner wall of the main body 1; The visual sensor 19 is internally provided with an acquisition unit, an image processor, and an image memory, which are involved in image acquisition, analysis, recognition, and comparison. The image in the external environment is converted into an electrical signal by the acquisition unit through photoelectric detection technology. The image processor performs digital processing and determines the size, shape, and color based on the pixel distribution, brightness, and color. The information is stored in the image memory and transmitted to the processor 2. The tactile sensor 20 is internally provided with an elastic material, a piezoresistive sensor, and a signal processing circuit. Based on the piezoresistive effect of semiconductor materials, the elastic material deforms under the action of an external force, and the deformation of the elastic material drives the piezoresistive sensor. When the piezoresistive sensor is subjected to the force, its own resistance changes. After amplification and processing by the signal processing circuit, it is converted into a usable electrical signal and outputted to the processor 2; The inertial measurement unit 21 is internally provided with a three-axis accelerometer, a three-axis gyroscope and a processing element. The three-axis accelerometer is based on the basic principle of acceleration and is used to measure the proportion of an object, that is, the total velocity and non-gravitational force acting on a unit mass in the absence of gravity. When the three-axis accelerometer remains stationary, it senses the acceleration of gravity and the overall acceleration is zero. In free fall, the overall acceleration is the acceleration of gravity. The three-axis accelerometer is in a weightless state and the output is zero. The three-axis gyroscope is based on Coriolis force and measures angular velocity. The integral of the angular velocity can calculate the angle and angular acceleration. After being processed by the processing element, the position, velocity and attitude of the object are transmitted to the processor 2; Furthermore, the judgment module 5 uses the visual sensor 19 to judge the size, shape, color and other characteristics of the object, and transmits the data to the processor 2. The processor 2 controls the servo motor 14 to drive the grasping component 7 to grasp the object based on the received information. The friction sensor 12 monitors and records the friction between the object and the dexterous hand 18, the weight sensor 13 records the weight of the object, and the tactile sensor 20 records the tactile sensation after the object contacts the dexterous hand 18, and transmits the data to the processor 2. The processor determines the grasping method suitable for the object by analyzing the data, that is, how much force the dexterous hand 18 should apply to the object to stably grasp the object without damaging the object, thereby realizing the function of the humanoid robot to simulate before grasping the object, solving the problems of the humanoid robot not grasping firmly, the weight of the object exceeding the bearing range, and the damage to the internal structure of the humanoid robot during the process of grasping the object, and can protect the integrity of the internal structure of the humanoid robot, extend the service life of the humanoid robot, and improve the safety of the humanoid robot in grasping objects. Example

[0027] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 5 , a humanoid robot with a grasping function, comprising a main body 1, a processor 2, a protection module 3 and a pre-grasping module 4, wherein the protection module 3 is connected to the processor 2 via baseband transmission, and the pre-grasping module 4 is connected to the processor 2 via signal transmission; A processor 2 is installed on the upper part of the inner wall of the main body 1, a protection module 3 is installed on the upper part of the inner wall of the main body 1, and a pre-grabbing module 4 is installed in the middle part of the inner wall of the main body 1; The protection module 3 includes: a spring 8, a protection net 9, an ejection motor 10 and a recovery unit 11, the ejection motor 10 is connected to the processor 2 via baseband transmission, and the recovery unit 11 is connected to the processor 2 via baseband transmission; A spring 8 is installed in the middle of the inner wall of the main body 1, a protective net 9 is installed in the middle of the inner wall of the main body 1, a catapult motor 10 is installed in the middle of the inner wall of the main body 1, and a recovery unit 11 is installed in the middle of the inner wall of the main body 1; The processor 2 is connected to the judgment module 5 via wireless transmission. The judgment module 5 includes: a visual sensor 19, a tactile sensor 20 and an inertial measurement unit 21. The visual sensor 19 is connected to the processor 2 via wireless transmission, the tactile sensor 20 is connected to the processor 2 via wireless transmission, and the inertial measurement unit 21 is connected to the processor 2 via wireless transmission; A visual sensor 19 is installed on the upper part of the inner wall of the main body 1, a tactile sensor 20 is installed in the middle part of the inner wall of the main body 1, and an inertial measurement unit 21 is installed on the upper part of the inner wall of the main body 1; The visual sensor 19 is internally provided with an acquisition unit, an image processor, and an image memory, which are involved in image acquisition, analysis, recognition, and comparison. The image in the external environment is converted into an electrical signal by the acquisition unit through photoelectric detection technology. The image processor performs digital processing and determines the size, shape, and color based on the pixel distribution, brightness, and color. The information is stored in the image memory and transmitted to the processor 2. The tactile sensor 20 is internally provided with an elastic material, a piezoresistive sensor, and a signal processing circuit. Based on the piezoresistive effect of semiconductor materials, the elastic material deforms under the action of an external force, and the deformation of the elastic material drives the piezoresistive sensor. When the piezoresistive sensor is subjected to the force, its own resistance changes. After amplification and processing by the signal processing circuit, it is converted into a usable electrical signal and outputted to the processor 2; The inertial measurement unit 21 is internally provided with a three-axis accelerometer, a three-axis gyroscope and a processing element. The three-axis accelerometer is based on the basic principle of acceleration and is used to measure the proportion of an object, that is, the total velocity and non-gravitational force acting on a unit mass in the absence of gravity. When the three-axis accelerometer remains stationary, it senses the acceleration of gravity and the overall acceleration is zero. In free fall, the overall acceleration is the acceleration of gravity. The three-axis accelerometer is in a weightless state and the output is zero. The three-axis gyroscope is based on Coriolis force and measures angular velocity. The integral of the angular velocity can calculate the angle and angular acceleration. After being processed by the processing element, the position, velocity and attitude of the object are transmitted to the processor 2; Furthermore, the processor 2 controls the visual sensor 19 to scan and identify the items that need to be grasped, and uses the acquisition unit through photoelectric detection technology to convert the image in the external environment into an electrical signal, which is digitized by the image processor, and the size, shape and color are judged according to the pixel distribution, brightness and color. The information is stored in the image memory and transmitted to the processor 2. When the item falls, the processor 2 controls the protection module 3 to protect the fallen item to prevent the item from falling and being damaged. The processor 2 controls the visual sensor 19 to perform a second scan on the item caught by the protection net 9, and transmits the status of the item in the current state to the processor 2. The processor 2 readjusts the new grasping plan for the item in the current state to achieve the best grasping effect, and realizes the formulation of the best grasping plan for the item when the state is different from the initial grasping after the item falls. This solves the problem that the humanoid robot cannot grasp the item for a second time after the item falls, or forcibly grasps the item and causes damage to the item, thereby improving the safety of the item and the accuracy of the humanoid robot in grasping the item. Example

[0028] See also Figure 1 、 Figure 2 、 Figure 4 and Figure 6 , a humanoid robot with a grasping function, the pre-grasping module 4 includes: a grasping component 7, a friction sensor 12 and a weight sensor 13, the grasping component 7 is connected to the processor 2 via signal transmission, the friction sensor 12 is connected to the processor 2 via signal transmission, and the weight sensor 13 is connected to the processor 2 via a signal line; A gripping assembly 7 is installed in the middle of the inner wall of the main body 1, a friction sensor 12 is installed in the middle of the inner wall of the main body, and a weight sensor 13 is installed in the middle of the inner wall of the main body 1; the gripping assembly 7 includes a servo motor 14, a reducer 15, a roller screw 16, a torque sensor 17 and a dexterous hand 18, the servo motor 14 is connected to the processor 2 through signal transmission, the reducer 15 is connected to the processor 2 through signal transmission, and the dexterous hand 18 is connected to the processor 2 through a signal line; A servo motor 14 is installed in the middle of the inner wall of the main body 1, a reducer 15 is installed in the middle of the inner wall of the main body 1, a roller screw 16 is installed in the middle of the inner wall of the main body 1, a torque sensor 17 is installed in the middle of the inner wall of the main body 1, and a dexterous hand 18 is installed in the middle of the inner wall of the main body 1; The friction sensor 12 is internally provided with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two surfaces of materials with different friction characteristics contact each other and a certain force is applied, friction is generated, which in turn causes the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After processing and calculation by the signal processing unit, the magnitude of the friction force is obtained, and the calculated friction force magnitude is transmitted to the processor 2; The weight sensor 13 is internally provided with an elastic body, a resistance strain gauge, and a measurement circuit. It performs weighing based on the principle of electrical strain measurement. Under the action of an external force, the elastic body undergoes elastic deformation, and the resistance strain gauge attached to the elastic body deforms accordingly, causing the resistance of the resistance strain gauge to change. The measurement circuit converts the resistance change of the resistance strain gauge into an electrical signal and transmits the signal to the processor 2. The torque sensor 17 is internally provided with a piezomagnetic element, an elastic bracket, a force-transmitting steel ball, and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, between which there are excitation windings and output windings. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic field is parallel to the plane of the output winding, and no induced electromotive force is generated. When there is an external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor 2; The processor 2 is connected to the monitoring module 6 via wireless transmission. The monitoring module 6 includes: an oil quality sensor 22, an acoustic sensor 23, a sampling probe 24, a test paper 25, and a comparison unit 26. The oil quality sensor 22 is connected to the processor 2 via wireless transmission, and the comparison unit 26 is connected to the processor 2 via wireless transmission. An oil quality sensor 22 is installed at the lower part of the inner wall of the main body 1, a sampling probe 24 is installed at the lower part of the inner wall of the main body 1, a detection test paper 25 is installed at the lower part of the inner wall of the main body 1, and a comparison unit is installed at the lower part of the main body 1; The oil quality sensor 22 is internally provided with a discharge unit, a detection probe, and a processing unit. Based on the changes in the dielectric properties of the oil, and applying dielectric loss factor technology, the discharge unit introduces high-frequency alternating current into the oil sample. The detection probe measures the permittivity and conductivity of the oil sample. The processing unit compares the measured permittivity and conductivity with those of healthy and intact oil and transmits the comparison results to the processor 2. The sound sensor 23 is internally provided with a microphone, a processing chip, a filter, and a control circuit. Based on the working mechanism of a capacitive electret microphone, the microphone receives sound signals, causing the internal membrane to vibrate, resulting in a change in capacitance and thus generating a voltage. After A / D conversion, it is converted into an electrical signal. The filter removes ambient noise. The processing chip processes, analyzes, and extracts information from the electrical signal, and the control circuit transmits the extracted information to the processor 2. Furthermore, the processor 2 controls the pre-grabbing module 4 to simulate the grasping of the object and transport the object after grasping. The sound sensor 23 receives the sound signal through the microphone, causing the internal film to vibrate, resulting in a change in capacitance and thus generating a voltage. After A / D conversion, it is converted into an electrical signal, and the environmental noise is filtered out by the filter. The processing chip processes, analyzes and extracts information from the electrical signal. The control circuit transmits the extracted information to the processor 2. The processor 2 compares the received sound signal with the signal transmitted by the sound sensor 23 when the intact parts in the database perform the same behavior to determine the integrity of the internal components of the humanoid robot. After the humanoid robot completes the grasping and transportation action, the oil quality sensor 22 is used to detect the oil quality of the internal lubricating oil of the humanoid robot, thereby realizing the function of monitoring the integrity of the internal structure of the humanoid robot, solving the problem of wear of the internal structure of the humanoid robot leading to failures and reduced service life during operation, being able to timely detect failures of the internal structure of the humanoid robot, reducing the safety hazards of the humanoid robot, and improving the safety of the humanoid robot, objects and staff. Example

[0029] See also Figure 1 、 Figure 2 and Figure 6 , a humanoid robot with a grasping function, comprising a main body 1, a processor 2, a protection module 3 and a pre-grasping module 4, wherein the protection module 3 is connected to the processor 2 via baseband transmission, and the pre-grasping module 4 is connected to the processor 2 via signal transmission; A processor 2 is installed on the upper part of the inner wall of the main body 1, a protection module 3 is installed on the upper part of the inner wall of the main body 1, and a pre-grabbing module 4 is installed in the middle part of the inner wall of the main body 1; The protection module 3 includes: a spring 8, a protection net 9, an ejection motor 10 and a recovery unit 11, the ejection motor 10 is connected to the processor 2 via baseband transmission, and the recovery unit 11 is connected to the processor 2 via baseband transmission; A spring 8 is installed in the middle of the inner wall of the main body 1, a protective net 9 is installed in the middle of the inner wall of the main body 1, a catapult motor 10 is installed in the middle of the inner wall of the main body 1, and a recovery unit 11 is installed in the middle of the inner wall of the main body 1; The processor 2 is connected to the monitoring module 6 via wireless transmission. The monitoring module 6 includes: an oil quality sensor 22, an acoustic sensor 23, a sampling probe 24, a test paper 25, and a comparison unit 26. The oil quality sensor 22 is connected to the processor 2 via wireless transmission, and the comparison unit 26 is connected to the processor 2 via wireless transmission. An oil quality sensor 22 is installed at the lower part of the inner wall of the main body 1, a sampling probe 24 is installed at the lower part of the inner wall of the main body 1, a detection test paper 25 is installed at the lower part of the inner wall of the main body 1, and a comparison unit is installed at the lower part of the main body 1; The oil quality sensor 22 is internally provided with a discharge unit, a detection probe, and a processing unit. Based on the changes in the dielectric properties of the oil, and applying dielectric loss factor technology, the discharge unit introduces high-frequency alternating current into the oil sample. The detection probe measures the permittivity and conductivity of the oil sample. The processing unit compares the measured permittivity and conductivity with those of healthy and intact oil and transmits the comparison results to the processor 2. The sound sensor 23 is internally provided with a microphone, a processing chip, a filter, and a control circuit. Based on the working mechanism of a capacitive electret microphone, the microphone receives sound signals, causing the internal membrane to vibrate, resulting in a change in capacitance and thus generating a voltage. After A / D conversion, it is converted into an electrical signal. The filter removes ambient noise. The processing chip processes, analyzes, and extracts information from the electrical signal, and the control circuit transmits the extracted information to the processor 2. Furthermore, when the humanoid robot is in the process of grabbing and transporting items, the sound sensor 23 monitors the sound of the internal structure of the humanoid robot and transmits the information to the processor 2. After comparing it with the information stored in the database, when the processor 2 finds an abnormality, it controls the ejection motor 10 to push the spring 8 to push the protective net 9 out in advance, thereby realizing the function of early protection of items when the humanoid robot fails, avoiding the situation where the humanoid robot fails and cannot protect the items from falling, causing damage to the items, reducing economic losses, and improving the safety and reliability of the humanoid robot in grabbing and transporting items. Example

[0030] See also Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 7 and Figure 8 A humanoid robot with a grasping function, wherein an anti-falling module 27 is installed in the middle of the inner wall of the main body 1, and the anti-falling module 27 is connected to the friction sensor 12 through signal transmission. The anti-falling module 27 includes: a fixing component 28 and a buffer component 29, and the fixing component 28 is connected to the friction sensor 12 through signal transmission, and the buffer component 29 is connected to the friction sensor 12 through signal transmission; A fixing assembly 28 is installed in the middle of the inner wall of the main body 1, and a buffer assembly 29 is installed in the middle of the inner wall of the main body 1; The fixing assembly 28 includes: a fixing rope 30, a slot 31 and a buckle 32; A fixing rope 30 is installed in the middle of the inner wall of the main body 1, a clamping slot 31 is installed in the middle of the inner wall of the main body 1, and a buckle 32 is installed in the middle of the inner wall of the main body 1; The buffer assembly 29 includes: a telescopic unit 33, a compression sponge box 34 and a power motor 35. The telescopic unit 33 is connected to the friction sensor 12 through signal transmission, and the power motor 35 is connected to the friction sensor 12 through signal transmission. The telescopic unit 33 is connected to the power motor 35 through a connecting shaft. A telescopic unit 33 is installed at the lower part of the inner wall of the main body 1, a compression sponge box 34 is installed at the lower part of the inner wall of the main body 1, and a power motor 35 is installed at the lower part of the inner wall of the main body 1; The pre-grab module 4 includes: a grabbing component 7, a friction sensor 12 and a weight sensor 13, the grabbing component 7 is connected to the processor 2 via signal transmission, the friction sensor 12 is connected to the processor 2 via signal transmission, and the weight sensor 13 is connected to the processor 2 via a signal line; A gripping assembly 7 is installed in the middle of the inner wall of the main body 1, a friction sensor 12 is installed in the middle of the inner wall of the main body, and a weight sensor 13 is installed in the middle of the inner wall of the main body 1; the gripping assembly 7 includes a servo motor 14, a reducer 15, a roller screw 16, a torque sensor 17 and a dexterous hand 18, the servo motor 14 is connected to the processor 2 through signal transmission, the reducer 15 is connected to the processor 2 through signal transmission, and the dexterous hand 18 is connected to the processor 2 through a signal line; A servo motor 14 is installed in the middle of the inner wall of the main body 1, a reducer 15 is installed in the middle of the inner wall of the main body 1, a roller screw 16 is installed in the middle of the inner wall of the main body 1, a torque sensor 17 is installed in the middle of the inner wall of the main body 1, and a dexterous hand 18 is installed in the middle of the inner wall of the main body 1; The friction sensor 12 is internally provided with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two surfaces of materials with different friction characteristics contact each other and a certain force is applied, friction is generated, which in turn causes the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After processing and calculation by the signal processing unit, the magnitude of the friction force is obtained, and the calculated friction force magnitude is transmitted to the processor 2; The weight sensor 13 is internally provided with an elastic body, a resistance strain gauge, and a measurement circuit. It performs weighing based on the principle of electrical strain measurement. Under the action of an external force, the elastic body undergoes elastic deformation, and the resistance strain gauge attached to the elastic body deforms accordingly, causing the resistance of the resistance strain gauge to change. The measurement circuit converts the resistance change of the resistance strain gauge into an electrical signal and transmits the signal to the processor 2. The torque sensor 17 is internally provided with a piezomagnetic element, an elastic bracket, a force-transmitting steel ball, and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, between which there are excitation windings and output windings. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic field is parallel to the plane of the output winding, and no induced electromotive force is generated. When there is an external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor 2; The processor 2 is connected to the judgment module 5 via wireless transmission. The judgment module 5 includes: a visual sensor 19, a tactile sensor 20 and an inertial measurement unit 21. The visual sensor 19 is connected to the processor 2 via wireless transmission, the tactile sensor 20 is connected to the processor 2 via wireless transmission, and the inertial measurement unit 21 is connected to the processor 2 via wireless transmission; A visual sensor 19 is installed on the upper part of the inner wall of the main body 1, a tactile sensor 20 is installed in the middle part of the inner wall of the main body 1, and an inertial measurement unit 21 is installed on the upper part of the inner wall of the main body 1; The visual sensor 19 is internally provided with an acquisition unit, an image processor, and an image memory, which are involved in image acquisition, analysis, recognition, and comparison. The image in the external environment is converted into an electrical signal by the acquisition unit through photoelectric detection technology. The image processor performs digital processing and determines the size, shape, and color based on the pixel distribution, brightness, and color. The information is stored in the image memory and transmitted to the processor 2. The tactile sensor 20 is internally provided with an elastic material, a piezoresistive sensor, and a signal processing circuit. Based on the piezoresistive effect of semiconductor materials, the elastic material deforms under the action of an external force, and the deformation of the elastic material drives the piezoresistive sensor. When the piezoresistive sensor is subjected to the force, its own resistance changes. After amplification and processing by the signal processing circuit, it is converted into a usable electrical signal and outputted to the processor 2; The inertial measurement unit 21 is internally provided with a three-axis accelerometer, a three-axis gyroscope and a processing element. The three-axis accelerometer is based on the basic principle of acceleration and is used to measure the proportion of an object, that is, the total velocity and non-gravitational force acting on a unit mass in the absence of gravity. When the three-axis accelerometer remains stationary, it senses the acceleration of gravity and the overall acceleration is zero. In free fall, the overall acceleration is the acceleration of gravity. The three-axis accelerometer is in a weightless state and the output is zero. The three-axis gyroscope is based on Coriolis force and measures angular velocity. The integral of the angular velocity can calculate the angle and angular acceleration. After being processed by the processing element, the position, velocity and attitude of the object are transmitted to the processor 2; Furthermore, after the visual sensor 19 collects information about the item, it transmits the data to the processor 2. After the processor 2 simulates the grasping of the item through the pre-grabbing module 4, it formulates a complete grasping plan. The processor 2 controls the fixing component 28 to use the fixing rope 30, the card slot 31 and the buckle 32 to fix the item. After the item is fixed, the processor 2 controls the grasping component 7 to grasp and transport the item. After the anti-falling module 27 receives the information that the friction force is zero from the friction sensor 12, the power motor 35 drives the telescopic unit 33 to push out the sponge in the compressed sponge box 34 to provide buffering protection for the item that is about to fall, thereby realizing the function of fixing and protecting the item, avoiding the situation where the item is damaged due to unstable grasping and falling, and the item is damaged due to excessive grasping force, thereby improving the reliability and safety of the humanoid robot in grasping and transporting items, ensuring the integrity of the item, reducing the cost of repair and maintenance after the item is damaged, and improving economic benefits.

[0031] Working principle: Processor 2 controls visual sensor 19 to scan and identify the objects to be grasped. The image in the external environment is converted into an electrical signal by the acquisition unit through photoelectric detection technology. The image processor performs digital processing and determines the size, shape and color based on pixel distribution, brightness and color. The information is stored in the image memory and transmitted to processor 2. Based on the received information, the processor 2 controls the servo motor 14 to drive the gripping assembly 7 to grasp the object. The friction sensor 12 monitors and records the friction between the object and the dexterous hand 18. The weight sensor 13 records the weight of the object. The tactile sensor 20 records the tactile sensation after the object contacts the dexterous hand 18 and transmits the data to the processor 2. The processor analyzes the data and determines the appropriate gripping method for the object. After the humanoid robot grabs the object, the friction sensor 12 monitors the friction between the dexterous hand 18 and the object and transmits the data to the processor 2. When the processor 2 receives that the friction disappears, the processor 2 controls the ejection motor 10 to push the spring 8 to eject the protection net 9 to buffer and protect the fallen object. The processor 2 controls the grasping component 7 to re-grab the object. After the processor 2 receives that the data transmitted by the friction sensor 12 is not zero, the processor 2 controls the recovery unit 11 to recycle the protection net 9. When the object falls, the processor 2 controls the protection module 3 to protect the fallen object to prevent the object from falling and being damaged. The processor 2 controls the visual sensor 19 to scan the object caught by the protection net 9 for a second time and transmits the current state of the object to the processor 2. The processor 2 readjusts the new grasping plan for the object in the current state to achieve the best grasping effect. Processor 2 controls pre-grabbing module 4 to simulate grabbing and transport the items after grabbing. Sound sensor 23 receives sound signals through microphone, causing internal film vibration, resulting in capacitance change and thus generating voltage. After A / D conversion, it is converted into electrical signals, and the environmental noise is filtered out by filter. The processing chip processes, analyzes and extracts information from the electrical signals. The control circuit transmits the extracted information to processor 2. Processor 2 compares the received sound signal with the signal transmitted by sound sensor 23 when intact parts in the database perform the same behavior to determine the integrity of the internal parts of the humanoid robot. After the humanoid robot completes the grabbing and transportation action, the internal lubricating oil of the humanoid robot is tested for oil quality through oil quality sensor 22.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A humanoid robot with grasping function, characterized in that: It comprises a main body (1), a processor (2), a protection module (3) and a pre-capture module (4), wherein the protection module (3) is connected to the processor (2) via baseband transmission, and the pre-capture module (4) is connected to the processor (2) via signal transmission; A processor (2) is installed on the upper part of the inner wall of the main body (1), a protection module (3) is installed on the upper part of the inner wall of the main body (1), and a pre-grabbing module (4) is installed in the middle part of the inner wall of the main body (1); The protection module (3) comprises: a spring (8), a protection net (9), an ejection motor (10) and a recovery unit (11); the ejection motor (10) is connected to the processor (2) via baseband transmission; and the recovery unit (11) is connected to the processor (2) via baseband transmission; A spring (8) is installed in the middle of the inner wall of the main body (1), a protective net (9) is installed in the middle of the inner wall of the main body (1), an ejection motor (10) is installed in the middle of the inner wall of the main body (1), and a recovery unit (11) is installed in the middle of the inner wall of the main body (1).

2. A humanoid robot with grasping function according to claim 1, characterized in that: An anti-falling module (27) is installed at the middle of the inner wall of the main body (1), and the anti-falling module (27) is connected to the friction sensor (12) through signal transmission. The anti-falling module (27) comprises: a fixing component (28) and a buffer component (29), and the fixing component (28) is connected to the friction sensor (12) through signal transmission, and the buffer component (29) is connected to the friction sensor (12) through signal transmission; A fixing component (28) is installed in the middle of the inner wall of the main body (1), and a buffer component (29) is installed in the middle of the inner wall of the main body (1); The fixing assembly (28) comprises: a fixing rope (30), a clamping slot (31) and a buckle (32); A fixing rope (30) is installed in the middle of the inner wall of the main body (1), a clamping groove (31) is installed in the middle of the inner wall of the main body (1), and a buckle (32) is installed in the middle of the inner wall of the main body (1); The buffer assembly (29) comprises: a telescopic unit (33), a compression sponge box (34) and a power motor (35); the telescopic unit (33) is connected to the friction sensor (12) via signal transmission; the power motor (35) is connected to the friction sensor (12) via signal transmission; and the telescopic unit (33) is connected to the power motor (35) via a connecting shaft; A telescopic unit (33) is installed at the lower part of the inner wall of the main body (1), a compression sponge box (34) is installed at the lower part of the inner wall of the main body (1), and a power motor (35) is installed at the lower part of the inner wall of the main body (1).

3. A humanoid robot with grasping function according to claim 1, characterized in that: The pre-grasping module (4) comprises: a grasping component (7), a friction sensor (12) and a weight sensor (13); the grasping component (7) is connected to the processor (2) via signal transmission, the friction sensor (12) is connected to the processor (2) via signal transmission, and the weight sensor (13) is connected to the processor (2) via a signal line; A gripping assembly (7) is installed in the middle of the inner wall of the main body (1), a friction force sensor (12) is installed in the middle of the inner wall of the main body, and a weight sensor (13) is installed in the middle of the inner wall of the main body (1); The grasping assembly (7) comprises: a servo motor (14), a reducer (15), a roller screw (16), a torque sensor (17) and a dexterous hand (18); the servo motor (14) is connected to the processor (2) via signal transmission, the reducer (15) is connected to the processor (2) via signal transmission, and the dexterous hand (18) is connected to the processor (2) via a signal line; A servo motor (14) is installed in the middle of the inner wall of the main body (1), a reducer (15) is installed in the middle of the inner wall of the main body (1), a roller screw (16) is installed in the middle of the inner wall of the main body (1), a torque sensor (17) is installed in the middle of the inner wall of the main body (1), and a dexterous hand (18) is installed in the middle of the inner wall of the main body (1); The friction sensor (12) is provided with a friction body, a charge sensing unit, and a signal processing unit. Based on the interaction between friction and charge, when two material surfaces with different friction characteristics contact each other and a certain force is applied, friction is generated, thereby causing the distribution and movement of charge. The charge sensing unit captures the change in charge and converts it into an electrical signal. After being processed and calculated by the signal processing unit, the magnitude of the friction is obtained, and the calculated magnitude of the friction is transmitted to the processor (2); The weight sensor (13) is internally provided with an elastic body, a resistance strain gauge and a measuring circuit. The weight is weighed based on the principle of strain electrical measurement. The elastic body generates elastic deformation under the action of an external force, and the resistance strain gauge attached to the elastic body is deformed accordingly, so that the resistance of the resistance strain gauge changes. The measuring circuit converts the resistance change of the resistance strain gauge into an electrical signal, and transmits the signal to the processor (2).

4. The humanoid robot with grasping function according to claim 1, characterized in that: The processor (2) is connected to the judgment module (5) via wireless transmission, the judgment module (5) comprises: a visual sensor (19), a tactile sensor (20) and an inertial measurement unit (21), the visual sensor (19) is connected to the processor (2) via wireless transmission, the tactile sensor (20) is connected to the processor (2) via wireless transmission, and the inertial measurement unit (21) is connected to the processor (2) via wireless transmission; A visual sensor (19) is installed on the upper part of the inner wall of the main body (1), a tactile sensor (20) is installed in the middle part of the inner wall of the main body (1), and an inertial measurement unit (21) is installed on the upper part of the inner wall of the main body (1); The visual sensor (19) is provided with an acquisition unit, an image processor and an image memory, and is involved in the acquisition, analysis, recognition and comparison of images. The acquisition unit is used to convert images in the external environment into electrical signals through photoelectric detection technology, which are then digitized by the image processor. The size, shape and color are determined based on pixel distribution, brightness and color, and the information is stored in the image memory and transmitted to the processor (2). The tactile sensor (20) is provided with an elastic material, a piezoresistive sensitive element and a signal processing circuit. Based on the piezoresistive effect of semiconductor materials, the elastic material deforms under the action of an external force, and the deformation of the elastic material drives the piezoresistive sensitive element. When the piezoresistive sensitive element is subjected to a force, its own resistance changes, and after being amplified and processed by the signal processing circuit, it is converted into a usable electrical signal output and transmitted to the processor (2).

5. The humanoid robot with grasping function according to claim 1, characterized in that: The processor (2) is connected to the monitoring module (6) via wireless transmission. The monitoring module (6) comprises: an oil quality sensor (22), a sound sensor (23), a sampling probe (24), a test paper (25) and a comparison unit (26). The oil quality sensor (22) is connected to the processor (2) via wireless transmission. The comparison unit (26) is connected to the processor (2) via wireless transmission. An oil quality sensor (22) is installed at the lower part of the inner wall of the main body (1), a sampling probe (24) is installed at the lower part of the inner wall of the main body (1), a detection test paper (25) is installed at the lower part of the inner wall of the main body (1), and a comparison unit is installed at the lower part of the main body (1); The oil quality sensor (22) is internally provided with a discharge unit, a detection probe and a processing unit. Based on the change of the dielectric properties of the oil, the dielectric loss factor technology is applied. The discharge unit introduces high-frequency alternating current into the oil sample. The detection probe measures the permittivity and conductivity of the oil sample. The processing unit compares the measured permittivity and conductivity with the permittivity and conductivity of healthy and intact oil, and transmits the comparison result to the processor (2).

6. The humanoid robot with grasping function according to claim 3, characterized in that: The torque sensor (17) is provided with a piezomagnetic element, an elastic bracket, a force transmission steel ball and a processing element. The middle part of the piezomagnetic element is provided with symmetrical small holes, and an excitation winding and an output winding are arranged between the holes. When an alternating current passes through the excitation winding, a magnetic field is generated in the iron core. When there is no external force, the magnetic field is parallel to the plane of the output winding and no induced electromotive force is generated. When there is an external force, the magnetic permeability of some areas decreases and the magnetic resistance increases, causing the magnetic lines of force to be redistributed. Some magnetic lines of force bypass the unstressed areas and close, interlinking with the output winding to generate an induced electromotive force. After the induced electromotive force is filtered and rectified by the processing element, the information is transmitted to the processor (2).

7. The humanoid robot with grasping function according to claim 4, characterized in that: The inertial measurement unit (21) is internally provided with a three-axis accelerometer, a three-axis gyroscope and a processing element. The three-axis accelerometer is based on the basic principle of acceleration and is used to measure the proportion of an object, that is, the total velocity and non-gravitational force acting on a unit mass in the absence of gravity. When the three-axis accelerometer remains stationary, it senses the acceleration of gravity and the overall acceleration is zero. In free fall motion, the overall acceleration is the acceleration of gravity. The three-axis accelerometer is in a weightless state and the output is zero. The three-axis gyroscope is based on the Coriolis force and measures the angular velocity. The integral of the angular velocity can calculate the angle and angular acceleration. After being processed by the processing element, the position, velocity and posture of the object are transmitted to the processor (2).

8. The humanoid robot with grasping function according to claim 5, characterized in that: The sound sensor (23) is internally provided with a microphone, a processing chip, a filter and a control circuit. Based on the working mechanism of a capacitive electret microphone, the sound signal is received by the microphone, causing the internal film to vibrate, resulting in a change in capacitance, thereby generating a voltage, which is converted into an electrical signal after A / D conversion. The environmental noise is filtered out by the filter, the processing chip processes, analyzes and extracts information from the electrical signal, and the control circuit transmits the extracted information to the processor (2).

9. A method for using a humanoid robot with a grasping function, applicable to a humanoid robot with a grasping function according to any one of claims 1 to 8, characterized in that: The method of use is: Step 1: The determination module scans the object, determines the state of the object, and transmits the information to the processor (2); Step 2: The processor (2) formulates a suitable grasping and transporting method and controls the humanoid robot to grasp and transport the object; Step 3: The processor (2) controls the pre-grabbing module (4) to simulate the grasping of the object, further collect information about the object and improve the proposed grasping plan; Step 4: The processor (2) controls the humanoid robot to grasp and transport the object according to the improved grasping plan.

10. The method for using a humanoid robot with grasping function according to claim 9, characterized in that: The usage also includes: Step 5: When the humanoid robot is in the process of grabbing and transporting items, an unexpected situation occurs, causing the items to be damaged or dropped. The processor (2) receives the change in data transmitted by the friction sensor () and controls the protection module (3) to protect the items. Step 6: The processor (2) controls the ejection motor (10) to push the spring (8) to eject the protection net (9) to cushion the falling objects; Step 7: When the humanoid robot re-grasps the object, the processor (2) receives the signal transmitted by the friction sensor (12) and controls the recovery unit (11) to recover the protection net (9).

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