Anti-falling method for robot

Abstract

The invention discloses an anti-falling method of a robot, which can improve the moving stability of the robot and make the robot easier to fall by arranging an auxiliary leg assembly 4 outside a thigh assembly 2 and a shank assembly 3 and adjusting the mode of the auxiliary leg assembly 4 when the risk of falling exists, and can solve the defects in the prior art. The anti-falling method of the robot comprises the following steps: firstly, acquiring robot state data of the robot in real time, wherein the robot state data comprises at least one of sensor data, a gravity center position and current attitude data; judging whether the robot has a falling risk or not according to the robot data, and if so, adjusting an auxiliary leg assembly 4 to enable the projection of the gravity center position in the vertical direction to fall into the polygon A; and finally, if the falling risk is not eliminated, continuing to adjust the auxiliary leg main body 41 in the direction of enlarging the included angle between the auxiliary leg main body 41 of the auxiliary leg assembly 4 and the shank main body 31 of the shank assembly 3 until the falling risk is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method for preventing a robot from falling. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control.

[0003] The robot moves through its lower limbs. For humanoid robots, most of them adopt a bipedal design, that is, they move with two legs. Some of them are designed with drive wheels on their legs, and some are designed with soles on their legs. The existing robots with such bipedal design have the defect of unstable walking when walking, especially when encountering uneven roads. In addition, when the robot falls, it is difficult to get up by relying on its two feet alone. If intervention can be made when the robot is found to have a tendency to fall, the risk of the robot falling can be reduced.

[0004] The prior art has the above-mentioned technical defects, which has become a major technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The present invention discloses a method for preventing a robot from falling. By arranging an auxiliary leg component 4 outside a thigh component 2 and a calf component 3 and adjusting the auxiliary leg component 4 when there is a risk of falling, the stability of the robot's movement can be improved and the robot can be more easily raised when falling, thereby solving the defects of the prior art.

[0006] The robot anti-fall method provided by the present invention is used in the robot, comprising: the lower limbs of the robot include a thigh mounting seat 1, at least two thigh components 2, at least two calf components 3 and at least one auxiliary leg component 4, and a figure formed by the calf component 3 and the auxiliary leg component 4 and the ground is defined as a polygon A;

[0007] S1. Acquire robot status data of the robot in real time, wherein the robot status data includes at least one of sensor data, center of gravity position and current posture data;

[0008] S2. Determine whether the robot has a risk of falling according to the robot data. If yes, execute step S3; otherwise, execute step S1;

[0009] S3, adjusting the auxiliary leg assembly 4 so that the projection of the center of gravity in the vertical direction falls within the polygon A;

[0010] S4. If the risk of falling is eliminated, execute step S1; otherwise, continue to adjust the auxiliary leg body 41 in the direction of increasing the angle between the auxiliary leg body 41 of the auxiliary leg assembly 4 and the calf body 31 of the calf assembly 3 until the risk of falling is eliminated.

[0011] Preferably,

[0012] The thigh assembly 2 includes a thigh body 21 and a thigh driving unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting seat 1, the lower joint of the thigh body 21 is connected to the calf assembly 3, and the thigh driving unit 22 is mounted on the thigh mounting seat 1 and is used to drive the thigh body 21 to move around the thigh mounting seat 1;

[0013] The calf assembly 3 includes a calf body 31, a calf driving unit 32 and a calf moving unit 33, wherein the upper joint of the calf body 31 is connected to the lower joint of the thigh body 21, the calf moving unit 33 is arranged on the lower joint of the calf body 31, and the calf driving unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21;

[0014] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43, wherein the upper joint of the auxiliary leg body 41 is installed on the thigh body 21, the auxiliary leg moving unit 43 is arranged on the lower joint of the auxiliary leg body 41, and the auxiliary leg driving unit 42 is installed on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21;

[0015] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic assembly and a lower part of the auxiliary leg body, wherein the lower part of the auxiliary leg body is provided with an auxiliary leg moving unit 43.

[0016] Preferably,

[0017] The calf drive unit 32 is mounted on the lower joint of the thigh body 21;

[0018] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg driving unit 42;

[0019] The auxiliary leg moving unit 43 is a non-powered roller or a powered roller.

[0020] Preferably,

[0021] The thigh drive unit 22 and the auxiliary leg drive unit 42 are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line.

[0022] Preferably,

[0023] The calf driving unit 32 includes a calf motor assembly 321, a driving rod 322 and a connecting rod 323 connected in sequence;

[0024] The upper joint of the calf body 31 is mounted on the thigh body 21 via a rotating shaft;

[0025] The two ends of the calf body 31 are connected to the connecting rod 323 and the calf moving unit 33 respectively, and the two ends of the connecting rod 323 are connected to the calf body 31 and the driving rod 322 respectively.

[0026] Preferably,

[0027] The thigh drive unit 22 and the calf motor assembly 321 are both motor assemblies with reducers, and the center lines of the output shafts of the two are located in the same straight line or parallel to each other;

[0028] The calf moving unit 33 is a powered roller.

[0029] Preferably,

[0030] The lower joint of the thigh body 21 is provided with a connecting shaft 211;

[0031] The connecting shaft 211 is installed at the lower joint of the thigh body 21 through a bearing;

[0032] Two calf bodies 31 are disposed at both ends of the connecting shaft 211, an auxiliary leg body 41 is disposed between the two calf bodies 31, and the upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 through a bearing;

[0033] The auxiliary leg driving unit 42 includes an auxiliary motor assembly 421, an auxiliary driving rod 422 and an auxiliary connecting rod 423 connected in sequence;

[0034] Both ends of the auxiliary leg body 41 are connected to the auxiliary connecting rod 423 and the auxiliary leg moving unit 43 respectively, and both ends of the auxiliary connecting rod 423 are connected to the auxiliary leg body 41 and the auxiliary driving rod 422 respectively.

[0035] Preferably,

[0036] The thigh body 21 is a hollow structure and is provided with a slot 212 for accommodating the rotation of the auxiliary leg body 41;

[0037] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214 . The first support body 213 , the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a calf driving unit 32 .

[0038] Preferably,

[0039] The auxiliary leg moving unit 43 includes two non-powered rollers which are arranged on both sides of the auxiliary leg body 41 through a rotating shaft.

[0040] Preferably,

[0041] The thigh mounting seat 1 includes an upper connecting plate 11 and two lower mounting plates 12 , and the upper joints of the thigh driving unit 22 and the thigh body 21 are respectively arranged on both sides of the lower mounting plates 12 .

[0042] The anti-fall method of the robot of the present invention is used in the robot, comprising: the lower limbs of the robot include a thigh mounting seat 1, at least two thigh components 2, at least two calf components 3 and at least one auxiliary leg component 4, and the figure formed by the calf component 3 and the auxiliary leg component 4 and the ground is defined as a polygon A; firstly, the robot state data of the robot is acquired in real time, and the robot state data includes at least one of sensor data, center of gravity position and current posture data; then, according to the robot data, it is determined whether the robot has a risk of falling, and if so, step S3 is executed, otherwise step S1 is executed; then the auxiliary leg component 4 is adjusted so that the projection of the center of gravity position in the vertical direction falls within the polygon A; finally, if the risk of falling is eliminated, step S1 is executed, otherwise the auxiliary leg body 41 is continued to be adjusted in the direction of increasing the angle between the auxiliary leg body 41 of the auxiliary leg component 4 and the calf body 31 of the calf component 3 until the risk of falling is eliminated. By providing an auxiliary leg assembly 4 outside the thigh assembly 2 and the calf assembly 3, and adjusting the auxiliary leg assembly 4 when there is a risk of falling, the anti-fall method of the robot of the present invention can improve the stability of the robot's movement and make it easier to get up when falling, and can solve the defects of the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of a robot anti-fall method according to an embodiment of the present invention;

[0044] Figure 2 It is a structural schematic diagram of a first embodiment of the lower limbs of a robot in the robot anti-fall method according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic structural diagram of the first embodiment of the lower limbs of the robot in the robot anti-fall method according to the embodiment of the present invention, after partially hiding the thigh body 21;

[0046] Figure 4 It is a structural schematic diagram of a second embodiment of the lower limbs of a robot in the anti-fall method of a robot according to an embodiment of the present invention;

[0047] Figure 5 This is a structural schematic diagram of the second embodiment of the lower limbs of the robot in the robot anti-fall method according to the embodiment of the present invention, after a part of the thigh body 21 is hidden;

[0048] Figure 6 It is another structural schematic diagram of the second embodiment of the lower limbs of the robot in the robot anti-fall method according to an embodiment of the present invention;

[0049] Figure 7 This is another structural schematic diagram of the second embodiment of the lower limbs of the robot in the robot anti-fall method according to an embodiment of the present invention, with part of the thigh body 21 hidden.

[0050] Figure 8 It is a front structural schematic diagram of a third embodiment of the lower limbs of a robot in the robot anti-fall method according to an embodiment of the present invention;

[0051] Fig. 9 A three-dimensional diagram of a third embodiment of the lower limbs of a robot in the robot anti-fall method according to an embodiment of the present invention;

[0052] Fig.10 This is a schematic structural diagram of the third embodiment of the lower limbs of the robot in the robot anti-fall method according to an embodiment of the present invention, with part of the thigh body 21 hidden. DETAILED DESCRIPTION

[0053] The present invention discloses a method for preventing a robot from falling. By arranging an auxiliary leg component 4 outside a thigh component 2 and a calf component 3 and adjusting the auxiliary leg component 4 when there is a risk of falling, the stability of the robot's movement can be improved and the robot can be more easily raised when falling, thereby solving the defects of the prior art.

[0054] The following is a clear and detailed description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Please refer to Figures 1 to 10 , a robot anti-fall method provided by the present invention, used in a robot, comprising: the lower limbs of the robot include a thigh mounting seat 1, at least two thigh components 2, at least two calf components 3 and at least one auxiliary leg component 4, and a figure formed by the calf component 3 and the auxiliary leg component 4 and the ground is defined as a polygon A;

[0055] First of all, it should be noted that in the embodiment of the present invention, the lower limbs of the robot generally include two thigh components 2, two shank components 3 and at least one auxiliary leg component 4, that is, after removing the auxiliary leg component 4, it is designed for bipeds. For bipedal robots, easy falling is a technical problem that cannot be avoided in this field. In addition to the two shank components 3 that contact the ground, the present application innovatively adds no less than one auxiliary leg component 4 that contacts the ground. Generally speaking, two corresponding to the number of shank components 3 can be used; when walking normally, that is, when the risk of falling is very low, the auxiliary leg component 4 can be folded up and only rely on the shank component 3 to walk. Once the risk of falling is detected, the auxiliary leg component 4 can be quickly put down, then at this time the robot will have at least three contact points with the ground, that is, at least a stable triangle can be formed; of course, the auxiliary leg component 4 can also be in working state all the time, that is, walking in coordination with the shank component 3, this method can adapt to some roads with relatively bad road conditions; in addition, when the robot falls, the center of gravity of the robot can be quickly moved to the polygon formed by the shank component 3 and the auxiliary leg component 4 and the ground to achieve rapid recovery. It should be noted that the working conditions and coordination between the calf assembly 3 and the auxiliary leg assembly 4 can be set and adjusted according to actual conditions, and are not limited to the above examples, and are not limited here.

[0056] S1. Acquire robot status data of the robot in real time, wherein the robot status data includes at least one of sensor data, center of gravity position and current posture data;

[0057] S2. Determine whether the robot has a risk of falling according to the robot data. If yes, execute step S3; otherwise, execute step S1;

[0058] S3, adjusting the auxiliary leg assembly 4 so that the projection of the center of gravity in the vertical direction falls within the polygon A;

[0059] S4. If the risk of falling is eliminated, execute step S1; otherwise, continue to adjust the auxiliary leg body 41 in the direction of increasing the angle between the auxiliary leg body 41 of the auxiliary leg assembly 4 and the calf body 31 of the calf assembly 3 until the risk of falling is eliminated.

[0060] Preferably,

[0061] The thigh assembly 2 includes a thigh body 21 and a thigh driving unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting seat 1, the lower joint of the thigh body 21 is connected to the calf assembly 3, and the thigh driving unit 22 is mounted on the thigh mounting seat 1 and is used to drive the thigh body 21 to move around the thigh mounting seat 1;

[0062] The calf assembly 3 includes a calf body 31, a calf driving unit 32 and a calf moving unit 33, wherein the upper joint of the calf body 31 is connected to the lower joint of the thigh body 21, the calf moving unit 33 is arranged on the lower joint of the calf body 31, and the calf driving unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21;

[0063] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43, wherein the upper joint of the auxiliary leg body 41 is installed on the thigh body 21, the auxiliary leg moving unit 43 is arranged on the lower joint of the auxiliary leg body 41, and the auxiliary leg driving unit 42 is installed on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21;

[0064] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic assembly and a lower part of the auxiliary leg body, wherein the lower part of the auxiliary leg body is provided with an auxiliary leg moving unit 43.

[0065] It should be noted that, in the embodiment of the present invention, the auxiliary leg body 41 is a telescopic structure, that is, the distance between the auxiliary leg moving unit 43 and the upper joint of the auxiliary leg body 41 is adjustable, which can further enhance the practicality and flexibility of the auxiliary leg assembly 4. The telescopic assembly can be implemented by a belt component, a ball screw component or an electric roller screw, wherein the electric roller screw can achieve relatively accurate and rapid control. In addition, the thigh drive unit 22, the calf drive unit 32 and the auxiliary leg drive unit 42 can all be motor assemblies with reducers, the calf moving unit 33 needs to have power, and the auxiliary leg moving unit 43 is generally not powered, such as a roller without power, and can also be designed to be powered according to actual needs, such as a roller with power.

[0066] Preferably,

[0067] The calf drive unit 32 is mounted on the lower joint of the thigh body 21;

[0068] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg driving unit 42;

[0069] The auxiliary leg moving unit 43 is a non-powered roller or a powered roller.

[0070] Preferably,

[0071] The thigh drive unit 22 and the auxiliary leg drive unit 42 are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line.

[0072] See also Figure 2 and 3In one embodiment, the calf drive unit 32 can be directly installed on the lower joint of the thigh body 21, and then the calf drive unit 32, for example, can be a motor assembly with a reducer, which directly drives the rotation of the calf body 31 through the output shaft; and the auxiliary leg drive unit 42 can be installed at multiple positions of the thigh body 21, for example, the center lines of the output shafts of the thigh drive unit 22 and the auxiliary leg body 41 can be located in the same straight line, and the upper joint of the auxiliary leg drive unit 42 can be installed on the output shaft of the auxiliary leg drive unit 42, or the center lines of the output shafts of the calf drive unit 32 and the auxiliary leg body 41 can be located in the same straight line, which is not limited here. In this embodiment, the calf body 31 and the auxiliary leg body 41 can be respectively arranged on both sides of the thigh body 21.

[0073] Preferably,

[0074] The calf driving unit 32 includes a calf motor assembly 321, a driving rod 322 and a connecting rod 323 connected in sequence;

[0075] The upper joint of the calf body 31 is mounted on the thigh body 21 via a rotating shaft;

[0076] The two ends of the calf body 31 are connected to the connecting rod 323 and the calf moving unit 33 respectively, and the two ends of the connecting rod 323 are connected to the calf body 31 and the driving rod 322 respectively.

[0077] Preferably,

[0078] The thigh drive unit 22 and the calf motor assembly 321 are both motor assemblies with reducers, and the center lines of the output shafts of the two are located in the same straight line or parallel to each other;

[0079] The calf moving unit 33 is a powered roller.

[0080] See also Figures 4 to 7 In one embodiment, the calf driving unit 32 includes a calf motor assembly 321, a driving rod 322 and a connecting rod 323 connected in sequence. The motor assembly 321 drives the rotation of the calf body 31 through the driving rod 322 and the connecting rod 323. The setting of the connecting rod 323 can enhance the stability and strength of the movement of the calf body 31 to a certain extent; the calf motor assembly 321 can be set at multiple positions of the thigh body 21, such as Figure 3 In the figure, the center lines of the output shafts of the thigh drive unit 22 and the calf motor assembly 321 are located on the same straight line. Figure 5In the embodiment, the calf motor assembly 321 is located in the middle of the thigh body 21. In this embodiment, the auxiliary leg driving unit 42 can be installed on the lower joint of the thigh body 21, and the center lines of the output shaft of the auxiliary leg driving unit 42 and the rotating shaft where the upper joint of the calf motor assembly 321 is located can be located in the same straight line. In this embodiment, the calf body 31 and the auxiliary leg body 41 can be respectively arranged on both sides of the thigh body 21.

[0081] Preferably,

[0082] The lower joint of the thigh body 21 is provided with a connecting shaft 211;

[0083] The connecting shaft 211 is installed at the lower joint of the thigh body 21 through a bearing;

[0084] Two calf bodies 31 are disposed at both ends of the connecting shaft 211, an auxiliary leg body 41 is disposed between the two calf bodies 31, and the upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 through a bearing;

[0085] The auxiliary leg driving unit 42 includes an auxiliary motor assembly 421, an auxiliary driving rod 422 and an auxiliary connecting rod 423 connected in sequence;

[0086] Both ends of the auxiliary leg body 41 are connected to the auxiliary connecting rod 423 and the auxiliary leg moving unit 43 respectively, and both ends of the auxiliary connecting rod 423 are connected to the auxiliary leg body 41 and the auxiliary driving rod 422 respectively.

[0087] Preferably,

[0088] The thigh body 21 is a hollow structure and is provided with a slot 212 for accommodating the rotation of the auxiliary leg body 41;

[0089] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214 . The first support body 213 , the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a calf driving unit 32 .

[0090] Preferably,

[0091] The auxiliary leg moving unit 43 includes two non-powered rollers which are arranged on both sides of the auxiliary leg body 41 through a rotating shaft.

[0092] See also Figures 8 to 10In one embodiment, two calf bodies 31 can be set on the lower joint of the thigh body 21. The two calf bodies 31 can be set in a mirror image and move synchronously, and the auxiliary leg body 41 is set between the two calf bodies 31. This design is more stable than the design of a single calf body 31; in this embodiment, the auxiliary leg driving unit 42 includes an auxiliary motor assembly 421, a driving rod 422 and a connecting rod 423 connected in sequence, that is, the auxiliary motor assembly 421 drives the auxiliary leg body 41 through the driving rod 422 and the connecting rod 423. The setting of the auxiliary connecting rod 423 can enhance the stability and strength of the movement of the auxiliary leg body 41 to a certain extent.

[0093] Preferably,

[0094] The thigh mounting seat 1 includes an upper connecting plate 11 and two lower mounting plates 12 , and the upper joints of the thigh driving unit 22 and the thigh body 21 are respectively arranged on both sides of the lower mounting plates 12 .

[0095] It should be noted that the design of the present invention is not limited to the use of bipedal robots, such as tripod robots. At present, it is mostly used in bipedal robots. In the bipedal robots, the thigh mounting seat 1 includes an upper connecting plate 11 and two lower mounting plates 12, each lower mounting plate 12 is configured with a thigh component 2 and a calf component 3, and an auxiliary leg component 4 is arranged on at least one thigh component 2, and preferably an auxiliary leg component 4 is arranged on each thigh component 2.

[0096] The anti-fall method of the robot of the present invention is used in the robot, comprising: the lower limbs of the robot include a thigh mounting seat 1, at least two thigh components 2, at least two calf components 3 and at least one auxiliary leg component 4, and the figure formed by the calf component 3 and the auxiliary leg component 4 and the ground is defined as a polygon A; firstly, the robot state data of the robot is acquired in real time, and the robot state data includes at least one of sensor data, center of gravity position and current posture data; then, according to the robot data, it is determined whether the robot has a risk of falling, and if so, step S3 is executed, otherwise step S1 is executed; then the auxiliary leg component 4 is adjusted so that the projection of the center of gravity position in the vertical direction falls within the polygon A; finally, if the risk of falling is eliminated, step S1 is executed, otherwise the auxiliary leg body 41 is continued to be adjusted in the direction of increasing the angle between the auxiliary leg body 41 of the auxiliary leg component 4 and the calf body 31 of the calf component 3 until the risk of falling is eliminated. By providing an auxiliary leg assembly 4 outside the thigh assembly 2 and the calf assembly 3, and adjusting the auxiliary leg assembly 4 when there is a risk of falling, the anti-fall method of the robot of the present invention can improve the stability of the robot's movement and make it easier to get up when falling, and can solve the defects of the prior art.

[0097] The above is a detailed introduction to the anti-fall method for the robot provided by the present invention. For a person skilled in the art, according to the idea of ​​the embodiments of the present invention, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A robot fall prevention method, used in a robot, characterized in that: include: The lower limbs of the robot include a thigh mounting seat (1), at least two thigh components (2), at least two calf components (3) and at least one auxiliary leg component (4), and a figure formed by the calf component (3) and the auxiliary leg component (4) and the ground is defined as a polygon A; S1. Acquire robot status data of the robot in real time, wherein the robot status data includes at least one of sensor data, center of gravity position and current posture data; S2. Determine whether the robot has a risk of falling according to the robot data. If yes, execute step S3; otherwise, execute step S1; S3, adjusting the auxiliary leg assembly (4) so ​​that the projection of the center of gravity in the vertical direction falls within the polygon A; S4. If the risk of falling is eliminated, execute step S1; otherwise, continue to adjust the auxiliary leg body (41) in the direction of increasing the angle between the auxiliary leg body (41) of the auxiliary leg assembly (4) and the calf body (31) of the calf assembly (3) until the risk of falling is eliminated.

2. The robot anti-fall method according to claim 1, characterized in that: The thigh assembly (2) comprises a thigh body (21) and a thigh drive unit (22), wherein the upper joint of the thigh body (21) is mounted on the thigh mounting seat (1), the lower joint of the thigh body (21) is connected to the calf assembly (3), and the thigh drive unit (22) is mounted on the thigh mounting seat (1) and is used to drive the thigh body (21) to move around the thigh mounting seat (1); The calf assembly (3) comprises a calf body (31), a calf driving unit (32) and a calf moving unit (33), wherein the upper joint of the calf body (31) is connected to the lower joint of the thigh body (21), the calf moving unit (33) is arranged on the lower joint of the calf body (31), and the calf driving unit (32) is installed on the thigh body (21) and is used to drive the calf body (31) to move around the thigh body (21); The auxiliary leg assembly (4) comprises an auxiliary leg body (41), an auxiliary leg driving unit (42) and an auxiliary leg moving unit (43), wherein the upper joint of the auxiliary leg body (41) is mounted on the thigh body (21), the auxiliary leg moving unit (43) is arranged on the lower joint of the auxiliary leg body (41), and the auxiliary leg driving unit (42) is mounted on the thigh body (21) and is used for the auxiliary leg body (41) to move around the thigh body (21); The auxiliary leg body (41) is a telescopic structure, comprising an upper part of the auxiliary leg body, a telescopic assembly and a lower part of the auxiliary leg body, wherein the lower part of the auxiliary leg body is provided with an auxiliary leg moving unit (43).

3. The robot anti-fall method according to claim 2, characterized in that: The calf drive unit (32) is installed at the lower joint of the thigh body (21); The upper joint of the auxiliary leg body (41) is mounted on the output shaft of the auxiliary leg driving unit (42); The auxiliary leg moving unit (43) is a non-powered roller or a powered roller.

4. The robot fall prevention method according to claim 3, characterized in that: The thigh drive unit (22) and the auxiliary leg drive unit (42) are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line.

5. The robot fall prevention method according to claim 2, characterized in that: The calf driving unit (32) comprises a calf motor assembly (321), a driving rod (322) and a connecting rod (323) which are connected in sequence; The upper joint of the calf body (31) is mounted on the thigh body (21) via a rotating shaft; The two ends of the calf body (31) are respectively connected to the connecting rod (323) and the calf moving unit (33), and the two ends of the connecting rod (323) are respectively connected to the calf body (31) and the driving rod (322).

6. The robot fall prevention method according to claim 5, characterized in that: The thigh drive unit (22) and the calf motor assembly (321) are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line or parallel to each other; The calf moving unit (33) is a powered roller.

7. The robot fall prevention method according to claim 2, characterized in that: The lower joint of the thigh body (21) is provided with a connecting shaft (211); The connecting shaft (211) is installed at the lower joint of the thigh body (21) through a bearing; Two calf bodies (31) are arranged at both ends of the connecting shaft (211), an auxiliary leg body (41) is arranged between the two calf bodies (31), and an upper joint of the auxiliary leg body (41) is mounted on the connecting shaft (211) via a bearing; The auxiliary leg driving unit (42) comprises an auxiliary motor assembly (421), an auxiliary driving rod (422) and an auxiliary connecting rod (423) which are connected in sequence; The two ends of the auxiliary leg body (41) are respectively connected to the auxiliary connecting rod (423) and the auxiliary leg moving unit (43), and the two ends of the auxiliary connecting rod (423) are respectively connected to the auxiliary leg body (41) and the auxiliary driving rod (422).

8. The robot fall prevention method according to claim 7, characterized in that: The thigh body (21) is a hollow structure and is provided with a slot (212) for accommodating the rotation of the auxiliary leg body (41); The lower joint of the thigh body (21) comprises a first support body (213) and a second support body (214); the first support body (213), the auxiliary leg body (41) and the second support body (214) are arranged in sequence; and a calf driving unit (32) is arranged on the first support body (213).

9. The robot fall prevention method according to claim 7, characterized in that: The auxiliary leg moving unit (43) comprises two non-powered rollers which are arranged on both sides of the auxiliary leg body (41) via a rotating shaft.

10. The robot fall prevention method according to any one of claims 1 to 9, characterized in that: The thigh mounting seat (1) comprises an upper connecting plate (11) and two lower mounting plates (12), and the upper joints of the thigh driving unit (22) and the thigh body (21) are respectively arranged on both sides of the lower mounting plates (12).

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