A humanoid robot joint module with joint protection and its usage method

Abstract

The present invention discloses a humanoid robot joint module with joint protection and a usage method, which relates to the technical field of robots. It includes a joint, with a first robotic arm and a second robotic arm installed at both ends of the joint. A joint protection component is jointly arranged on the first robotic arm and the second robotic arm; by blowing air into the second air inlet pipe through an air blowing pump, the gas blown out by the air blowing pump enters the cavity and the long strip airbag. The protective airbag gradually expands outwards, and the long strip airbag gradually expands and pushes the telescopic end of the telescopic pipe to gradually move towards the side close to the brake disc. After the air blowing pump blows a predetermined amount of gas into the cavity, it is closed. At this time, the protective airbag is not completely filled with gas, and the brake pads do not contact the brake disc, which will not prevent the normal rotation of the second robotic arm. The joint is protected by the protective airbag, which can prevent external objects from directly colliding with the joint. The protective airbag can play a buffering and protective role, avoiding the direct collision of the components of the joint and thus preventing wear, deformation or even damage.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a humanoid robot joint module with joint protection and a usage method thereof. Background Art

[0002] The humanoid robot joint, as the core component connecting various limb parts of the robot, is the key to achieving flexible movement, and its function is similar to that of the human joint. Generally, the joint consists of components such as a motor and a reducer. The motor generates power, which is transmitted to the joint rotating shaft after being converted by the reducer, thereby driving the joint to operate and ensuring that the robot can complete various actions.

[0003] The humanoid robot imitates human movement and requires multiple joints to cooperate to complete complex actions such as walking, turning, and reaching. During the execution of these actions, due to the complex movement trajectory and the changeable working environment, the joint is extremely likely to collide with surrounding objects. The collision may cause wear, deformation, or even damage to the joint components, thereby seriously affecting the movement accuracy and stability of the robot and reducing its working efficiency and reliability.

[0004] Therefore, a humanoid robot joint module with joint protection and a usage method thereof are proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a humanoid robot joint module with joint protection and a usage method thereof to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides a humanoid robot joint module with joint protection, which includes a joint. A first robotic arm and a second robotic arm are respectively installed at both ends of the joint. The joint protection component is further included. The joint protection component includes an upper disk fixedly connected to the first robotic arm and a lower disk fixedly connected to the second robotic arm. A bellows and a protective airbag are arranged between the sides of the upper disk and the lower disk close to each other. The bellows is arranged inside the protective airbag. A support rod is fixedly connected to the top surface of the upper disk, and a blowing pump is fixedly connected to the top end of the support rod. The air outlet end of the blowing pump is communicated with a second air inlet pipe. An arc-shaped air pipe is communicated with the second air inlet pipe. The end of the arc-shaped air pipe far from the second air inlet pipe is communicated with a three-way block. An exhaust pipe one is communicated with the three-way block. The end of the exhaust pipe one far from the three-way block is communicated with an exhaust pipe two. A suction pump is installed at the top end of the exhaust pipe two. A cavity is jointly formed among the upper disk, the lower disk, the bellows, and the protective airbag. Both the exhaust pipe two and the second air inlet pipe pass through the upper disk and are communicated with the cavity.

[0007] Further, it further includes a stabilizing component. The stabilizing component includes a coupling column fixedly connected to the second robotic arm. One end of the coupling column away from the second robotic arm is fixedly connected to a brake disc. A carrier plate is fixedly connected to the first robotic arm. One side of the carrier plate close to the joint is fixedly connected to a telescopic tube. The end of the telescopic tube fixedly connected to the carrier plate is the fixed end, and the end of the telescopic tube away from the carrier plate is the telescopic end. A long strip airbag is arranged inside the telescopic tube. Both ends of the long strip airbag are fixedly connected to the carrier plate and the bottom of the telescopic end of the telescopic tube respectively. A spring is arranged between the carrier plate and the telescopic end of the telescopic tube. An air inlet pipe 1 is fixedly connected to the carrier plate. The air inlet pipe 1 is communicated with the inside of the long strip airbag. The side of the air inlet pipe 1 away from the long strip airbag is communicated with a three-way block. An installation plate is also fixedly connected to the first robotic arm. Two clamping plates are symmetrically rotatably connected to the installation plate through a rotating shaft. The two clamping plates are respectively located on both sides of the brake disc. One end of each of the two clamping plates close to the telescopic tube is rotatably connected to a pressing rod. Both pressing rods are rotatably connected to the rotating shaft at the bottom of the telescopic end of the telescopic tube. Brake pads are arranged at one end of each of the two clamping plates away from the telescopic tube. Distance measuring sensors are installed on the sides where the upper disc and the lower disc are away from each other.

[0008] Further, the spring is located inside the long strip airbag.

[0009] Further, the three-way block is fixedly connected to the first robotic arm.

[0010] Further, the axis of the coupling column is collinear with the rotation axis of the second robotic arm.

[0011] The present invention also provides a method for using a joint module of a humanoid robot with joint protection. This method is applied to the joint module of a humanoid robot with joint protection as described above, and includes the following steps:

[0012] Step 1: The air blowing pump is powered on and started, and the air extraction pump is not started. The air blowing pump injects gas into the cavity between the corrugated pipe and the protective airbag and the long strip airbag. The protective airbag expands, and the long strip airbag expands and pushes the telescopic end of the telescopic tube to move towards the side close to the brake disc, and at the same time stretches the spring. After the air blowing pump is turned on for a preset time, it is turned off. At this time, the brake pads do not contact the brake disc, and the joint is protected by the protective airbag.

[0013] Step 2: Start the distance measuring sensor. When the distance measuring sensor monitors that an external object approaches to a preset distance, the built-in motor of the joint is turned off through an external controller and the air blowing pump is turned on again. The air blowing pump runs for a preset time and then is turned off, so that the protective airbag and the long strip airbag are further inflated and expanded. The long strip airbag further pushes the telescopic tube, and the telescopic tube drives the two brake pads to approach each other through the two pressing rods to clamp the brake disc, and auxiliary fixation is performed through the brake pads and the brake disc.

[0014] Step 3: When the distance measuring sensor no longer detects that an external object is approaching the preset distance, the vacuum pump is turned on and runs for a predetermined time and then turned off. The vacuum pump discharges the gas in the cavity and the long air bag. At this time, the spring reset drives the telescopic tube to reset. The telescopic tube drives the two brake pads away from the brake disc through two pressure rods, so that the brake pads no longer conflict with the brake disc.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The air pump is used to blow air into the second air inlet pipe. The gas blown by the air pump enters the cavity and the long airbag. The protective airbag gradually expands outwards. The long airbag gradually expands and pushes the telescopic end of the telescopic tube to gradually move toward the side close to the brake disc, while stretching the spring. The air pump blows a predetermined amount of gas into the cavity and then closes. At this time, the protective airbag is not completely filled with gas, and the brake pad does not conflict with the brake disc, which will not hinder the normal rotation of the second robot arm. The protective airbag protects the joint to prevent external objects from directly colliding with the joint. The protective airbag can play a role of buffering and protection, and prevent the joint parts from being directly hit and worn, deformed or even damaged.

[0017] When the ranging sensor detects that an external object is approaching to a preset distance, the built-in motor of the joint is first turned off through the external controller, and then the air pump is turned on again through the external controller. The air pump is turned off after running for a preset time, so that the protective airbag and the long airbag are further inflated, and the long airbag further pushes the telescopic end of the telescopic tube to move downward, and then the two brake pads are driven by two splints to move closer to each other to clamp the brake disc, which can assist in fixing the position of the brake disc, the coupling column and the second mechanical arm. At this time, when an external object collides with the structure on the mechanical arm and causes the internal structure of the joint to be subjected to additional load, the brake pads and brake disc can play a role in auxiliary support and fixation, sharing the additional load generated by the collision of the external object, avoiding unnecessary displacement or shaking at the joint, and keeping the joint as a whole in a more stable posture. At the same time, the friction and wear between the internal components of the joint are reduced, thereby extending the service life of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a three-dimensional schematic diagram of the structures of the upper plate, lower plate, protective airbag, etc. of the present invention;

[0020] Figure 3 For the present invention Figure 2 The enlarged schematic diagram at A in the middle;

[0021] Figure 4 It is a three-dimensional schematic diagram of the structure of the second intake pipe, the bellows, the protective airbag, etc. of the present invention;

[0022] Figure 5 For the present invention Figure 4 Enlarged schematic view at position B in the present invention;

[0023] Figure 6 For the present invention Figure 5 Enlarged schematic view at position C in the present invention;

[0024] Figure 7 For the present invention Figure 5 Enlarged schematic view at position D in the present invention;

[0025] Figure 8 Schematic view of the positions of the arc-shaped air pipe, three-way block and other structures of the present invention;

[0026] Figure 9 For the present invention Figure 8 Enlarged schematic view at position E in the present invention.

[0027] In the figure:

[0028] 11, joint; 12, robotic arm one; 13, robotic arm two;

[0029] 21, coupling column; 22, brake disc; 23, carrier plate; 24, telescopic tube; 25, mounting plate; 26, long strip airbag; 27, spring; 28, intake pipe one; 29, upper disc; 210, lower disc; 211, corrugated pipe; 212, protective airbag; 213, support rod; 214, air blowing pump; 215, intake pipe two; 216, arc-shaped air pipe; 217, three-way block; 218, exhaust pipe one; 219, exhaust pipe two; 220, air extraction pump; 221, ranging sensor; 222, splint; 223, pressure rod; 224, brake pad. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Embodiments provided by the present invention:

[0032] As Figures 1 to 9 shown, a humanoid robot joint module with joint protection includes a joint 11, and a robotic arm one 12 and a robotic arm two 13 are respectively installed at both ends of the joint 11.

[0033] Among them: The joint 11 includes structures such as an in-built motor, a speed reducer, and bearings, which are known technologies and will not be elaborated here. The joint 11 connects the robotic arm one 12 and the robotic arm two 13. Specifically, under the rotational control of the in-built motor of the joint 11, the robotic arm two 13 can rotate relative to the robotic arm one 12 within a plane.

[0034] This device can be applied to the elbow joint of a humanoid robot arm. The robotic arm one 12 is the upper arm, and the robotic arm two 13 is the lower arm. The bottom end of the robotic arm two 13 can be connected to a manipulator (not shown in the figure), that is, the bottom end of the robotic arm two 13 is the force-bearing end. And this device is not limited to the arm.

[0035] Such as Figures 1 to 5 and Figures 7 to 9 As shown, a joint protection component is jointly provided on the robotic arm one 12 and the robotic arm two 13. The joint protection component includes an upper disk 29 fixedly connected to the robotic arm one 12 and a lower disk 210 fixedly connected to the robotic arm two 13. A bellows 211 and a protective airbag 212 are fixedly connected between the sides of the upper disk 29 and the lower disk 210 that are close to each other. The bellows 211 is arranged inside the protective airbag 212. The bellows 211 is made of a stainless steel bellows. A support rod 213 is fixedly connected to the top surface of the upper disk 29. The top end of the support rod 213 is fixedly connected to a blowing pump 214. The air outlet end of the blowing pump 214 faces downward. An air inlet pipe two 215 is communicated with the air outlet end of the blowing pump 214. An arc-shaped air pipe 216 is communicated with the air inlet pipe two 215. One end of the arc-shaped air pipe 216 away from the air inlet pipe two 215 is communicated with a three-way block 217. The three-way block 217 is fixedly connected to the robotic arm one 12. An exhaust pipe one 218 is communicated with the three-way block 217. One end of the exhaust pipe one 218 away from the three-way block 217 is communicated with an exhaust pipe two 219. A suction pump 220 is installed at the top end of the exhaust pipe two 219.

[0036] Such as Figure 1 and Figures 4 to 8As shown in the figure, the humanoid robot joint module with joint protection further includes a stabilizing component. The stabilizing component includes a coupling column 21 fixedly connected to the second robotic arm 13. One end of the coupling column 21 away from the second robotic arm 13 is fixedly connected to a brake disc 22. A carrier plate 23 is fixedly connected to the first robotic arm 12. One side of the carrier plate 23 close to the joint 11 is fixedly connected to a telescopic tube 24. The end of the telescopic tube 24 fixedly connected to the carrier plate 23 is the fixed end, and the end of the telescopic tube 24 away from the carrier plate 23 is the telescopic end. The telescopic end of the telescopic tube 24 faces downward. Inside the telescopic tube 24, there are a long strip airbag 26 and a spring 27. Both ends of the long strip airbag 26 and the spring 27 are respectively fixedly connected to the bottom surface of the carrier plate 23 and the bottom of the telescopic end of the telescopic tube 24. The spring 27 is located inside the long strip airbag 26. An air inlet pipe 1 28 is fixedly connected to the carrier plate 23. The air inlet pipe 1 28 communicates with the inside of the long strip airbag 26. One side of the air inlet pipe 1 28 away from the long strip airbag 26 is communicated with a three-way block 217. The three-way block 217 communicates the air inlet pipe 1 28, an arc-shaped air pipe 216, and an exhaust pipe 1 218 with each other. An installation plate 25 is also fixedly connected to the first robotic arm 12. Two clamping plates 222 are symmetrically rotatably connected to the installation plate 25 through a rotating shaft. The two clamping plates 222 are respectively located on both sides of the brake disc 22. One end of each of the two clamping plates 222 close to the telescopic tube 24 is rotatably connected to a pressure rod 223. Both pressure rods 223 are rotatably connected to the rotating shaft at the bottom of the telescopic end of the telescopic tube 24. Brake pads 224 are provided at one end of each of the two clamping plates 222 away from the telescopic tube 24. A plurality of distance measuring sensors 221 are installed on the sides of the upper disc 29 and the lower disc 210 away from each other.

[0037] The axis of the coupling column 21 is collinear with the rotation axis of the second robotic arm 13. That is, when the second robotic arm 13 rotates relative to the first robotic arm 12, the coupling column 21 and the brake disc 22 only rotate relative to the first robotic arm 12 without moving.

[0038] A cavity is jointly formed among the upper disc 29, the lower disc 210, the corrugated pipe 211, and the protective airbag 212, as Figure 5 shown. The exhaust pipe 2 219 and the air inlet pipe 2 215 both pass through the upper disc 29 and communicate with the cavity.

[0039] Among them: the distance measuring sensor 221, the air blowing pump 214, and the air extraction pump 220 are all prior arts. The distance measuring sensor 221 can set a distance threshold for the approach of an object. The air blowing pump 214, the distance measuring sensor 221, the air extraction pump 220, and the built-in motor of the joint 11 are all electrically connected to an external controller. The function of the distance measuring sensor 221 is: to monitor whether there are external objects approaching around the joint 11, the first robotic arm 12, and the second robotic arm 13. When an external object approaches to a preset distance, the distance measuring sensor 221 closes the built-in motor of the joint 11 through the external controller and starts the air blowing pump 214 to blow air into the cavity.

[0040] When the joint protection component and the stabilization component are not in use, the cavity between the corrugated pipe 211 and the protection airbag 212 is not filled with gas, the protection airbag 212 does not expand outwards, the ranging sensor 221, the air blowing pump 214 and the air extraction pump 220 are not started, the spring 27 does not generate elastic deformation, the strip airbag 26 is in a contracted state, the telescopic end of the telescopic pipe 24 does not extend downwards, and the brake pad 224 does not contact the brake disc 22.

[0041] When the joint protection component is in use:

[0042] The air blowing pump 214 is powered on and started, the air extraction pump 220 is not started, the air blowing pump 214 blows air downwards through the second air inlet pipe 215, the air blown by the air blowing pump 214 enters the cavity between the corrugated pipe 211 and the protection airbag 212, and enters the strip airbag 26 through the arc-shaped air pipe 216, the three-way block 217 and the first air inlet pipe 28. The protection airbag 212 gradually expands outwards, the strip airbag 26 gradually expands and pushes the telescopic end of the telescopic pipe 24 to gradually move towards the side close to the brake disc 22, and at the same time stretches the spring 27. After the air blowing pump 214 blows a predetermined amount of gas into the cavity, it is closed (that is, the air blowing pump 214 is closed after a preset time). At this time, the protection airbag 212 is not completely filled with gas, and the brake pad 224 does not contact the brake disc 22, which will not prevent the normal rotation of the second robotic arm 13. The joint 11 is protected by the protection airbag 212, which can prevent external objects from directly colliding with the joint 11. The protection airbag 212 can play a buffering and protective role, avoiding the components of the joint 11 from being directly collided and worn, deformed or even damaged.

[0043] When the stabilization component is in use:

[0044] The distance measuring sensor 221 is started, and the distance measuring sensor 221 can monitor whether an external object approaches to a preset distance. When the distance measuring sensor 221 detects that an external object approaches to a preset distance, the built-in motor of the joint 11 is first turned off by the external controller, and then the air pump 214 is turned on again by the external controller. After the air pump 214 runs for a preset time, the air pump 214 is turned off. By turning on the air pump 214 again, gas can be further injected into the cavity, so that the protective airbag 212 and the long airbag 26 are further inflated, so that the long airbag 26 further pushes the telescopic end of the telescopic tube 24 to move downward. When the telescopic end of the telescopic tube 24 continues to move, it will continue to squeeze the two pressure rods 223 downward through the rotating shaft, and then through the pressure rods 223 The clamping plates 222 are squeezed to rotate the two clamping plates 222, and the two clamping plates 222 drive the two brake pads 224 to move closer to each other to clamp the brake disc 22, which can assist in fixing the positions of the brake disc 22, the coupling column 21 and the mechanical arm 13. At this time, when an external object collides with the structure on the mechanical arm and causes the structure inside the joint 11 to be subjected to additional loads (such as the gear meshing surface will be subjected to additional loads), the brake pads 224 and the brake disc 22 can play a role in auxiliary support and fixation, sharing the additional load generated by the collision of external objects, avoiding unnecessary displacement or shaking at the joint 11, and making the joint 11 maintain a more stable posture as a whole, while reducing the friction and wear between the internal components of the joint 11, thereby extending the service life of the joint 11.

[0045] After the above process is completed, when the distance measuring sensor 221 detects that there are no more external objects near the joint 11, the vacuum pump 220 is turned on and runs for a predetermined time and then turned off. The vacuum pump 220 discharges the gas in the cavity and the long air bag 26 through the exhaust pipe 219, the exhaust pipe 1 218, the intake pipe 1 28, the arc air pipe 216 and the intake pipe 2 215. At this time, the spring 27 is reset to drive the telescopic end of the telescopic tube 24 to move upward, and then drives the two clamping plates 222 to rotate away from the brake disc 22 through the two pressure rods 223, so that the brake pad 224 no longer conflicts with the brake disc 22, and the protective air bag 212 and the long air bag 26 are reset to the state when the air pump 214 is not turned on again (that is, the protective air bag 212 is not completely filled with gas, and the brake pad 224 does not conflict with the brake disc 22, and will not hinder the normal rotation of the robot arm 2 13).

[0046] When the robot arm 2 13 does not rotate, the stabilizing components provide auxiliary support:

[0047] When the force - receiving end of the second robotic arm 13 bears a load and there is no need to adjust the position of the second robotic arm 13 relative to the first robotic arm 12, the air - blowing pump 214 can also be turned on again through an external controller. After the air - blowing pump 214 operates for a preset time, it is turned off, so that the two brake pads 224 move closer to each other to clamp the brake disc 22, thereby assisting in fixing the brake disc 22, the coupling column 21, and the second robotic arm 13, reducing the load between the internal components of the joint 11. The load force originally borne solely by the joint 11 is shared by structures such as the brake disc 22, the brake pads 224, the first robotic arm 12, and the second robotic arm 13, reducing the risk of damage to the joint 11 under heavy loads and improving the service life of the joint 11.

[0048] When the second robotic arm 13 needs to rotate again, the air - extraction pump 220 can be turned on and run for a predetermined time and then turned off, so that the protective airbag 212 and the strip - shaped airbag 26 return to the state when the air - blowing pump 214 is not turned on again (that is, the protective airbag 212 is not fully filled with gas, and the brake pads 224 do not contact the brake disc 22, and the normal rotation of the second robotic arm 13 will not be hindered).

[0049] This embodiment also provides a method for using a humanoid robot joint module with joint protection. This method is applied to the humanoid robot joint module with joint protection as described above and includes the following steps:

[0050] Step 1: The air - blowing pump 214 is powered on and started, and the air - extraction pump 220 is not started. The air - blowing pump 214 injects gas into the cavity between the corrugated pipe 211 and the protective airbag 212 and into the strip - shaped airbag 26. The protective airbag 212 expands, and the strip - shaped airbag 26 expands and pushes the telescopic end of the telescopic tube 24 to move toward the side close to the brake disc 22, while stretching the spring 27. After the air - blowing pump 214 operates for a preset time, it is turned off. At this time, the brake pads 224 do not contact the brake disc 22, and the joint 11 is protected by the protective airbag 212.

[0051] Step 2: The distance - measuring sensor 221 is started. When the distance - measuring sensor 221 detects that an external object approaches to a preset distance, the built - in motor of the joint 11 is turned off through an external controller, and the air - blowing pump 214 is turned on again. After the air - blowing pump 214 operates for a preset time, it is turned off, so that the protective airbag 212 and the strip - shaped airbag 26 are further inflated and expanded. The strip - shaped airbag 26 further pushes the telescopic tube 24, and the telescopic tube 24 drives the two brake pads 224 to move closer to each other to clamp the brake disc 22 through the two pressure rods 223, and auxiliary fixation is performed through the brake pads 224 and the brake disc 22.

[0052] Step 3: When the distance measuring sensor 221 no longer detects that an external object approaches to a preset distance, start the air extraction pump 220 to operate for a predetermined time and then turn off the air extraction pump 220. The air extraction pump 220 discharges the gas inside the cavity and the long strip airbag 26. At this time, the spring 27 resets to drive the telescopic tube 24 to reset. The telescopic tube 24 drives the two brake pads 224 away from the brake disc 22 through the two pressure rods 223, so that the brake pads 224 no longer contact the brake disc 22.

[0053] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0054] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot joint module with joint protection, comprising a joint (11), and a first robotic arm (12) and a second robotic arm (13) are respectively installed at two ends of the joint (11), characterized in that, It further includes a joint protection component. The joint protection component includes an upper disc (29) fixedly connected to the first robotic arm (12) and a lower disc (210) fixedly connected to the second robotic arm (13). Between the sides of the upper disc (29) and the lower disc (210) that are close to each other, there are a corrugated pipe (211) and a protective airbag (212). The corrugated pipe (211) is arranged inside the protective airbag (212). On the top surface of the upper disc (29), there is a support rod (213) fixedly connected. At the top end of the support rod (213), there is a blowing pump (214) fixedly connected. The air outlet end of the blowing pump (214) is connected with a second inlet pipe (215) in a communicating way. On the second inlet pipe (215), there is an arc-shaped air pipe (216) connected in a communicating way. The end of the arc-shaped air pipe (216) far from the second inlet pipe (215) is connected with a three-way block (217) in a communicating way. On the three-way block (217), there is an exhaust pipe one (218) connected in a communicating way. The end of the exhaust pipe one (218) far from the three-way block (217) is connected with an exhaust pipe two (219) in a communicating way. At the top end of the exhaust pipe two (219), there is an air extraction pump (220) installed. A cavity is jointly formed among the upper disc (29), the lower disc (210), the corrugated pipe (211) and the protective airbag (212). Both the exhaust pipe two (219) and the second inlet pipe (215) pass through the upper disc (29) and are connected with the cavity in a communicating way; It further includes a stabilizing component. The stabilizing component includes a coupling column (21) fixedly connected to the second robotic arm (13). At the end of the coupling column (21) far from the second robotic arm (13), there is a brake disc (22) fixedly connected. On the first robotic arm (12), there is a carrier plate (23) fixedly connected. On the side of the carrier plate (23) close to the joint (11), there is a telescopic pipe (24) fixedly connected. The end of the telescopic pipe (24) fixedly connected to the carrier plate (23) is the fixed end, and the end of the telescopic pipe (24) far from the carrier plate (23) is the telescopic end. On the carrier plate (23), there is a first inlet pipe (28) fixedly connected.

2. The joint module of a humanoid robot with joint protection according to claim 1, characterized in that, Inside the telescopic pipe (24), there is a long strip airbag (26). The two ends of the long strip airbag (26) are respectively fixedly connected to the carrier plate (23) and the bottom of the telescopic end of the telescopic pipe (24). Between the carrier plate (23) and the telescopic end of the telescopic pipe (24), there is a spring (27). The first inlet pipe (28) is connected with the inside of the long strip airbag (26) in a communicating way. The side of the first inlet pipe (28) far from the long strip airbag (26) is connected with the three-way block (217) in a communicating way. On the first robotic arm (12), there is also a mounting plate (25) fixedly connected. On the mounting plate (25), there are two clamping plates (222) symmetrically rotatably connected through a rotating shaft. The two clamping plates (222) are respectively located on both sides of the brake disc (22). At the end of each of the two clamping plates (222) close to the telescopic pipe (24), there is a pressure rod (223) rotatably connected. Both of the two pressure rods (223) are rotatably connected to the rotating shaft at the bottom of the telescopic end of the telescopic pipe (24). At the end of each of the two clamping plates (222) far from the telescopic pipe (24), there is a brake pad (224). On the sides of the upper disc (29) and the lower disc (210) that are far from each other, there are distance measuring sensors (221) installed.

3. The joint module of a humanoid robot with joint protection according to claim 2, characterized in that, The spring (27) is located inside the strip-shaped airbag (26).

4. The joint module of a humanoid robot with joint protection according to claim 3, characterized in that, The three-way block (217) is fixedly connected to the first robotic arm (12).

5. The joint module of a humanoid robot with joint protection according to claim 4, characterized in that, The axis of the coupling column (21) is collinear with the rotation axis of the second robotic arm (13).

6. A method for using a joint module of a humanoid robot with joint protection, characterized in that, Apply the humanoid robot joint module with joint protection as described in claim 5, the method comprising the following steps: Step 1: The air blowing pump (214) is powered on and started, the air extraction pump (220) is not started, the air blowing pump (214) injects gas into the cavity between the corrugated pipe (211) and the protective airbag (212) and into the strip-shaped airbag (26), the protective airbag (212) expands, the strip-shaped airbag (26) expands and pushes the telescopic end of the telescopic pipe (24) to move towards the side close to the brake disc (22), and at the same time stretches the spring (27). After the air blowing pump (214) is turned on for a preset time and then turned off, at this time the brake pads (224) do not contact the brake disc (22), and the joint (11) is protected by the protective airbag (212); Step 2: Start the ranging sensor (221). When the ranging sensor (221) detects that an external object approaches to a preset distance, the built-in motor of the joint (11) is turned off by the external controller and the air blowing pump (214) is turned on again. After the air blowing pump (214) runs for a preset time, the air blowing pump (214) is turned off, so that the protective airbag (212) and the strip-shaped airbag (26) are further inflated and expanded. The strip-shaped airbag (26) further pushes the telescopic pipe (24), and the telescopic pipe (24) drives the two brake pads (224) to approach each other through the two pressure rods (223) to clamp the brake disc (22), and the brake pads (224) and the brake disc (22) are used for auxiliary fixation; Step 3: When the ranging sensor (221) no longer detects that an external object approaches to a preset distance, the air extraction pump (220) is turned on and runs for a predetermined time and then turned off. The air extraction pump (220) discharges the gas inside the cavity and the strip-shaped airbag (26). At this time, the spring (27) resets to drive the telescopic pipe (24) to reset, and the telescopic pipe (24) drives the two brake pads (224) away from the brake disc (22) through the two pressure rods (223), so that the brake pads (224) no longer contact the brake disc (22).

Images