Humanoid robot with anti-collision and anti-falling structure

Abstract

The invention relates to the technical field of humanoid robots, and provides a humanoid robot with an anti-collision and anti-falling structure, which comprises a humanoid robot main body and a robot waist joint part in the humanoid robot main body, and further comprises four groups of movable supporting parts, and anti-falling supporting mechanisms are arranged in the movable supporting parts; the anti-falling supporting mechanism is used for driving the internal structure to stretch out and draw back to the ground to support the robot. The Y-axis twisting mechanism is arranged on the outer side of the movable supporting piece and used for driving the movable supporting piece to conduct Y-axis angle adjustment, and then the Y-axis twisting mechanism is matched with the inclination angle to complete supporting operation of the next step. The device can be conveniently adapted to the humanoid robot in the experiment stage, and the stability in the experiment stage can be improved, so that the problems that after an existing robot falls and is damaged, tedious debugging and maintenance work needs to be carried out, a large amount of time and labor cost are consumed, and the experiment progress and efficiency are seriously affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a humanoid robot with an anti-collision and fall structure. Background Art

[0002] Humanoid robots, a key research area in robotics research and development, are widely used in a variety of fields, including scientific research experiments, educational demonstrations, and entertainment services. During the experimental phase, humanoid robots must be tested with a variety of complex movements and postures to verify their stability and functionality. However, due to the complexity and uncertainty of the experimental environment, as well as the limitations of the robot's control system, humanoid robots are prone to losing balance and falling during experiments.

[0003] When a humanoid robot falls, not only can precision components like the gyroscope inside the robot be damaged, affecting its measurement accuracy and stability, but it can also loosen the wiring of internal control components, causing various failures and increasing losses during the experiment. Furthermore, each robot fall requires tedious debugging and repair work, which consumes a lot of time and manpower, seriously affecting the progress and efficiency of the experiment.

[0004] At present, although there are some research and designs for robot fall prevention, most of them are complex in structure, inconvenient to install, and cannot work well with the built-in gyroscope module and intelligent stabilization system of the humanoid robot. Therefore, there is a need for an anti-fall structure that can cooperate with the built-in gyroscope module and intelligent stabilization system of the humanoid robot. When the stabilization system can no longer make stable movements and cannot avoid falling, it can send anti-fall instructions to the structure of this application. This structure can be easily installed on the waist of many humanoid robots. By self-tapping and adding mounting holes, the stability in the experimental stage can be improved, and the debugging time after each fall can be reduced, thereby effectively solving the above problems. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a humanoid robot with an anti-collision and anti-fall structure, which can be easily adapted to the humanoid robot in the experimental stage and can improve the stability of the experimental stage, so as to solve the problem that the existing robots need to undergo tedious debugging and maintenance work after being damaged, which consumes a lot of time and manpower costs and seriously affects the progress and efficiency of the experiment.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a humanoid robot with an anti-collision and anti-fall structure, comprising a humanoid robot body and a robot waist joint component inside the humanoid robot body, characterized in that it also includes four sets of movable support members, and each movable support member is provided with an anti-fall support mechanism inside, the anti-fall support mechanism being used to drive the internal structure to extend and retract to the ground to support the robot; The Y-axis torsion mechanism is arranged on the outside of the movable support and is used to drive the movable support to adjust the Y-axis angle, thereby adapting the tilt angle to complete the next support operation; The Z-axis drive mechanism is provided on both sides of the movable support and is used to drive the movable support to slide up and down on the Y-axis torsion mechanism, so that the movable support can further perform a large-angle Y-axis torsion; The X-axis torsion mechanism is located at the center of the front and back of the robot's waist joint and is used to drive the movable support to tilt the X-axis angle and cooperate with the Z-axis drive mechanism to perform related actions to adapt to different tilt conditions; A gyroscope is built into the humanoid robot body.

[0007] Furthermore, the anti-fall support mechanism includes an air tank, a pressure relief valve, an air pump, a sliding guide sleeve, an anti-slip support leg, an air bag and an air pressure accumulation component, the air tank is fixedly installed on the top of the movable support part near the robot waist joint part, the pressure relief valve is connected to the top of the air tank, the air pump is fixedly embedded in the bottom of the movable support part near the robot waist joint part, and is connected to the top of the air tank through a pipeline, the sliding guide sleeve is slidably installed in the interior of the movable support part, the anti-slip support leg is fixedly installed on the bottom of the sliding guide sleeve, the air bag sleeve is arranged in the interior of the sliding guide sleeve, and the bottom is fixedly installed on the top of the sliding guide sleeve, the top of the air bag is fixedly installed on the top of the inner wall of the movable support part, the output end of the air tank is connected to the solenoid valve, and is connected to the top of the air bag through the solenoid valve, and the air pressure accumulation component is arranged in the interior of the air tank and is used to increase the release speed of the compressed gas in the air tank, so that the air bag expands rapidly.

[0008] Furthermore, the Y-axis torsion mechanism includes a flip frame, a side shell, a micro electric push rod, a gear 1 and a tooth plate 1. The flip frame is arranged at the four corners of the robot waist joint, and one side is detachably mounted on the side shell. The micro electric push rod is fixedly mounted on the top of the inner wall of the flip frame close to the side of the robot waist joint. The output end of the micro electric push rod is fixedly mounted on the tooth plate 1, and the surface of the tooth plate 1 slides with the flip frame and the inner wall of the side shell. The gear 1 is rotatably mounted inside the flip frame and meshes with the tooth plate 1.

[0009] Furthermore, the Z-axis drive mechanism includes a linear motor stator, a linear motor mover and a torsion shaft. The linear motor stator is fixedly mounted on both sides of the movable support and is used to cooperate with the linear motor mover for longitudinal driving. The linear motor mover is slidably mounted inside the linear motor stator, and the linear motor mover is fixedly mounted on the torsion shaft. The gear 1 is fixedly sleeved on the surface of the torsion shaft, and the torsion shaft is rotationally coordinated with the side shell and the flip frame.

[0010] Furthermore, the X-axis torsion mechanism includes a linked outward-turning drive assembly, a mounting column, gear 2, a limiting cross frame, tooth plate 2 and a mounting bar. The linked outward-turning drive assembly is arranged at the center of the front and rear sides of the robot waist joint, and is used to drive tooth plate 2 to move laterally. The mounting column is detachably mounted on the four corners of the robot waist joint, and gear 2 is rotatably sleeved on the surface of the mounting column. The limiting cross frame is fixedly mounted on the top four corners of the robot waist joint and is located above gear 2. The tooth plate 2 is slidably mounted on the limiting cross frame, and the gear 2 is meshed with tooth plate 2. The mounting bar is fixedly mounted on the top and bottom of the gear 2 away from the robot waist joint, and is detachably mounted on the flip frame.

[0011] Furthermore, the air pressure accumulation assembly includes a piston and a conical spring. The piston is slidably installed inside the air storage tank, and the outer surface is covered with three layers of O-rings. The conical spring is fixedly installed at the bottom of the inner wall of the air storage tank, and the top of the conical spring is fixedly installed at the bottom of the piston.

[0012] Furthermore, the linked outward eversion drive assembly includes a mounting seat, a servo motor, gear three, tooth plate three and a limit block. The mounting seat is provided with two groups and is symmetrically installed on the front and back sides of the robot waist joint. The servo motor is fixedly installed on the bottom of the inner wall of the mounting seat. The gear three is fixedly installed on the output end of the servo motor. The tooth plate three is provided with two groups, and the two groups of tooth plates three are symmetrically arranged. The two groups of tooth plates three are fixedly installed on the end away from gear three and the tooth plate two. The limit block is fixedly installed on the front and rear sides of the top of the servo motor and cooperates with the sliding limit of the tooth plate three.

[0013] Furthermore, a tension spring is provided inside the airbag, one end of the tension spring is fixedly mounted to the top of the inner wall of the airbag, and the other end of the tension spring is fixedly mounted to the bottom of the inner wall of the airbag.

[0014] Furthermore, anti-collision strips are symmetrically installed on both sides of the movable support member away from one end of the robot waist joint member, and a plurality of groups of silicone blocks are fixedly installed longitudinally inside the anti-collision strips.

[0015] The beneficial effects of the present invention are as follows: the present invention transmits gyroscope data to the anti-fall structure control module in real time, and establishes a unified data platform to integrate and share data, so that the control module can accurately judge the balance state of the robot and accurately control each mechanism according to the real-time data. This data sharing and transmission mechanism realizes the coordinated work of the anti-fall structure and the robot body, and can quickly respond when the robot is about to fall, greatly improving the response speed and effect of anti-fall, and ensuring the stability and safety of the robot in complex environments. The anti-fall structure applied for can quickly respond when the robot is about to fall, provide effective support, greatly reduce the risk of the robot falling, protect the robot body and its internal components from damage, and also avoid the harm to the surrounding environment and personnel caused by the robot falling, thereby significantly improving the safety of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the robot waist joint of the present invention; Figure 3 for Figure 2 A partial exploded three-dimensional structural diagram; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 It is a schematic diagram of a half-section exploded three-dimensional structure of the movable support member of the present invention; Figure 6 for Figure 5 A schematic diagram of a three-dimensional structure from another perspective; Figure 7 It is a schematic diagram of a half-cutaway three-dimensional structure of the gas storage tank of the present invention; Figure 8 It is a left half-section structural schematic diagram of the sliding guide sleeve of the present invention.

[0017] In the figure: 1. Humanoid robot body; 2. Robot waist joint; 3. Movable support; 301. Gas tank; 3011. Piston; 3012. Conical spring; 302. Pressure relief valve; 303. Air pump; 304. Solenoid valve; 312. Mounting column; 313. Gear 2; 314. Limiting cross frame; 315. Tooth plate 2; 316. Mounting bar; 31. Flip frame; 311. Side shell; 32. Linear motor stator; 321. Linear motor mover; 322. Torsion shaft; 3221. Gear 1; 3222. Micro electric push rod; 3223. Tooth plate 1; 33. Sliding guide sleeve; 331. Airbag; 34. Anti-slip support leg; 35. Tension spring; 36. Anti-collision strip; 4. Protective cover; 41. Mounting seat; 42. Servo motor; 43. Gear 3; 44. Tooth plate 3; 45. Limit block. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0019] See also Figure 1 and Figure 2 , Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the robot waist joint structure of the present invention.

[0020] A humanoid robot with an anti-collision and fall prevention structure includes a humanoid robot body 1 and a robot waist joint 2 inside the humanoid robot body 1. The robot also includes four sets of movable support members 3, and each movable support member 3 is provided with an anti-fall support mechanism inside. The anti-fall support mechanism is used to drive the internal structure to extend and retract to the ground to support the robot. A gyroscope is built into the humanoid robot body 1, and the data of the gyroscope is shared uniformly with the Y-axis torsion mechanism, the Z-axis drive mechanism, and the X-axis torsion mechanism.

[0021] See also Figures 2 to 8 As shown, Figure 2 This is a schematic diagram of the structure of the robot waist joint of the present invention; Figure 3 for Figure 2 A partial exploded three-dimensional structural diagram; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 It is a schematic diagram of a half-section exploded three-dimensional structure of the movable support member of the present invention; Figure 6 for Figure 5 A schematic diagram of a three-dimensional structure from another perspective; Figure 7 It is a schematic diagram of a half-cutaway three-dimensional structure of the gas storage tank of the present invention; Figure 8 It is a left half-section structural schematic diagram of the sliding guide sleeve of the present invention.

[0022] The anti-fall support mechanism includes an air tank 301, a pressure relief valve 302, an air pump 303, a sliding guide sleeve 33, an anti-slip support leg 34, an air bag 331 and an air pressure accumulation component. The air tank 301 is fixedly mounted on the top of the movable support 3 near the robot waist joint 2. The pressure relief valve 302 is connected to the top of the air tank 301. The air pump 303 is fixedly embedded in the bottom of the movable support 3 near the robot waist joint 2 and is connected to the top of the air tank 301 through a pipeline. The sliding guide sleeve 33 is slidably mounted on the inside of the movable support 3. The anti-slip support leg 34 is fixedly mounted on the bottom of the sliding guide sleeve 33. The air bag 331 is sleeved on the inside of the sliding guide sleeve 33, and the bottom is fixedly mounted on the top of the sliding guide sleeve 33. The top of the air bag 331 is fixedly mounted on the top of the inner wall of the movable support 3. The output end of the air tank 301 is connected to the solenoid valve 304 and is connected to the top of the air bag 331 through the solenoid valve 304. The air pressure accumulation component is arranged inside the air tank 301 and is used to increase the release speed of the compressed gas inside the air tank 301, so that the air bag 331 expands rapidly, and accumulates the air after the air pump 303 is started through the air tank 301, and then passively pressurizes it through the air pressure accumulation component, so that the air has pressure after entering. At the same time, the pressure relief valve 302 can ensure that the air tank 301 has a safe pressure threshold to avoid damage to the air tank 301. When the air pressure needs to be released, opening the solenoid valve 304 can enable the air pressure accumulation component to quickly release the compressed air into the air bag 331, and then the sliding guide sleeve 33 is pushed downward by the air bag 331, so that the anti-slip support legs 34 at the bottom of the sliding guide sleeve 33 are supported on the ground to realize mechanical auxiliary support, avoid damage to the humanoid robot body 1 due to falls, ensure that the experiment progresses faster during each test, avoids unnecessary maintenance time, has sufficient robot balance optimization time, and assists the robot to complete more ways and methods to deal with special falls.

[0023] The Y-axis torsion mechanism is arranged on the outside of the movable support part 3 and is used to drive the movable support part 3 to adjust the Y-axis angle, and then adapt the tilt angle to complete the next support operation; the Y-axis torsion mechanism includes a flip frame 31, a side shell 311, a micro electric push rod 3222, a gear 3221 and a tooth plate 3223. The flip frame 31 is arranged at the four corners of the robot waist joint 2, and one side is detachably mounted on the side shell 311. The micro electric push rod 3222 is fixedly mounted on the top of the inner wall of the flip frame 31 near the side of the robot waist joint 2. The output end of the micro electric push rod 3222 is fixedly mounted on the tooth plate 3223, and the surface of the tooth plate 3223 is slidably matched with the flip frame 31 and the inner wall of the side shell 311. The gear 3221 is rotatably mounted on the inside of the flip frame 31 and meshes with the tooth plate 3223. The flip frame 31 can limit the Y-axis movement of the movable support 3 to prevent the movable support 3 from moving laterally, ensuring accurate driving and supporting operations. At the same time, after the side shell 311 is installed, the installation and maintenance efficiency of the micro electric push rod 3222 can be improved. When the Y-axis adjustment of the movable support 3 is required, the micro electric push rod 3222 is started to drive the output end to drive the tooth plate 1 3223 fixed thereto forward or backward, so that the tooth plate 1 3223 drives the gear 1 3221 engaged with it to twist, and then the torsion shaft 322 fixed thereto is driven to twist through the gear 1 3221, thereby adjusting the Y-axis angle of the movable support 3 and driving it to the required support angle.

[0024] The Z-axis driving mechanism is arranged on both sides of the movable support 3 and is used to drive the movable support 3 to slide up and down on the Y-axis torsion mechanism, so that the movable support 3 can perform further large-angle Y-axis torsion; the Z-axis driving mechanism includes a linear motor stator 32, a linear motor mover 321 and a torsion shaft 322, the linear motor stator 32 is fixedly installed on both sides of the movable support 3, and is used to cooperate with the linear motor mover 321 for longitudinal drive, the linear motor mover 321 is slidably installed inside the linear motor stator 32, and the linear motor mover 321 and the torsion shaft 322 are fixedly installed, and the gear 3221 and the torsion shaft are fixedly installed. The surface of 322 is fixedly sleeved, and the torsion shaft 322 rotates with the side shell 311 and the flip frame 31. After the linear motor stator 32 can be transmitted and matched with the linear motor mover 321, the linear motor mover 321 can be longitudinally driven to adjust the height inside the linear motor stator 32, and then the stroke of the sliding guide sleeve 33 can be matched to achieve a larger support height. On some uneven heights, sufficient support length can be ensured to avoid further tilting of the robot due to insufficient support height. At the same time, after the linear motor mover 321 is started, it drives the movable support part 3 to move up and down to realize the height adjustment of the Z axis, and then adapt to some height environments with steps.

[0025] The X-axis torsion mechanism is arranged at the center of the front and back sides of the robot waist joint 2, and is used to drive the movable support (3) to tilt the X-axis angle and cooperate with the Z-axis drive mechanism to perform related actions; the X-axis torsion mechanism includes a linkage outward-turning drive component, a mounting column 312, a gear 2 313, a limiting cross frame 314, a tooth plate 2 315 and a mounting bar 316, and the linkage outward-turning drive component is arranged at the center of the front and back sides of the robot waist joint 2, and is used to drive the tooth plate 2 315 to move horizontally, and the mounting bar 316 is provided. The mounting posts 312 are detachably mounted on the four corners of the robot's waist joint 2. The second gear 313 is rotatably sleeved on the surface of the mounting posts 312. The limiting cross frame 314 is fixedly mounted on the four corners of the top of the robot's waist joint 2 and is located above the second gear 313. The second tooth plate 315 is slidably mounted on the limiting cross frame 314. The second gear 313 meshes with the second tooth plate 315. The mounting bar 316 is fixedly mounted on the top and bottom of the second gear 313 away from the robot's waist joint 2 and is detachably mounted on the flip frame 31. The linked outward-turning drive assembly can drive the gear plate 2 315 to move horizontally. When X-axis torsional adjustment is required, the gear plate 2 315 can be driven by the linked outward-turning drive assembly, and the gear plate 2 315 is limited by the limiting cross frame 314 when it moves horizontally, so that the movement of the gear plate 2 315 is more stable and will not shake up and down, ensuring the driving space. When the gear plate 2 315 moves horizontally, it can drive the gear 2 313 engaged with it to twist around the mounting column 312, and then drive the flip frame 31 to twist through the mounting bar 316 fixed to the gear 2 313, thereby realizing the overall X-axis torsional adjustment of the movable support 3 inside the flip frame 31 to determine the support angle. At this time, combined with the cooperation of the above-mentioned Z axis and Y axis, a large-area support angle combination is achieved, which is suitable for many test environments.

[0026] The air pressure accumulation component includes a piston 3011 and a conical spring 3012. The piston 3011 is slidably installed inside the air storage tank 301, and a three-layer O-ring is provided on the outer surface. The conical spring 3012 is fixedly installed at the bottom of the inner wall of the air storage tank 301. The top of the conical spring 3012 is fixedly installed with the bottom of the piston 3011. When the air pump 303 is started, the gas enters the air storage tank 301 and squeezes the piston 3011 downward. During this process, the three-layer O-ring can ensure the sealing of the piston 3011, thereby exerting downward pressure on the conical spring 3012. Pressure, at this time the conical spring 3012 is deformed and opens to store force. During this process, the solenoid valve 304 is in a closed state. When the piston 3011 is pressed down to the limit position and the accumulated pressure is released, the normal dynamic test of the humanoid robot body 1 can be carried out. When the robot itself is in a state where it cannot balance, the solenoid valve 304 starts, and the piston 3011 is squeezed and pushed upward by the elastic force released by the conical spring 3012. At this time, the gas is quickly squeezed into the interior of the airbag 331, causing the airbag 331 to squeeze the sliding guide sleeve 33 downward to achieve support.

[0027] The linkage eversion drive assembly includes a mounting seat 41, a servo motor 42, a gear three 43, a tooth plate three 44 and a limit block 45. The mounting seat 41 is provided with two groups and is symmetrically installed on the front and back of the robot waist joint 2. The servo motor 42 is fixedly installed at the bottom of the inner wall of the mounting seat 41. The gear three 43 is fixedly installed with the output end of the servo motor 42. There are two groups of tooth plates three 44, and the two groups of tooth plates three 44 are symmetrically arranged. The two groups of tooth plates three 44 are fixedly installed with the ends away from the gear three 43 and the tooth plate two 315. The limit block 45 is fixedly installed on the front and rear sides of the top of the servo motor 42 and is sliding limited with the tooth plate three 44. The protective cover 4 is fixedly installed on the top of the mounting base 41. The mounting base 41 can provide a mounting position for the servo motor 42 and protect the servo motor 42 at the same time. When the servo motor 42 is started, it can drive the gear three 43 to rotate, and then drive the two sets of gear plates three 44 engaged with the gear three 43 to move laterally in the direction of approaching and moving away from each other. The gear plate three 44 drives the gear plate two 315 fixed thereto to move laterally towards and away from each other. When the gear plate two 315 moves laterally, the angle adjustment of the X-axis can be realized, and the limit block 45 can make the gear plate three 44 and the anti-slip support leg 34 meshed and transmitted stably.

[0028] A tension spring 35 is provided inside the airbag 331, one end of the tension spring 35 is fixedly installed on the top of the inner wall of the airbag 331, and the other end is fixedly installed on the bottom of the inner wall of the airbag 331. The tension spring 35 can provide a retraction force after the sliding guide sleeve 33 is supported, so as to facilitate the upward reset of the sliding guide sleeve 33 after support.

[0029] Anti-collision strips 36 are symmetrically installed on both sides of the movable support part 3 away from one end of the robot's waist joint part 2. Several groups of silicone blocks are fixedly installed longitudinally inside the anti-collision strips 36. The anti-collision strips 36 can provide a passive protection measure. When the humanoid robot body 1 falls forward or backward, it can be matched with several groups of silicone blocks to achieve cushioning and reduce impact damage.

[0030] Working principle: Data monitoring and command triggering: The gyroscope built into the humanoid robot body 1 monitors the robot's posture data in real time. When the stabilization system can no longer make stable movements to prevent a fall, it sends an anti-fall command to the anti-fall structure; The anti-fall support mechanism works as follows: the air pump 303 is started to pump air into the air tank 301. After the gas enters the air tank 301, it squeezes the piston 3011 downward, exerting downward pressure on the conical spring 3012 to accumulate force. During this process, the solenoid valve 304 is in a closed state. When the piston 3011 is pressed down to the limit position and the pressure is accumulated, when the air pressure needs to be released, the solenoid valve 304 is opened, and the conical spring 3012 releases its elastic force to squeeze the piston 3011 upward. The gas is quickly squeezed into the air bag 331, and the air bag 331 expands rapidly, pushing the sliding guide sleeve 33 downward, so that the anti-slip support legs 34 at the bottom of the sliding guide sleeve 33 are supported on the ground, thereby realizing mechanical auxiliary support. The Y-axis torsion mechanism works as follows: when the Y-axis of the movable support 3 needs to be adjusted, the micro electric push rod 3222 is started, and the micro electric push rod 3222 drives the output end to drive the toothed plate 1 3223 fixed thereto forward or backward, and the toothed plate 1 3223 drives the gear 1 3221 meshing therewith to twist, and then the gear 1 3221 drives the torsion shaft 322 fixed thereto to twist, thereby adjusting the Y-axis angle of the movable support 3 to achieve the required support angle; The Z-axis drive mechanism works as follows: the linear motor stator 32 cooperates with the linear motor mover 321 in transmission. The linear motor mover 321 drives the height adjustment longitudinally inside the linear motor stator 32, driving the movable support 3 to move up and down, thereby achieving Z-axis height adjustment, thereby adapting to some height environments with steps. At the same time, the travel of the sliding guide sleeve 33 is combined to achieve a larger support height, thereby avoiding further tilting of the robot due to insufficient support height. The X-axis torsion mechanism works as follows: when the X-axis torsion adjustment is required, the servo motor 42 is started, driving the gear three 43 to rotate, and then driving the two sets of tooth plates three 44 meshing with the gear three 43 to move laterally in the direction of approaching and moving away from each other, and the tooth plate three 44 drives the tooth plate two 315 fixed thereto to move laterally towards and away from each other, and the tooth plate two 315 is limited by the limiting cross frame 314 when moving laterally to ensure stable movement, and the tooth plate two 315 moves laterally to drive the gear two 313 meshing therewith to twist around the mounting column 312, and then drives the flip frame 31 to twist through the mounting bar 316 fixed to the gear two 313, thereby realizing the overall X-axis torsion adjustment of the movable support 3 inside the flip frame 31 to determine the support angle; Support reset: When the robot regains balance, the gas in the airbag 331 is discharged, and the tension spring 35 provides the retraction force after the sliding guide sleeve 33 is supported, so that the sliding guide sleeve 33 is reset upward and the anti-slip support leg 34 leaves the ground.

[0031] Example 1, electrical connection supplementary part: Wiring harness interface design: A dedicated electrical wiring harness interface is reserved inside the robot body 1 for connecting to the electrical part of the anti-fall structure of this application. The interface adopts a standardized design and has an anti-misplugging function to ensure the accuracy of the electrical connection. The wiring harness interface includes power lines, signal lines, etc. The power lines provide power support for the various motors, air pumps and other equipment of the anti-fall structure, and the signal lines are used to transmit gyroscope data, control instructions and other information; Wire harness fixation and protection: The electrical wire harness is fixed to the inside of the robot body 1 and the movable support 3 by wire clips, cable ties, etc. to prevent the wire harness from shaking or rubbing against other components during the movement of the robot, causing damage to the wire harness. At the same time, a protective sleeve is wrapped around the outside of the wire harness to further improve the protection performance of the wire harness and prevent dust, moisture, etc. from entering the inside of the wire harness and affecting the electrical performance.

[0032] Supplementary part of control method: 1. Data sharing and transmission Gyroscope data transmission: The gyroscope built into the humanoid robot body 1 monitors the robot's posture data in real time, including information such as tilt angle and angular velocity. This data is transmitted to the control module of the anti-fall structure through a signal line. The control module determines the robot's balance state based on the gyroscope data and triggers the anti-fall command in time when it detects that the robot is about to fall. Unified data platform: Establish a unified data sharing platform to integrate and share the gyroscope data with the operating data of the Y-axis torsion mechanism, Z-axis drive mechanism, X-axis torsion mechanism, and anti-fall support mechanism of each mechanism in the anti-fall structure. The control module can accurately control each mechanism according to real-time data to achieve collaborative work and improve the anti-fall effect. For example, according to the tilt angle and direction of the robot, the control module can simultaneously adjust the angle of the Y-axis torsion mechanism, the X-axis torsion mechanism, and the height of the Z-axis drive mechanism, so that the movable support 3 can reach the support position quickly and accurately.

[0033] 2. Control instruction transmission Main controller coordination control: A main controller is set inside the robot body 1, which is responsible for the motion control and coordination of the entire robot. When the main controller determines that the robot needs to start the anti-fall function, it sends a control instruction to the control module of the anti-fall structure through the signal line. After receiving the instruction, the control module performs corresponding control operations on each mechanism, such as starting the air pump 303 to inflate the airbag 331, driving the micro electric push rod 3222 to adjust the Y-axis angle of the movable support 3, etc.

[0034] Feedback mechanism: During operation, each mechanism of the anti-fall structure will feed back its own status information, such as motor speed, position information, airbag pressure, etc., to the control module in real time. The control module compares this information with the preset parameters and dynamically adjusts each mechanism according to the comparison results to ensure the stable operation of the anti-fall structure. At the same time, the control module will also feed back the operating status of the anti-fall structure to the main controller so that the main controller can comprehensively monitor and adjust the status of the entire robot.

[0035] Example description: For example, a humanoid robot walking on uneven ground might tilt when it encounters a pothole. The robot's built-in gyroscope detects this change in posture in real time and transmits data such as the tilt angle and angular velocity via a signal line to the control module of the anti-fall mechanism. The control module determines that the robot is about to fall based on the gyroscope data, immediately sends a warning message to the main controller, and simultaneously triggers an anti-fall command. After receiving the warning information, the main controller coordinates and controls the various mechanisms of the anti-fall structure. First, the control module starts the air pump 303, which pumps air into the air tank 301. The gas accumulates pressure in the air tank 301. At the same time, according to the tilt direction of the robot, the control module drives the Y-axis torsion mechanism and the X-axis torsion mechanism to adjust the angle of the movable support 3 so that the movable support 3 faces the direction of the robot's tilt. When the pressure in the gas tank 301 reaches the set value, the control module opens the solenoid valve 304, and the gas quickly enters the airbag 331. The airbag 331 expands and pushes the sliding guide sleeve 33 downward, so that the anti-slip support leg 34 is supported on the ground. At this time, the Z-axis drive mechanism further adjusts the height of the movable support member 3 according to the height of the ground to ensure that the anti-slip support leg 34 can be stably supported on the uneven ground. During the operation of the anti-fall structure, each mechanism feeds back its own status information to the control module in real time. The control module dynamically adjusts each mechanism based on the feedback information. For example, if it is found that the pressure of the airbag 331 is insufficient, the control module will increase the power of the air pump 303 and increase the amount of gas charged; if it is found that the angle deviation of the movable support member 3 is large, the control module will adjust the driving parameters of the Y-axis torsion mechanism and the X-axis torsion mechanism to make the movable support member 3 return to the correct support angle; When the robot regains balance, the control module closes the solenoid valve 304, the gas in the airbag 331 is discharged, and the tension spring 35 provides the retraction force after the sliding guide sleeve 33 is supported, so that the sliding guide sleeve 33 returns to its original position, and the anti-slip support legs 34 leave the ground. At the same time, the control module feeds back the operating status of the anti-fall structure to the main controller, which evaluates and adjusts the status of the entire robot to ensure that the robot can continue to conduct experiments normally. In order to ensure interference-free coordinated movement, the movable support 3 and the robot body 1 achieve a high degree of coordination in movement. When the robot body 1 bends, turns, squats, etc., each drive mechanism will intervene precisely. Taking the bending movement as an example, the Y-axis drive mechanism will synchronously make the movable support 3 and the robot body 1 maintain a consistent inclination angle, ensuring that the movable support 3 will not cause any interference to the movement of the robot body 1. This coordination mechanism makes the robot more smooth and natural when performing various complex movements, just like the various parts of the human body can coordinate and cooperate when exercising, greatly expanding the robot's range of motion and flexibility.

[0036] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0037] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A humanoid robot with an anti-collision and anti-fall structure, comprising a humanoid robot body (1) and a robot waist joint (2) inside the humanoid robot body (1), characterized in that: It also includes four groups of movable support members (3), and the interior of each movable support member (3) is provided with an anti-fall support mechanism, the anti-fall support mechanism being used to drive the internal structure to extend and retract to the ground to support the robot; A Y-axis torsion mechanism is provided on the outside of the movable support member (3) and is used to drive the movable support member (3) to adjust the angle of the Y-axis, thereby adapting the tilt angle to complete the next support operation; A Z-axis driving mechanism is provided on both sides of the movable support member (3) and is used to drive the movable support member (3) to slide up and down on the Y-axis twisting mechanism, so that the movable support member (3) can further perform large-angle Y-axis twisting; An X-axis twisting mechanism is provided at the center of the front and back sides of the robot waist joint (2), and is used to drive the movable support (3) to tilt the X-axis angle and to cooperate with the Z-axis drive mechanism to perform related actions; The humanoid robot body (1) has a built-in gyroscope.

2. The humanoid robot with an anti-collision and anti-fall structure according to claim 1, characterized in that: The anti-fall support mechanism includes an air tank (301), a pressure relief valve (302), an air pump (303), a sliding guide sleeve (33), an anti-slip support leg (34), an air bag (331) and an air pressure accumulation component, wherein the air tank (301) is fixedly mounted on the top of the movable support member (3) near the robot waist joint member (2), the pressure relief valve (302) is connected to the top of the air tank (301), the air pump (303) is fixedly embedded in the bottom of the movable support member (3) near the robot waist joint member (2) and is connected to the top of the air tank (301) through a pipeline, and the sliding guide sleeve (33) is slidably mounted on the movable support member ( 3), the anti-slip support leg (34) is fixedly mounted on the bottom of the sliding guide sleeve (33), the airbag (331) is sleeved inside the sliding guide sleeve (33), and the bottom is fixedly mounted on the top of the sliding guide sleeve (33), the top of the airbag (331) is fixedly mounted on the top of the inner wall of the movable support member (3), the output end of the gas storage tank (301) is connected to the electromagnetic valve (304), and is connected to the top of the airbag (331) through the electromagnetic valve (304), and the air pressure accumulation component is arranged inside the gas storage tank (301) and is used to increase the release speed of the compressed gas inside the gas storage tank (301), so that the airbag (331) expands rapidly.

3. The humanoid robot with an anti-collision and anti-fall structure according to claim 2, characterized in that: The Y-axis torsion mechanism comprises a flip frame (31), a side shell (311), a micro electric push rod (3222), a gear 1 (3221) and a tooth plate 1 (3223). The flip frame (31) is arranged at the four corners of the robot waist joint (2), and one side is detachably mounted on the side shell (311). The micro electric push rod (3222) is fixedly mounted on the top of the inner wall of the flip frame (31) near the robot waist joint (2). The output end of the micro electric push rod (3222) is fixedly mounted on the tooth plate 1 (3223), and the surface of the tooth plate 1 (3223) is slidably matched with the inner wall of the flip frame (31) and the side shell (311). The gear 1 (3221) is rotatably mounted inside the flip frame (31) and meshes with the tooth plate 1 (3223).

4. The humanoid robot with an anti-collision and anti-fall structure according to claim 3, characterized in that: The Z-axis drive mechanism comprises a linear motor stator (32), a linear motor mover (321) and a torsion shaft (322); the linear motor stator (32) is fixedly mounted on both sides of the movable support (3) and is used to cooperate with the linear motor mover (321) for longitudinal driving; the linear motor mover (321) is slidably mounted inside the linear motor stator (32), and the linear motor mover (321) and the torsion shaft (322) are fixedly mounted; the gear 1 (3221) is fixedly sleeved on the surface of the torsion shaft (322); and the torsion shaft (322) is rotationally matched with the side shell (311) and the flip frame (31).

5. The humanoid robot with an anti-collision and anti-fall structure according to claim 3, characterized in that: The X-axis torsion mechanism includes a linkage outward-turning drive component, a mounting column (312), a gear 2 (313), a limit cross frame (314), a tooth plate 2 (315) and a mounting bar (316). The linkage outward-turning drive component is arranged at the center of the front and rear sides of the robot waist joint (2) and is used to drive the tooth plate 2 (315) to move horizontally. The mounting column (312) can be detachably mounted on the four corners of the robot waist joint (2). The gear 2 (313) is rotatably sleeved on the mounting bar (316). The surface of the mounting column (312), the limiting cross frame (314) is fixedly mounted at the four corners of the top of the robot waist joint (2) and is located above the second gear (313), the second tooth plate (315) is slidably mounted on the limiting cross frame (314), the second gear (313) is engaged with the second tooth plate (315), and the mounting strip (316) is fixedly mounted at the top and bottom of the side of the second gear (313) away from the robot waist joint (2), and is detachably mounted on the flip frame (31).

6. The humanoid robot with an anti-collision and anti-fall structure according to claim 2, characterized in that: The air pressure accumulation component includes a piston (3011) and a conical spring (3012). The piston (3011) is slidably mounted inside the air storage tank (301) and has three layers of O-rings on its outer surface. The conical spring (3012) is fixedly mounted on the bottom of the inner wall of the air storage tank (301), and the top of the conical spring (3012) is fixedly mounted on the bottom of the piston (3011).

7. The humanoid robot with an anti-collision and anti-fall structure according to claim 5, characterized in that: The linkage outward turning drive assembly includes a mounting seat (41), a servo motor (42), a gear three (43), a tooth plate three (44) and a limit block (45), the mounting seat (41) is provided with two groups and is symmetrically installed on the front and back sides of the robot waist joint (2), the servo motor (42) is fixedly installed on the bottom of the inner wall of the mounting seat (41), the gear three (43) is fixedly installed with the output end of the servo motor (42), the tooth plate three (44) is provided with two groups, and the two groups of tooth plates three (44) are symmetrically arranged, and the ends of the two groups of tooth plates three (44) away from the gear three (43) are fixedly installed with the tooth plate two (315), and the limit block (45) is fixedly installed on the front and rear sides of the top of the servo motor (42) and is slidingly limited with the tooth plate three (44).

8. The humanoid robot with an anti-collision and anti-fall structure according to claim 3, characterized in that: A tension spring (35) is provided inside the airbag (331), one end of the tension spring (35) is fixedly mounted to the top of the inner wall of the airbag (331), and the other end is fixedly mounted to the bottom of the inner wall of the airbag (331).

9. The humanoid robot with an anti-collision and anti-fall structure according to claim 1, characterized in that: Anti-collision strips (36) are symmetrically mounted on both sides of the movable support member (3) away from one end of the robot waist joint member (2), and a plurality of groups of silica gel blocks are longitudinally fixedly mounted inside the anti-collision strips (36).

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