Humanoid robot automatic shoe changing machine

Abstract

The invention relates to the technical field of service robot operation and maintenance and intelligent equipment, and discloses a humanoid robot automatic shoe changing machine which comprises a hollow shoe changing seat and a rotating disc bracket, the top of the rotating disc bracket is rotationally connected with a shoe rotation assembly, and a mounting driving part is arranged in the hollow shoe changing seat; a supporting frame is fixedly installed at the center of the top of the rotary disc bracket, a lifting telescopic frame is slidably connected to the left side of the supporting frame in the vertical direction, a transverse pushing piece is arranged on the left side of the lifting telescopic frame, and a longitudinal pushing piece is arranged between the top of the transverse pushing piece and the supporting frame. The output end of a second air cylinder extends, a second rotating roller moves leftwards, meanwhile, a U-shaped bracket moves downwards, a push block is inserted into an embedding groove, and the push block pushes a shoe plate to move into a first containing groove; then the cross-shaped boss is driven to rotate through the installation driving piece, so that the multiple L-shaped buckles are gathered together, and the shoe plate is stably connected to the feet of the humanoid robot; therefore, the purpose of automatically changing shoes by the humanoid robot is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of service robot operation and maintenance and intelligent equipment, in particular to an automatic shoe changing machine for humanoid robots. BACKGROUND

[0002] With the popularization of humanoid robots in logistics distribution, public services, family care and special inspection scenes, their working environment presents diversification and complexity. In 2025, the Beijing Marathon first added a "humanoid robot marathon" performance competition, and the participating robots were forced to use ordinary human running shoes, resulting in insufficient grip, excessive wear of the sole, and even falling off during the race, further highlighting the industry pain point of the mismatch between robot foot accessories and application scenarios. The material and texture of the robot foot structure (also referred to as "shoes" below) have a decisive influence on grip, wear resistance, slip resistance, and friendliness to the ground material.

[0003] In the prior art, the foot bottom assembly of a humanoid robot is mostly fixed by bolts or buckles, which needs to be manually disassembled and assembled. When the robot needs to frequently switch between hard, slippery or easily damaged ground, manual replacement is not only inefficient and labor-intensive, but also prone to improper installation due to human factors, affecting the stability of the robot's walking and even causing safety hazards. There is an urgent need for a robot "shoe changing" device that can be unattended, fast and reliable, to improve the robot's continuous operation capability in multi-condition scenarios. At the same time, as humanoid robots accelerate into daily life spaces such as homes and offices, users' requirements for their appearance and aesthetic consistency are constantly improving, so "shoe changing" not only needs to meet the functions and safety, but also needs to consider the coordination of the appearance, color and material of the sole with the indoor style, to improve the overall affinity and spatial aesthetics of the robot. SUMMARY

[0004] TECHNICAL PROBLEM To solve the problems of the prior art, the present application provides an automatic shoe changing machine for humanoid robots, which has the advantages of automatic shoe changing for humanoid robots, and solves the problem of inconvenient shoe changing for existing humanoid robots.

[0005] (II) TECHNICAL SCHEME To achieve the above-mentioned purpose of automatic shoe changing for humanoid robots, the present application provides the following technical scheme: an automatic shoe changing machine for humanoid robots, comprising a hollow shoe changing seat and a turntable bracket, the turntable bracket is welded on the right side of the hollow shoe changing seat, the shoe changing machine is provided with a shoe wheel changing assembly on the top of the turntable bracket, the shoe wheel changing assembly is provided with a replacement shoe on the top edge, and the hollow shoe changing seat is provided with a mounting driving part inside; the turntable bracket is provided with a support frame fixedly installed at the center of the top, the support frame is provided with a lifting telescopic frame slidingly connected along the vertical direction on the left side, the lifting telescopic frame is provided with a horizontal pushing part on the left side, and the horizontal pushing part is provided with a vertical pushing part between the top and the support frame.

[0006] Preferably, the rotating disc bracket comprises a surrounding cover, a partition plate is fixedly installed on the inner wall of the upper half of the surrounding cover, a support column is fixedly installed at the center of the bottom wall of the surrounding cover, and the support column passes through the center of the partition plate.

[0007] Preferably, the shoe rotation assembly comprises a rotating disc rotatably connected to the top of the partition plate, a sleeve ring is fixedly installed at the center of the bottom of the rotating disc, the sleeve ring is sleeved on the outer side of the support column, a plurality of accommodating grooves two are arrayed on the top edge of the rotating disc, a driving disc is fixedly installed on the outer wall of the bottom end of the sleeve ring, a plurality of linear grooves are arrayed and penetrated on the driving disc, the linear grooves are arranged along the radial direction of the driving disc, a motor one is fixedly installed on the bottom wall of the rotating disc bracket, a rotating arm is fixedly installed on the top output end of the motor one, the rotating arm is located on the lower side of the driving disc, a pushing column is fixedly installed on the top of the end away from the motor one, the pushing column is inserted into the linear groove and pushes the driving disc to rotate.

[0008] Preferably, the top of the rotating disc is flush with the top end of the support column, an accommodating groove one is formed on the top right side of the hollow shoe changing seat, the accommodating groove one is communicated with one of the accommodating grooves two, and an avoiding groove is penetrated and formed on the bottom wall of the accommodating groove one.

[0009] Preferably, the replacement shoe comprises a shoe plate, an embedding groove is formed on the top of the shoe plate, the embedding groove is used for accommodating the foot of the humanoid robot, a plurality of guide grooves are arrayed on the bottom wall of the embedding groove, an installation groove is formed in the shoe plate, the guide grooves are communicated with the installation groove, a vortex disc is rotatably connected in the installation groove, a vortex thread is arranged on the top of the vortex disc, a cross-shaped boss is fixedly installed at the center of the bottom of the vortex disc, the cross-shaped boss is located in the opening at the bottom of the installation groove, an L-shaped buckle is slidably connected in the guide groove, the L-shaped buckle is threadedly connected with the vortex disc, a plurality of clamping grooves are arrayed on the bottom of the foot of the humanoid robot, and the L-shaped buckle is inserted into the clamping grooves.

[0010] Preferably, the installation driving element comprises two sliding grooves fixedly installed between the top wall and the bottom wall of the hollow shoe changing seat, a supporting plate is slidably connected on the sliding grooves, a lifting driving element is arranged on the bottom of the supporting plate, a motor two is fixedly installed on the bottom of the supporting plate, a sprocket one is fixedly installed on the output end of the motor two, a sprocket two is arranged on the two sides of the sprocket one, the sprocket one and the sprocket two are connected through an annular chain, a sleeve is fixedly installed at the center of the sprocket two, a square rotating column is inserted into the top end of the sleeve, a spring one is fixedly installed between the bottom end of the square rotating column and the bottom wall of the sleeve, the sleeve is rotatably connected on the supporting plate, the sleeve is located directly below the avoiding groove, and the square rotating column is inserted into the cross-shaped boss.

[0011] Preferably, the lifting driving part comprises vertical plates fixedly installed at the bottom of the supporting plate, sliding columns fixedly installed at the bottom ends of the vertical plates on opposite sides, a cylinder one fixedly installed on the bottom wall of the hollow shoe changing seat, a U-shaped plate fixedly installed at the output end of the cylinder one, an inclined groove penetrating through the surface of the U-shaped plate, and the sliding column is slidingly connected in the inclined groove.

[0012] Preferably, the supporting frame comprises a base fixedly installed at the top of the supporting column, a vertical plate fixedly installed at the top of the right end of the base, a top plate fixedly installed at the top end of the vertical plate, the base, the vertical plate and the top plate forming a U-shaped structure, and a through groove penetrating through the middle of the vertical plate.

[0013] Preferably, the horizontal pushing part comprises a rotating roller one penetratingly and rotatably connected at the right end of the inside of the U-shaped bracket, a rotating roller two penetratingly and rotatably connected between the left ends of the sliding blocks, a rotating roller three arranged above the rotating roller one and the rotating roller two, the rotating roller one, the rotating roller two and the rotating roller three being connected through an annular belt, and a pushing block fixedly installed on the outer surface of the annular belt.

[0014] Preferably, the longitudinal pushing part comprises a cylinder two fixedly installed at the top of the top plate, an arc-shaped plate fixedly installed at the bottom output end of the cylinder two, a guide frame fixedly installed at the bottom end of the arc-shaped plate, the rotating roller three being slidingly connected in the two guide frames, a sliding rod fixedly installed at the top of the arc-shaped plate, and the sliding rod penetratingly and slidingly connected on the top plate.

[0015] (Three) beneficial effects Compared with the prior art, the human-shaped robot automatic shoe changing machine has the following beneficial effects: 1. The humanoid robot automatic shoe changing machine, the humanoid robot first walks to the top of the hollow shoe changing seat, inserts the replacement shoe of the foot into the inside of the accommodating groove one, the output end of the air cylinder one is elongated, drives the U-shaped plate to move right, the U-shaped plate is located at the inclined groove side wall and extrudes the slide column, drives the supporting plate to move up along the sliding groove, the square rotating column and the cross-shaped boss are connected together, the motor two drives the sprocket one to rotate, cooperates with the ring chain transmission effect, drives the two sprocket two and the two sleeves to rotate, so as to drive the cross-shaped boss to rotate through the square rotating column, the spiral groove disc rotates, and drives the L-shaped buckle to slide out along the guide groove, the clamping effect between the L-shaped buckle and the clamping groove is removed; so as to achieve the purpose of convenient installation and dismounting of the replacement shoe; 2. The humanoid robot automatic shoe changing machine, the output end of the air cylinder two is elongated, the rotating roller two moves left, the distance between the rotating roller one and the rotating roller two is increased, at the same time, the U-shaped bracket moves down, the push block is inserted into the embedded groove, the push block pushes the shoe plate to move into the accommodating groove one through the movement of the ring belt; then, the output end of the air cylinder two is contracted, the push block is pulled out from the embedded groove, and the rotating roller two moves away from above the shoe plate; the humanoid robot walks to the shoe plate on the top of the hollow shoe changing seat again, and drives the cross-shaped boss to rotate through the installation driving part, so that the plurality of L-shaped buckles are gathered together, and the shoe plate is stably connected to the foot of the humanoid robot; so as to achieve the purpose of automatic shoe changing of the humanoid robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The humanoid robot automatic shoe changing machine is provided with a hollow shoe changing seat and an installation driving part. Figure 2 The humanoid robot automatic shoe changing machine is provided with a hollow shoe changing seat and an installation driving part. Figure 3 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 4 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 5 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 6 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 7 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 8 The humanoid robot automatic shoe changing machine is provided with a rotating disc bracket and a shoe rotation assembly. Figure 9The schematic view of the three-dimensional structure of the lifting telescopic frame and the transverse pushing member of the automatic shoe changing machine of the humanoid robot proposed in the present application; Figure 10 The schematic view of the three-dimensional explosion structure of the support frame, the lifting telescopic frame, the transverse pushing member and the longitudinal pushing member of the automatic shoe changing machine of the humanoid robot proposed in the present application.

[0017] In the figure: 100, hollow shoe changing seat; 200, rotating disc bracket; 300, shoe rotation assembly; 400, replacement shoe; 500, installation driving member; 600, support frame; 700, lifting telescopic frame; 800, transverse pushing member; 900, longitudinal pushing member; 101, accommodating groove one; 102, avoiding groove; 201, enclosing cover; 202, partition plate; 203, support column; 301, rotating disc; 302, sleeve ring; 303, accommodating groove two; 304, driving disc; 305, linear groove; 306, motor one; 307, rotating arm; 308, pushing column; 401, shoe plate; 402, embedded groove; 403, guide groove; 404, installation groove; 405, spiral groove disc; 406, cross boss; 407, L-shaped buckle; 408, clamping groove; 501, sliding groove; 502, supporting plate; 503, vertical plate; 504, sliding column; 505, air cylinder one; 506, U-shaped plate; 507, inclined groove; 508, motor two; 509, chain wheel one; 510, chain wheel two; 511, ring chain; 512, sleeve; 513, square rotating column; 514, spring one; 601, base; 602, vertical plate; 603, top plate; 604, through groove; 701, U-shaped bracket; 702, sliding block; 703, tension spring; 704, sliding seat; 705, spring two; 801, rotating roller one; 802, rotating roller two; 803, rotating roller three; 804, ring belt; 805, pushing block; 806, motor three; 807, connecting plate one; 808, connecting plate two; 901, air cylinder two; 902, arched plate; 903, guide frame; 904, sliding rod. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Please refer to Figures 1-2, The humanoid robot automatic shoe changer comprises a hollow shoe changing seat 100 and a rotating disc bracket 200, the rotating disc bracket 200 is welded on the right side of the hollow shoe changing seat 100, a shoe wheel changing assembly 300 is rotationally connected to the top of the rotating disc bracket 200, replacement shoes 400 are arranged in an array on the top edge of the shoe wheel changing assembly 300, and a driving piece 500 is arranged in the hollow shoe changing seat 100; a supporting frame 600 is fixedly installed at the top center of the rotating disc bracket 200, a lifting telescopic frame 700 is slidingly connected to the left side of the supporting frame 600 in the vertical direction, a horizontal pushing piece 800 is arranged on the left side of the lifting telescopic frame 700, and a longitudinal pushing piece 900 is arranged between the top of the horizontal pushing piece 800 and the supporting frame 600.

[0020] Please refer to Figure 3 The rotating disc bracket 200 comprises a surrounding cover 201, a partition plate 202 is fixedly installed on the inner wall of the upper half of the surrounding cover 201, a supporting column 203 is fixedly installed at the bottom wall center of the surrounding cover 201, and the supporting column 203 passes through the center of the partition plate 202.

[0021] Please refer to Figures 3-4 The shoe wheel changing assembly 300 comprises a rotating disc 301 rotationally connected to the top of the partition plate 202, the top of the rotating disc 301 is flush with the top end of the supporting column 203, a sleeve ring 302 is fixedly installed at the bottom center of the rotating disc 301, the sleeve ring 302 is sleeved on the outer side of the supporting column 203, a plurality of accommodating grooves two 303 are arranged in an array on the top edge of the rotating disc 301, and the accommodating grooves two 303 are used for accommodating the replacement shoes 400. A accommodating groove one 101 is formed at the top right side of the hollow shoe changing seat 100, the accommodating groove one 101 is communicated with one of the accommodating grooves two 303, and an avoiding groove 102 is formed through the bottom wall of the hollow shoe changing seat 100 at the accommodating groove one 101.

[0022] The outer wall of the bottom end of the sleeve ring 302 is fixedly provided with a driving disc 304. Linear grooves 305 are arranged through the driving disc 304. The linear grooves 305 are arranged along the radial direction of the driving disc 304. A first motor 306 is fixedly installed on the bottom wall of the rotating disc bracket 200. A rotating arm 307 is fixedly installed on the top output end of the first motor 306. The rotating arm 307 is located below the driving disc 304. A push column 308 is fixedly installed on the top of the end of the rotating arm 307 away from the first motor 306. The push column 308 is inserted into the linear groove 305 and drives the driving disc 304 to rotate. In the embodiment, the number of the linear grooves 305 is six, and each of the linear grooves 305 corresponds to one of the accommodation grooves two 303. Five of the accommodation grooves two 303 are used to place the replacement shoes 400, and the remaining one of the accommodation grooves two 303 is empty and used to accommodate the existing replacement shoes 400 of the foot of the humanoid robot. The rotating arm 307 is driven to rotate by the first motor 306. The push column 308 moves in a circular motion. In the process of rotating a circle, the push column 308 is inserted into one of the linear grooves 305, drives the driving disc 304 to rotate by 60°, and then the push column 308 is separated from the linear groove 305. Thus, the driving disc 304 and the rotating disc 301 rotate by 60° every time the push column 308 rotates a circle, so that the plurality of accommodation grooves two 303 are sequentially connected with the accommodation groove one 101.

[0023] Please refer to Figures 5-6 The replacement shoe 400 comprises a shoe plate 401. A embedding groove 402 is arranged on the top of the shoe plate 401 and used to accommodate the foot of the humanoid robot.

[0024] A plurality of guide grooves 403 are arranged on the bottom wall of the embedding groove 402. An installation groove 404 is arranged in the shoe plate 401. The guide grooves 403 are communicated with the installation groove 404. A vortex disc 405 is rotatably connected in the installation groove 404. The vortex disc 405 is provided with a vortex thread on the top. A cross-shaped boss 406 is fixedly installed on the bottom center of the vortex disc 405. The cross-shaped boss 406 is located in the bottom opening of the installation groove 404. An L-shaped buckle 407 is slidably connected in the guide groove 403. The L-shaped buckle 407 is threadedly connected with the vortex disc 405. A plurality of clamping grooves 408 are arranged on the bottom of the foot of the humanoid robot. The side wall of each of the clamping grooves 408 is provided with an extension part for accommodating the horizontal part of the L-shaped buckle 407. The L-shaped buckle 407 is inserted into the clamping groove 408. Thus, when the vortex disc 405 rotates, the L-shaped buckle 407 slides along the guide groove 403, so that the plurality of L-shaped buckles 407 are gathered to the center of the embedding groove 402 and clamped in the clamping grooves 408, thereby stably connecting the shoe plate 401 with the foot of the humanoid robot.

[0025] Please refer to Figure 2 and Figure 7The installation driving piece 500 comprises two sliding grooves 501 fixedly installed between the top wall and the bottom wall of the hollow shoe-changing seat 100, a supporting plate 502 is slidingly connected to the sliding grooves 501, and a lifting driving piece is arranged at the bottom of the supporting plate 502; the lifting driving piece comprises vertical plates 503 fixedly installed at the bottom of the supporting plate 502, sliding columns 504 are fixedly installed at the bottom end of each vertical plate 503, a first air cylinder 505 is fixedly installed at the bottom wall of the hollow shoe-changing seat 100, a U-shaped plate 506 is fixedly installed at the output end of the first air cylinder 505, an inclined groove 507 is formed in the surface of the U-shaped plate 506, and the sliding columns 504 are slidingly connected in the inclined groove 507. When the output end of the first air cylinder 505 drives the U-shaped plate 506 to move in the left-right direction, the U-shaped plate 506 is pressed against the sliding columns 504 at the side wall of the inclined groove 507, so that the supporting plate 502 is lifted along the sliding grooves 501. Thus, the lifting distance of the supporting plate 502 is ensured, and the thickness of the hollow shoe-changing seat 100 is small.

[0026] Please refer to Figure 2 and Figure 7 A second motor 508 is fixedly installed at the bottom of the supporting plate 502, a first sprocket 509 is fixedly installed at the output end of the second motor 508, second sprockets 510 are arranged at the two sides of the first sprocket 509, and the first sprocket 509 and the second sprockets 510 are connected by an annular chain 511. Thus, when the second motor 508 drives the first sprocket 509 to rotate, the two second sprockets 510 are synchronously driven to rotate.

[0027] A sleeve 512 is fixedly installed at the center of each second sprocket 510, a square rotating column 513 is inserted into the top end of the sleeve 512, the opening of the sleeve 512 is rectangular, a first spring 514 is fixedly installed between the bottom end of the square rotating column 513 and the bottom wall of the sleeve 512, the sleeve 512 is rotationally connected to the supporting plate 502, the sleeve 512 is located directly below the avoiding groove 102, and the square rotating column 513 is adapted to be inserted into the cross-shaped boss 406. When the square rotating column 513 is not aligned with the cross-shaped boss 406, the square rotating column 513 is attached to the bottom of the cross-shaped boss 406 when the supporting plate 502 is moved upward, the first spring 514 is compressed and contracted, and the square rotating column 513 is slowly rotated to be aligned with the cross-shaped boss 406 by the elasticity of the first spring 514, so that the square rotating column 513 is moved upward and connected to the cross-shaped boss 406.

[0028] Please refer to Figure 8 and Figure 10 The supporting frame 600 comprises a base 601 fixedly installed at the top of the supporting column 203, a vertical plate 602 is fixedly installed at the top of the right end of the base 601, a top plate 603 is fixedly installed at the top end of the vertical plate 602, the base 601, the vertical plate 602 and the top plate 603 form a U-shaped structure, and a through groove 604 is formed in the middle of the vertical plate 602.

[0029] The lifting telescopic frame 700 comprises a U-shaped bracket 701 fixedly installed on the left side of the vertical plate 602, a sliding block 702 fixedly installed on the right middle part of the U-shaped bracket 701, the sliding block 702 slidingly connected in the through slot 604, a tension spring 703 fixedly installed between the top of the sliding block 702 and the top plate 603, the U-shaped bracket 701 suspended by the tension spring 703, and the U-shaped bracket 701 located above the replacement shoes 400. The front and rear sides of the U-shaped bracket 701 are slidingly connected with sliding seats 704, the right ends of the sliding seats 704 and the left end of the U-shaped bracket 701 are fixedly installed with a spring two 705, and the spring two 705 is used for driving the sliding seat 704 to move rightwards.

[0030] Please refer to Figure 8 and Figure 10 , the transverse pushing piece 800 comprises a rotating roller one 801 rotatingly connected in the right end of the U-shaped bracket 701, rotating roller two 802 rotatingly connected between the left ends of the two sliding seats 704, so that the distance between the rotating roller one 801 and the rotating roller two 802 is adjusted by sliding the sliding seat 704 relative to the U-shaped bracket 701. The upper part between the rotating roller one 801 and the rotating roller two 802 is provided with a rotating roller three 803, the rotating roller one 801, the rotating roller two 802 and the rotating roller three 803 are connected through an annular belt 804, and the outer surface of the annular belt 804 is fixedly installed with a pushing block 805. The pushing block 805 is used for being inserted into the embedded groove 402, and in the moving process of the annular belt 804, the shoe plate 401 is driven to move along the containing groove two 303 and the containing groove one 101. One end of the rotating roller one 801 is connected with a motor three 806 fixedly installed on the U-shaped bracket 701, the rotating roller one 801 and the rotating roller three 803 are hinged with a connecting plate one 807 between the ends, and the rotating roller three 803 and the rotating roller two 802 are hinged with a connecting plate two 808 between the ends. When the distance between the rotating roller one 801 and the rotating roller two 802 changes, the height of the rotating roller three 803 changes correspondingly. The annular belt 804 is kept taut by the elasticity of the spring two 705.

[0031] Please refer to Figure 8 and Figure 10, the longitudinal pusher 900 includes a cylinder two 901 fixedly installed at the top of the top plate 603, an arc plate 902 fixedly installed at the bottom output end of the cylinder two 901, a guide frame 903 fixedly installed at the bottom end of the arc plate 902, two rotating rollers three 803 slidingly connected at two ends of the guide frame 903 respectively, a sliding rod 904 fixedly installed at the top of the arc plate 902 and slidingly connected on the top plate 603. The arc plate 902 and the guide frame 903 are lifted and lowered by the extension and contraction of the output end of the cylinder two 901, the rotating roller three 803 is lifted and lowered, the rotating roller two 802 and the sliding seat 704 are slidingly driven along the U-shaped bracket 701 by the hinged action of the connecting plate one 807 and the connecting plate two 808, the distance between the rotating roller two 802 and the rotating roller one 801 is adjusted, and then the length of the annular belt 804 between the bottom of the rotating roller one 801 and the rotating roller two 802 is adjusted.

[0032] In use, the humanoid robot first walks above the hollow shoe changing seat 100, inserts the replacement shoe 400 at the foot into the containing groove one 101, and drives the U-shaped plate 506 to move to the right by the extension of the output end of the cylinder one 505. The U-shaped plate 506 is located at the side wall of the inclined groove 507 to extrude the slide column 504, drives the supporting plate 502 to move upwards along the sliding groove 501, makes the square rotating column 513 and the cross-shaped boss 406 butt joint together, drives the chain wheel one 509 to rotate by the motor two 508, cooperates with the transmission action of the annular chain 511, drives the two chain wheels two 510 and the two sleeves 512 to rotate, thereby drives the cross-shaped boss 406 to rotate through the square rotating column 513, drives the L-shaped buckle 407 to slide outwards along the guide groove 403, and the clamping action between the L-shaped buckle 407 and the clamping groove 408 is released; the humanoid robot walks down from the hollow shoe changing seat 100 again, so that the replacement shoe 400 stays in the containing groove one 101; The arc plate 902 and the guide frame 903 are driven to descend by the cylinder two 901, thereby driving the rotating roller three 803 to move downwards, and the rotating roller three 803 is slidingly driven to the left along the guide frame 903 at the same time of descending by the hinged action of the connecting plate one 807 and the connecting plate two 808, the distance between the rotating roller two 802 and the rotating roller one 801 is increased, and the spring two 705 is extruded and contracted; At the same time, the rotating roller one 801 is driven to rotate by the motor three 806, thereby driving the annular belt 804 to move, so that the push block 805 moves to the lower side of the annular belt 804 and is located above the embedding groove 402; and in the extension process of the output end of the cylinder two 901, the U-shaped bracket 701 moves downwards, so that the push block 805 is inserted into the embedding groove 402 and moves by the annular belt 804, and the push block 805 pushes the shoe plate 401 into the containing groove two 303; The rotating arm 307 is driven to rotate by the motor 306, the push column 308 moves in a circular motion, the driving disc 304 rotates intermittently, the containing groove two 303 is aligned with the containing groove one 101 in turn, the rotating roller one 801 is driven to rotate by the motor three 806, the annular belt 804 moves, the push block 805 moves to below the annular belt 804, and the push block 805 is above the embedded groove 402; The rotating roller two 802 moves to the left by the extension of the output end of the cylinder two 901, the interval between the rotating roller one 801 and the rotating roller two 802 is increased, the U-shaped bracket 701 moves downward, the push block 805 is inserted into the embedded groove 402, the push block 805 pushes the shoe plate 401 to move into the containing groove one 101 by the movement of the annular belt 804, then the output end of the cylinder two 901 is retracted, the push block 805 is pulled out from the embedded groove 402, and the rotating roller two 802 moves away from above the shoe plate 401; The humanoid robot walks to the shoe plate 401 on the top of the hollow shoe changing seat 100, the cross convex platform 406 is driven to rotate by the installation driving element 500, a plurality of L-shaped buckles 407 are gathered together, and the shoe plate 401 is stably connected to the foot of the humanoid robot.

[0033] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot automatic shoe changing machine, comprising a hollow shoe changing seat (100) and a turntable bracket (200), the turntable bracket (200) is welded on the right side of the hollow shoe changing seat (100), characterized in that: The rotating disc support (200) is rotationally connected with a shoe replacement assembly (300) at the top, and the shoe replacement assembly (300) is provided with replacement shoes (400) at the top edge; the hollow shoe replacement seat (100) is internally provided with a mounting driving element (500); The support frame (600) is fixedly installed at the center of the top of the rotating disc support (200), and the lifting telescopic frame (700) is slidingly connected to the left side of the support frame (600) in the vertical direction; the transverse pushing element (800) is arranged on the left side of the lifting telescopic frame (700), and the longitudinal pushing element (900) is arranged between the top of the transverse pushing element (800) and the support frame (600).

2. The humanoid robot automatic shoe changer of claim 1, wherein: The rotating disc support (200) comprises a surrounding cover (201), and the surrounding cover (201) is internally provided with a partition plate (202) at the upper half; the support column (203) is fixedly installed at the bottom wall center of the surrounding cover (201) and passes through the center of the partition plate (202).

3. The humanoid robot automatic shoe changer of claim 1, wherein: The shoe replacement assembly (300) comprises a rotating disc (301) rotationally connected to the top of the partition plate (202), and the rotating disc (301) is fixedly installed with a sleeve ring (302) at the bottom center; the sleeve ring (302) is sleeved on the outer side of the support column (203); the rotating disc (301) is provided with a receiving groove two (303) at the top edge; the sleeve ring (302) is fixedly installed with a driving disc (304) at the bottom end outer wall; the driving disc (304) is provided with a linear slot (305) at the top; the linear slot (305) is arranged along the radius direction of the driving disc (304); the rotating disc support (200) is fixedly installed with a motor one (306) at the bottom wall; the motor one (306) is fixedly installed with a rotating arm (307) at the top output end; the rotating arm (307) is located below the driving disc (304); the rotating arm (307) is fixedly installed with a pushing column (308) at the top of the end away from the motor one (306); the pushing column (308) is inserted into the linear slot (305) and drives the driving disc (304) to rotate.

4. The humanoid robot automatic shoe changer of claim 3, wherein: The rotating disc (301) is flush with the top end of the support column (203); the hollow shoe replacement seat (100) is provided with a receiving groove one (101) at the top right side; the receiving groove one (101) is communicated with one of the receiving groove two (303); the hollow shoe replacement seat (100) is provided with an avoiding groove (102) at the bottom wall.

5. The humanoid robot automatic shoe changer of claim 1, wherein: The replacement shoe (400) comprises a shoe plate (401), a embedding groove (402) is opened at the top of the shoe plate (401), the embedding groove (402) is used for accommodating the foot of the humanoid robot, a guide groove (403) is arrayed and opened on the bottom wall of the embedding groove (402), an installation groove (404) is opened in the inside of the shoe plate (401), the guide groove (403) is communicated with the installation groove (404), a vortex disc (405) is rotatably connected in the installation groove (404), a vortex thread is arranged on the top of the vortex disc (405), a cross boss (406) is fixedly installed at the bottom center of the vortex disc (405), the cross boss (406) is located in the opening at the bottom of the installation groove (404), an L-shaped buckle (407) is slidably connected in the guide groove (403), the L-shaped buckle (407) is threadedly connected with the vortex disc (405), a clamping groove (408) is arrayed and opened at the bottom of the foot of the humanoid robot, and the L-shaped buckle (407) is inserted into the clamping groove (408).

6. The humanoid robot automatic shoe changer of claim 1, wherein: The installation driving piece (500) comprises two sliding grooves (501) fixedly installed between the top wall and the bottom wall of the hollow shoe changing seat (100), a supporting plate (502) is slidably connected on the sliding groove (501), and a lifting driving piece is arranged on the bottom of the supporting plate (502); The bottom of the supporting plate (502) is fixedly installed with a motor two (508), the output end of the motor two (508) is fixedly installed with a chain wheel one (509), the two sides of the chain wheel one (509) are provided with chain wheels two (510), the chain wheel one (509) and the chain wheel two (510) are connected through an annular chain (511), the center of the chain wheel two (510) is fixedly installed with a sleeve (512), the top end of the sleeve (512) is inserted with a square rotating column (513), the bottom end of the square rotating column (513) and the bottom wall of the sleeve (512) are fixedly installed with a spring one (514), the sleeve (512) is rotatably connected on the supporting plate (502), and the sleeve (512) is located directly below the avoiding groove (102), and the square rotating column (513) is matched and inserted with the cross boss (406).

7. The humanoid robot automatic shoe changer of claim 6, wherein: The lifting driving piece comprises a vertical plate (503) fixedly installed on the bottom of the supporting plate (502), the bottom ends of the two vertical plates (503) are fixedly installed with slide columns (504) on the opposite sides, a pneumatic cylinder one (505) is fixedly installed on the bottom wall of the hollow shoe changing seat (100), the output end of the pneumatic cylinder one (505) is fixedly installed with a U-shaped plate (506), an inclined groove (507) is penetrated and formed in the surface of the U-shaped plate (506), and the slide columns (504) are slidably connected in the inclined groove (507).

8. The humanoid robot automatic shoe changer of claim 1, wherein: The support frame (600) comprises a base (601) fixedly installed at the top of the support column (203), a vertical plate (602) fixedly installed at the top of the right end of the base (601), and a top plate (603) fixedly installed at the top end of the vertical plate (602), wherein the base (601), the vertical plate (602) and the top plate (603) form a U-shaped structure, and a through slot (604) is formed in the middle of the vertical plate (602). The lifting telescopic frame (700) comprises a U-shaped bracket (701) fixedly installed at the left side of the vertical plate (602), a sliding block (702) fixedly installed at the right middle of the U-shaped bracket (701), wherein the sliding block (702) is slidingly connected in the through slot (604), a tension spring (703) fixedly installed between the top of the sliding block (702) and the top plate (603), and a spring two (705) fixedly installed between the left end of the U-shaped bracket (701) and the right end of the sliding seat (704), wherein the spring two (705) is used for driving the sliding seat (704) to move rightwards.

9. The humanoid robot automatic shoe changer of claim 8, wherein: The transverse pushing piece (800) comprises a rotating roller one (801) rotatingly connected in the right end of the inside of the U-shaped bracket (701), two rotating rollers two (802) rotatingly connected between the left ends of the two sliding seats (704), and a rotating roller three (803) arranged above the rotating roller one (801) and the rotating roller two (802), wherein the rotating roller one (801), the rotating roller two (802) and the rotating roller three (803) are connected through an annular belt (804), and the outer surface of the annular belt (804) is fixedly installed with a pushing block (805). One end of the rotating roller one (801) is connected with a motor three (806), the motor three (806) is fixedly installed on the U-shaped bracket (701), and the rotating roller one (801) and the rotating roller three (803) are hingedly connected with a connecting plate one (807), and the rotating roller three (803) and the rotating roller two (802) are hingedly connected with a connecting plate two (808).

10. The humanoid robot automatic shoe changer of claim 9, wherein: The longitudinal pushing piece (900) comprises a pneumatic cylinder two (901) fixedly installed at the top of the top plate (603), an arc plate (902) fixedly installed at the bottom output end of the pneumatic cylinder two (901), a guide frame (903) fixedly installed at the bottom end of the arc plate (902), wherein the two ends of the rotating roller three (803) are slidingly connected in the two guide frames (903), and the arc plate (902) is fixedly installed with a sliding rod (904) at the top, and the sliding rod (904) is slidingly connected in the top plate (603).

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