Rail sports car for debugging humanoid robot

Abstract

The invention discloses a rail sports car for debugging a humanoid robot, and belongs to the technical field of rail sports cars. The problem that an existing debugging device lacks follow-up supporting and freedom degree guiding is solved. The rail sports car comprises a sports car box body and an endless chain, a following outer sleeve is fixedly connected to the sports car box body, and a following sliding block is arranged in the following outer sleeve in a horizontal moving mode; sensing devices are fixedly arranged on the following outer sleeve and the following sliding block respectively; the following sliding block is provided with a chain hole which allows the loop chain to penetrate through and is in clearance fit with the loop chain. When the robot horizontally deviates, the loop chain drives the following sliding block to move, and the sensing device responds to relative movement and sends out a signal to control the track sports car to synchronously move along the track. Automatic follow-up of the sports car in the walking process of the robot is achieved, the vertical lifting freedom degree and the static supporting stability in the initial debugging stage can be guaranteed, horizontal safety protection and motion freedom degree guiding can be provided during dynamic walking debugging, and seamless transition from static debugging to dynamic walking is achieved.

Description

Technical Field

[0001] This invention relates to the field of track-based trolley technology, specifically to a track-based trolley used for debugging humanoid robots. Background Technology

[0002] Humanoid robots, as an important branch of robotics, possess bipedal locomotion capabilities and environmental adaptability similar to humans, demonstrating broad application prospects in scenarios such as home service, special operations, and education and scientific research. With the rapid development of drive technology, control algorithms, and sensor technology, the motion performance of humanoid robots is constantly improving, making systematic functional debugging and performance testing a crucial step in the R&D process. Simulating actual operating conditions to test core indicators such as the robot's standing stability, gait coordination, dynamic balance ability, and control system response is of great significance for verifying the rationality of the mechanical structure design and optimizing motion control algorithms.

[0003] Currently, most debugging and testing devices for humanoid robots employ fixed support frames or suspended structures. For example, Chinese patent document CN223442310U discloses an exoskeleton robot test frame, which includes a base frame, support frame, top frame, and lifting components. The exoskeleton robot is suspended and supported by a hoisting frame, and a lifting mechanism is provided to adjust its height. This structure provides static support for the exoskeleton robot, facilitating installation, debugging, and height adjustment. However, in practical applications for humanoid robot debugging, such test frames have significant limitations: firstly, in the initial debugging phase, humanoid robots need to gradually transition from a suspended or supported state to autonomous standing, and existing test frames lack auxiliary support and posture guidance functions for the robot's standing process; secondly, and more critically, when the humanoid robot enters the dynamic walking debugging phase, it needs to simulate real gait and move freely on a plane, but existing test frames are mostly fixed structures, unable to provide follow-up support and constraints on the degrees of freedom of movement. As a robot walks, its center of gravity constantly changes. Without effective safety protection and guidance of degrees of freedom, it is very easy for it to tip over due to unstable gait or deviation in control parameters. This not only affects debugging efficiency but may also damage the robot itself.

[0004] Therefore, there is an urgent need to develop an auxiliary device suitable for the entire debugging process of humanoid robots. This device should not only meet the robot's needs for stable support and posture adjustment during the initial debugging stage, but also provide sufficient safety protection and freedom of movement when the robot enters standing and walking tests. It should achieve a seamless transition from static debugging to dynamic walking and provide a reliable testing platform for the verification of humanoid robot control algorithms and performance optimization. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a track-mounted trolley for debugging humanoid robots.

[0006] The objective of this invention can be achieved through the following technical solution: A track-mounted trolley for debugging a humanoid robot includes a trolley body and a chain. A following outer sleeve is fixedly connected to the trolley body, and a following slider is horizontally movably disposed inside the following outer sleeve. Sensing devices are fixedly mounted on the following outer sleeve and the following slider, respectively. A chain hole perpendicular to the horizontal direction is formed on the following slider, allowing the chain to pass through. The chain hole and the chain are in clearance fit, allowing the chain to pass freely up and down. When the chain contacts the following slider in the horizontal direction, the chain drives the following slider to move horizontally relative to the following outer sleeve. The sensing device responds to the relative movement between the following slider and the following outer sleeve and sends a signal, which is used to control the track-mounted trolley to move the robot along the track direction.

[0007] The sports car body is fixedly connected to a motor and pulleys. The pulleys cooperate with the track, and the robot is hung at one end of the chain. This solution utilizes a following cover fixedly connected to the robot's chassis, a following slider movably positioned within the following cover, chain holes on the following slider that fit the chain clearance, and sensors fixed to the following cover and the following slider respectively. This allows the chain to pass freely through the chain holes without triggering a following action when the robot is stationary or in a vertical lifting / lowering state. When the robot deviates horizontally during movement, the chain contacts the following slider horizontally, driving it to move horizontally relative to the following cover. The sensors then respond to this relative movement and send a signal to control the tracked vehicle to move synchronously along the track, thus achieving automatic following of the robot during its movement. This structure ensures the robot's vertical lifting / lowering freedom and static support stability during the initial debugging phase, while providing reliable horizontal safety and motion freedom guidance when the robot enters dynamic walking debugging. It effectively prevents the risk of tipping over due to gait instability or center of gravity shift, achieving a seamless transition from static debugging to dynamic walking. It provides a safe, stable, and highly adaptable testing platform for verifying the control algorithm and optimizing the performance of humanoid robots.

[0008] Furthermore, a fixed sleeve is provided between the following outer sleeve and the following slider, and the following slider is located inside the fixed sleeve; two guide rods are symmetrically fixed on the outer periphery of the following slider, and a following reset component is sleeved on each guide rod; the fixed sleeve has a guide hole for the guide rod to pass through, and the two ends of the following reset component abut against the following slider and the fixed sleeve respectively.

[0009] This design incorporates a fixed sleeve between the following outer sleeve and the following slider, housing the slider within the sleeve. Two guide rods are symmetrically fixed to the outer circumference of the slider, each fitted with a follower reset component. These, along with guide holes on the fixed sleeve for the guide rods to pass through, ensure precise guidance of the slider during horizontal movement. This effectively prevents the slider from skewing or jamming during movement, guaranteeing smooth movement relative to the following outer sleeve. The symmetrically arranged guide rods and their reset components together form a bidirectional reset structure. When the chain drives the follower slider, the external force... After disappearing, the follower reset component enables the follower slider to automatically return to its initial centered position, thereby ensuring that the sensing device can be accurately reset after each follower action, improving the repeatability and consistency of the positioning for multiple follower actions. This structure not only significantly enhances the motion stability and reset reliability of the follower slider, but also enables the sensing device to respond more sensitively and accurately to the minute relative displacement between the follower slider and the follower jacket, thereby enabling the tracked trolley to quickly and accurately follow the robot's walking motion, providing a more stable and reliable safety protection and motion guidance for the continuous walking of the humanoid robot during dynamic debugging.

[0010] Furthermore, the follower slider has a first fixing hole coaxially arranged with the guide rod, and the fixing sleeve has a second fixing hole coaxially arranged with the guide hole. The diameter of the second fixing hole is larger than the diameter of the guide hole. The two ends of the follower reset member abut and are fixed to the inner circumferential surfaces of the first fixing hole and the second fixing hole, respectively.

[0011] This solution involves creating a first fixing hole coaxial with the guide rod on the following slider and a second fixing hole coaxial with the guide hole and with a larger diameter on the fixing sleeve. The two ends of the following reset component are fixed to the inner circumferential surfaces of the first and second fixing holes, respectively. This ensures that the following reset component is always radially constrained during compression and reset, effectively preventing radial offset, twisting, or dislodgement during extension and retraction, and guaranteeing that the axis of the following reset component always coincides with the axis of the guide rod. Simultaneously, the first and second fixing holes provide stable abutment support for the following reset component, keeping the following slider suspended and ensuring that the sensing device responds based on a precise initial position each time. This further improves the tracking sensitivity and long-term operational stability of the track-mounted trolley for the robot's walking motion.

[0012] Furthermore, a fixing protrusion is formed on the inner circumferential surface of the following sleeve, the outer circumferential surface of the fixing sleeve is in clearance fit with the inner circumferential surface of the following sleeve, and the lower end surface of the fixing sleeve abuts against the upper end surface of the fixing protrusion; a following mounting plate is fixed on the upper end surface of the following sleeve, the following mounting plate covers the upper part of the fixing sleeve, and a gap is left between the lower end surface of the following mounting plate and the upper end surface of the fixing sleeve.

[0013] This design allows the fixed sleeve to float radially and axially within the following sleeve, ensuring that the fixed sleeve has a small adjustment margin in the horizontal direction to adapt to the movement and guidance requirements of the following slider, while preventing axial movement of the fixed sleeve. This ensures that the fixed sleeve can adaptively fine-tune with the horizontal movement of the following slider, further reducing additional resistance during movement. This structure significantly improves the movement flexibility of the following slider and the response sensitivity of the sensing device, enabling the chain-driven following slider to transmit displacement signals with less resistance, thereby improving the timeliness and smoothness of the track carriage's tracking of the robot's walking motion.

[0014] Furthermore, a slot is formed on the outer sleeve, which is arranged opposite to the guide hole. One end of the guide rod passes through the guide hole and extends into the slot. The slot is axially continuous, facilitating manufacturing. The slot provides movement space for the guide rod.

[0015] Furthermore, the fixed sleeve has a sensor mounting hole, and the outer periphery of the following slider has a sensor mounting block protruding therefrom. The sensor mounting block is arranged perpendicular to the guide rod, one end of the sensor mounting block passes through the sensor mounting hole, and the sensing device is fixedly mounted on the sensor mounting block.

[0016] Furthermore, the sensing device includes a magnet and a Hall plate. The magnet is fixed to the sensing mounting block, and the Hall plate is fixed to the follower jacket. The magnet and the Hall plate are arranged opposite to each other.

[0017] Furthermore, a balancing mounting block is formed on the outer periphery of the following slider, and the balancing mounting block is arranged 180° opposite to the sensing mounting block.

[0018] Furthermore, at least two stepped holes are axially extended through the side wall of the following outer casing. Each stepped hole contains a guide fixing post, and a limit plate is fixedly connected to the lower end of each guide fixing post. A switch reset component is provided between the limit plate and the stepped hole. A micro switch is fixedly connected to the lower end of the following outer casing, and the limit plate is located below the micro switch. A limit component is fixedly installed on the chain, located below the limit plate. When the robot is pulled upwards by the chain, the limit component rises along with it until it touches the limit plate and pulls the limit plate upwards. The limit plate then touches the limit switch, stopping the robot's ascent.

[0019] Furthermore, the stepped hole includes a first hole, a second hole, and a third hole from top to bottom. The diameter of the second hole is larger than the diameters of the first and third holes. The guide fixing post is T-shaped, with one end passing through the first and second holes until it is located inside the third hole. A fixing cylinder protrudes from the limiting plate and extends into the third hole to be fixedly connected to the guide fixing post. The switch reset component abuts between the fixing cylinder and the top wall of the third hole.

[0020] Compared with existing technologies, the technical advantages of this invention are as follows: 1. Through the cooperation of the trolley body, following jacket, following slider, chain, and sensing device, when the robot deviates horizontally during walking, the chain drives the following slider to move, and the sensing device then sends a signal to control the track trolley to move synchronously along the track. This mechanism enables the trolley to automatically follow the robot's walking trajectory, providing horizontal safety protection while allowing the robot to move freely in the plane, effectively preventing the risk of tipping over due to gait instability or center of gravity shift. 2. The chain and chain hole adopt a clearance fit, allowing the chain to pass freely without triggering the following action when the robot is stationary or in a vertical lifting state, ensuring the vertical lifting freedom and static support stability during the initial debugging stage; when the robot enters the walking stage, it can automatically switch to dynamic follow-up mode. This design meets the auxiliary needs of the entire humanoid robot debugging process. 3. By symmetrically setting guide rods, following reset components, and guide holes on the outer periphery of the following slider, a bidirectional reset structure is formed. This structure not only provides precise horizontal guidance for the following slider, preventing skewing or jamming, but also allows the following slider to automatically return to its initial centered position after the external force disappears. This ensures accurate reset of the sensing device after each response, improving the repeatability and consistency of multiple following actions. Fourth, the first and second fixing holes provide radial support for the following reset component, ensuring that the axis of the following reset component coincides with the axis of the guide rod. This keeps the guide rod suspended within the guide hole, reducing additional resistance during movement and further enhancing mobility and the sensitivity of the sensing device. Fifth, stepped holes, guide fixing posts, switch reset components, and microswitches are installed on the following outer casing, working in conjunction with the limit components on the chain to form a rising limit protection mechanism. When the robot is pulled up to the set height by the chain, the limit component triggers the microswitch, automatically stopping the rising action and effectively preventing equipment damage or safety accidents caused by excessive lifting or lowering. VI. By setting a gap groove to provide movement space for the guide rod, and by arranging the sensing mounting block and the balancing mounting block at 180° relative to each other, the force and movement of the structure in the two orthogonal horizontal directions are more balanced, ensuring the stability and reliability of the overall system in long-term operation. Attached Figure Description

[0021] Figure 1 This is a cross-sectional view of the present invention.

[0022] Figure 2 This is an enlarged view of point A in the present invention.

[0023] Figure 3 This is a cross-sectional view of the follower mechanism of the present invention. Figure 1 .

[0024] Figure 4 This is a cross-sectional view of the follower mechanism of the present invention. Figure 2 .

[0025] Figure 5 This is a cross-sectional view of the follower mechanism of the present invention. Figure 3 .

[0026] Figure 6 This is a perspective view of the fixing sleeve of the present invention.

[0027] Figure 7 This is a three-dimensional view of the slider of the present invention.

[0028] Figure 8 This is a three-dimensional view of the outer casing of the present invention.

[0029] Part Number Markings: 1. Car Body; 2. Chain; 21. Limiting Component; 3. Follower Outer Sheath; 31. Fixing Protruding Ring; 32. Follower Mounting Plate; 33. Gap Groove; 34. Stepped Hole; 341. First Hole; 342. Second Hole; 343. Third Hole; 4. Fixing Sleeve; 41. Guide Hole; 42. Second Fixing Hole; 43. Sensor Mounting Hole; 44. Balance Groove; 5. Follower Slider; 51. Chain Hole; 52. First Fixing Hole; 53. Sensor Mounting Block; 54. Balance Mounting Block; 6. Guide Rod; 7. Follower Reset Component; 8. Sensing Device; 81. Magnet; 82. Hall Plate; 9. Guide Fixing Post; 10. Limiting Plate; 1001. Fixing Cylinder; 11. Switch Reset Component; 12. Micro Switch. Detailed Implementation

[0030] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0031] It should be noted that the descriptions of directions such as "upper", "lower", "left", "right", "top", and "bottom" in this invention are defined based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] according to Figures 1 to 8 As shown, a track-based trolley for humanoid robot debugging is mainly used in the process of humanoid robot standing, standing up, walking, and dynamic balance debugging. The whole system includes a trolley housing 1, a chain 2, and a follower mechanism. A drive motor and a walking pulley are installed on the trolley housing 1. The pulleys roll in cooperation with the top debugging track, and the drive motor can drive the chain 2 to rise and fall. The upper end of the chain 2 is connected to a sprocket inside the trolley housing 1, and the lower end is used to suspend the humanoid robot to be debugged, providing vertical lifting support and horizontal safety protection for the robot.

[0033] The follow-up mechanism is the core component that enables the car to automatically follow the horizontal movement of the robot. It mainly consists of a follower jacket 3, a fixed sleeve 4, a follower slider 5, a guide rod 6, a follower reset component 7, and a sensing device 8.

[0034] The follower sleeve 3 and the sports car body 1 are fixedly installed, and its interior is a hollow cavity. The inner circumference of the follower sleeve 3 has an integrally formed fixing protrusion 31 for axial positioning of the fixing sleeve 4. The fixing sleeve 4 is assembled inside the follower sleeve 3, with its outer circumference surface fitting closely to the inner circumference surface of the follower sleeve 3, allowing the fixing sleeve 4 to have a slight horizontal floating adjustment capability. A follower mounting plate 32 is bolted to the upper end face of the follower sleeve 3. The follower mounting plate 32 is directly fixed to the sports car body 1, covering the fixing sleeve 4, and a small gap is reserved between its lower end face and the upper end face of the fixing sleeve 4, allowing the fixing sleeve 4 to adaptively adjust vertically and horizontally within the follower sleeve 3. The fixing sleeve 4 is a split structure.

[0035] The follower slider 5 is located inside the fixed sleeve 4. The follower slider 5 has a vertically extending chain hole 51. The diameter of the chain hole 51 is slightly larger than the outer diameter of the ring chain 2. The ring chain 2 passes through the chain hole 51 and forms a clearance fit, ensuring that the ring chain 2 can move freely up and down in the chain hole 51 without vertical interference.

[0036] Two guide rods 6 are symmetrically arranged around the outer periphery of the follower slider 5, and the two guide rods 6 are coaxially arranged. A guide hole 41 is correspondingly provided on the fixing sleeve 4. One end of the guide rod 6 is fixedly connected to the follower slider 5, and the other end extends outward through the guide hole 41. A clearance groove 33 is provided on the follower sleeve 3 opposite to the guide hole 41. The clearance groove 33 is axially continuous in the vertical direction, and the outer end of the guide rod 6 extends into the clearance groove 33. The clearance groove 33 provides space for the guide rod 6 to move horizontally with the follower slider 5, and also facilitates the overall structural forming. The guide rod 6 and the follower slider 5 can be integrally formed or manufactured separately and then fixedly connected.

[0037] The follower slider 5 has a first fixing hole 52 coaxial with the guide rod 6, and the fixing sleeve 4 has a second fixing hole 42 coaxial with the guide hole 41. The diameter of the second fixing hole 42 is larger than that of the guide hole 41. The follower reset member 7 is a spring, with its two ends extending into the first fixing hole 52 and the second fixing hole 42 respectively, and abutting against and fixing to the inner walls of both the first fixing hole 52 and the second fixing hole 42. This ensures that the follower reset member 7 is radially constrained during extension and retraction, preventing twisting, displacement, or disengagement. The two symmetrically arranged follower reset members 7 together hold the follower slider 5 in the centered initial position.

[0038] The sensing device 8 is used to detect the relative horizontal displacement between the following slider 5 and the following outer sleeve 3, and outputs an electrical signal to control the movement of the sports car. A sensing mounting hole 43 is provided on the fixed sleeve 4. A sensing mounting block 53 is integrally protruding from the outer circumference of the following slider 5. The sensing mounting block 53 is arranged perpendicularly to the guide rod 6, and both the sensing mounting block 53 and the guide rod 6 are located in the radial direction of the following slider 5. One end of the sensing mounting block 53 passes through the sensing mounting hole 43. The sensing device 8 includes a magnet 81 and a Hall plate 82. The magnet 81 is fixedly mounted on the sensing mounting block 53, and the Hall plate 82 is fixedly mounted on the inner wall of the following outer sleeve 3. The magnet 81 and the Hall plate 82 are arranged opposite to each other.

[0039] To ensure the balance of the following slider 5, a balance mounting block 54 is also provided on the outer periphery of the following slider 5. The fixed sleeve 4 has a balance groove 44 that matches the balance mounting block 54. The balance mounting block 54 extends into the balance groove 44. The balance mounting block 54 and the sensing mounting block 53 are arranged symmetrically at 180° to counteract the eccentric effect caused by the sensing mounting block 53, so that the following slider 5 is subjected to uniform force and moves smoothly when moving horizontally.

[0040] When the robot's movement deviates horizontally, the chain 2 contacts the inner wall of the chain hole 51 and pushes the following slider 5 to move horizontally. The relative position of the magnet 81 and the Hall plate 82 changes. The Hall plate 82 detects the change in magnetic field and outputs a level signal. This signal is transmitted to the trolley control system, causing the trolley box 1 to move synchronously along the track in the direction of the robot's deviation, thus achieving follow-up. When the robot returns to the center position, the follower reset component 7 pushes the following slider 5 to reset, the magnet 81 and the Hall plate 82 return to their initial relative positions, the follow signal disappears, and the trolley stops moving.

[0041] To prevent the robot from overtraveling upwards, this embodiment includes a lifting limit protection mechanism. At least two stepped holes 34 are axially protruding through the side wall of the outer casing 3. From top to bottom, the stepped holes 34 are designated as a first hole 341, a second hole 342, and a third hole 343, with the second hole 342 having a larger diameter than both the first and third holes 341. A T-shaped guide post 9 is fitted inside each stepped hole 34. The lower end of the guide post 9 passes through the first and second holes 341 and extends into the third hole 343, where it is fixedly connected to the lower limiting plate 10. A fixing cylinder 1001 protrudes from the limiting plate 10, extending into the third hole 343. A spring-loaded switch reset component 11 abuts against the upper surface of the fixing cylinder 1001 and the top wall of the third hole 343.

[0042] A micro switch 12 is fixedly installed at the lower end of the outer casing 3, and a limit plate 10 is located below the micro switch 12. A limit component 21 is fixedly installed on the chain 2, preferably made of silicone, and is located below the limit plate 10. When the chain 2 drives the robot to rise, the limit component 21 moves upward along with it until it touches the limit plate 10 and pushes the limit plate 10 upward against the elastic force of the switch reset component 11. The upper end of the limit plate 10 touches the micro switch 12, and the micro switch 12 sends a stop signal. The control system controls the lifting mechanism to stop its operation, realizing the upward limit protection and preventing the robot from rising excessively and causing structural collision or damage.

[0043] Overall Workflow 1. The humanoid robot is suspended and supported by the chain 2, and is in a stationary or vertically lifting state. The chain 2 moves freely up and down within the chain hole 51, and there is no horizontal force between it and the following slider 5. The following slider 5 is kept centered under the action of the following reset member 7. The sensing device 8 has no trigger signal output, the carriage remains stationary, and provides stable vertical support for the robot.

[0044] 2. The robot walks on the ground and generates horizontal displacement. The chain 2 drives the following slider 5 to move in the horizontal direction. The magnet 81 and the Hall plate 82 generate relative displacement and output a continuous following signal. The trolley moves synchronously with the robot along the track, which does not restrict the robot's walking freedom, but also provides horizontal constraints and anti-tipping protection.

[0045] 3. After the robot stops walking or returns to the center position, the horizontal thrust of the chain 2 on the following slider 5 disappears, and the following reset component 7 pushes the following slider 5, guide rod 6 and sensor mounting block 53 to automatically return to the initial center position, preparing for the next following action.

[0046] This embodiment features a compact structure and sensitive response, enabling safe assistance and follow-up for humanoid robots throughout the entire process from static suspension and standing to dynamic walking. It effectively reduces the risk of tipping over during debugging and improves debugging efficiency and equipment safety.

[0047] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection defined by the claims of the present invention.

Claims

1. A track-mounted trolley for debugging humanoid robots, comprising a trolley housing (1) and a chain (2), characterized in that: A following cover (3) is fixedly connected to the sports car body (1). A following slider (5) is horizontally movable inside the following cover (3). A sensing device (8) is fixedly installed on the following cover (3) and the following slider (5). A chain hole (51) perpendicular to the horizontal direction is opened on the following slider (5). The chain hole (51) is used for the ring chain (2) to pass through, and the chain hole (51) and the ring chain (2) are in clearance fit so that the ring chain (2) can pass freely up and down. When the ring chain (2) and the following slider (5) are in contact in the horizontal direction, the ring chain (2) drives the following slider (5) to move in the horizontal direction relative to the following cover (3). The sensing device (8) responds to the relative movement between the following slider (5) and the following cover (3) and sends a signal. The signal is used to control the track sports car to drive the robot to move along the track direction.

2. The track-mounted trolley for debugging a humanoid robot according to claim 1, characterized in that: A fixing sleeve (4) is provided between the following outer sleeve (3) and the following slider (5), and the following slider (5) is located inside the fixing sleeve (4); two guide rods (6) are symmetrically fixed on the outer periphery of the following slider (5), and each guide rod (6) is fitted with a following reset member (7). The fixing sleeve (4) has a guide hole (41) for the guide rod (6) to pass through, and the two ends of the following reset member (7) abut against the following slider (5) and the fixing sleeve (4) respectively.

3. A track-mounted trolley for debugging a humanoid robot according to claim 2, characterized in that: The follower slider (5) has a first fixing hole (52) coaxially arranged with the guide rod (6), and the fixing sleeve (4) has a second fixing hole (42) coaxially arranged with the guide hole (41). The diameter of the second fixing hole (42) is larger than the diameter of the guide hole (41). The two ends of the follower reset member (7) are respectively abutted and fixed with the inner circumferential surface of the first fixing hole (52) and the inner circumferential surface of the second fixing hole (42).

4. A track-mounted trolley for debugging a humanoid robot according to claim 3, characterized in that: The inner circumferential surface of the following sleeve (3) is provided with a fixed protruding ring (31), the outer circumferential surface of the fixing sleeve (4) is in clearance fit with the inner circumferential surface of the following sleeve (3), and the lower end surface of the fixing sleeve (4) abuts against the upper end surface of the fixing protruding ring (31); the upper end surface of the following sleeve (3) is fixed with a following mounting plate (32), the following mounting plate (32) covers the upper part of the fixing sleeve (4), and there is a gap between the lower end surface of the following mounting plate (32) and the upper end surface of the fixing sleeve (4).

5. A track-mounted trolley for debugging a humanoid robot according to claim 2, characterized in that: The follower jacket (3) has a slot (33) which is arranged opposite to the guide hole (41). One end of the guide rod (6) passes through the guide hole (41) and extends into the slot (33).

6. A track-mounted trolley for debugging a humanoid robot according to claim 2, characterized in that: The fixed sleeve (4) is provided with a sensing mounting hole (43), and a sensing mounting block (53) is formed on the outer periphery of the following slider (5). The sensing mounting block (53) is arranged perpendicularly to the guide rod (6). One end of the sensing mounting block (53) passes through the sensing mounting hole (43), and the sensing device (8) is fixedly mounted on the sensing mounting block (53).

7. A track-mounted trolley for debugging a humanoid robot according to claim 6, characterized in that: The sensing device (8) includes a magnet (81) and a Hall plate (82). The magnet (81) is fixed on the sensing mounting block (53), and the Hall plate (82) is fixed on the follower jacket (3). The magnet (81) and the Hall plate (82) are arranged opposite to each other.

8. A track-mounted trolley for debugging a humanoid robot according to claim 6, characterized in that: The outer periphery of the following slider (5) is provided with a balancing mounting block (54), which is arranged 180° opposite to the sensing mounting block (53).

9. A track-mounted trolley for debugging a humanoid robot according to any one of claims 1 to 8, characterized in that: At least two stepped holes (34) are axially through the side wall of the following outer jacket (3). Each stepped hole (34) is provided with a guide fixing post (9). The lower end of the guide fixing post (9) is fixedly connected to a limiting plate (10). A switch reset component (11) is provided between the limiting plate (10) and the stepped hole (34). A micro switch (12) is fixedly connected to the lower end of the following outer jacket (3). The limiting plate (10) is located below the micro switch (12). A limiting component (21) is fixedly provided on the ring chain (2). The limiting component (21) is located below the limiting plate (10).

10. A track-mounted trolley for debugging a humanoid robot according to claim 9, characterized in that: The stepped hole (34) includes a first hole (341), a second hole (342) and a third hole (343) from top to bottom. The diameter of the second hole (342) is larger than that of the first hole (341) and the third hole (343). The guide fixing post (9) is T-shaped. One end of the guide fixing post (9) passes through the first hole (341) and the second hole (342) until it is located in the third hole (343). A fixing cylinder (1001) protrudes from the limiting plate (10). The fixing cylinder (1001) extends into the third hole (343) and is fixedly connected to the guide fixing post (9). The switch reset component (11) abuts between the fixing cylinder (1001) and the top wall of the third hole (343).

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