Full-size integrated humanoid robot

Abstract

The invention discloses a full-size integrated humanoid robot which comprises a trunk mechanism, arm mechanisms arranged on the left side and the right side of the upper end of the trunk mechanism, a hip mechanism arranged at the lower end of the trunk mechanism and leg mechanisms arranged at the left end and the right end of the hip mechanism. The driving modules of the arm mechanisms and the leg mechanisms are mounted in the inner cavities of the corresponding curved-surface metal shells through bolts respectively; the hip mechanism comprises a hip assembly and hip curved surface shells installed on the front side and the rear side of the hip assembly. The hip assembly comprises a hip base connected with an output shaft of a trunk driving module of the trunk mechanism. Hip driving modules are symmetrically arranged at the left end and the right end of an inner cavity of the hip base; a control circuit board of the hip driving module is arranged on the top of the hip base through a fixing plate. On the basis of replacing a traditional shell and a skeleton with the curved metal shell, the size of the hip mechanism is reduced, the assembly steps are simplified, the light weight of the humanoid robot is achieved, and the requirement for structural strength is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a full-size integrated humanoid robot. BACKGROUND

[0002] With the rapid development of artificial intelligence and advanced manufacturing, the application potential of humanoid robots in the fields of service, industrial cooperation, disaster rescue and escort is continuously improving, and higher requirements are put forward for the bionics, modularity, lightweight and integration of the body structure of the humanoid robots. Most existing humanoid robots still have problems such as large volume, insufficient integration, rough appearance and single communication protocol in the aspects of body structure, joint design, communication interface and material application, which are difficult to meet the industrial demand of high performance and mass production.

[0003] The existing humanoid robot has a large volume and complex assembly operation. Specifically, in the aspect of body structure design of the humanoid robot, the existing scheme mostly adopts the traditional layout of a skeleton type metal frame matched with an external plastic shell, that is, a metal skeleton type body structure is combined with a split type plastic shell to realize appearance covering. The shell is mostly made by injection molding or 3D printing process and exists independently of the main structure, only playing a role in appearance and basic protection. The structure layer and appearance layer of such structure are not fully coupled, resulting in low overall integration and poor space utilization. The shell made by 3D printing or injection molding process has limited structural strength and is easily damaged by collision in actual scenarios, has high maintenance frequency, and the plastic surface has poor texture, which is difficult to reflect the image of high-end products. The traditional layout of a skeleton type metal frame matched with an external plastic shell has a large number of components and complex assembly operation.

[0004] In addition, the existing humanoid robot has a large hip width, that is, the hip driving module structure is not compact enough, which further leads to a large volume of the humanoid robot, failing to meet the miniaturization requirement of the robot.

[0005] In summary, the existing humanoid robot has a large volume and limited structural strength. SUMMARY

[0006] The present application provides a full-size integrated humanoid robot to solve the problem of large volume of the humanoid robot.

[0007] The full-size integrated humanoid robot disclosed by the present application comprises a trunk mechanism, arm mechanisms arranged on the left and right sides of the upper end of the trunk mechanism, a hip mechanism arranged at the lower end of the trunk mechanism, and leg mechanisms arranged at the left and right ends of the hip mechanism. The driving modules of the arm mechanisms and the leg mechanisms are respectively installed in the inner cavities of the corresponding curved metal shells through bolts. The hip mechanism comprises a hip assembly and hip curved housings installed on the front and back of the hip assembly; the hip assembly comprises a hip base connected with an output shaft of a torso driving module of the torso mechanism; the hip base is an inverted U-shaped base with front and back side plates, and the left and right ends of the inner cavity of the hip base are symmetrically provided with hip driving modules; the axis of the hip driving module is arranged in the left and right directions, and the upper part of the motor housing of the hip driving module is provided with a convex edge connected with the edge of the side plate of the hip base; the control circuit board of the hip driving module is arranged on the top of the hip base through a fixing plate; the output shaft of the hip driving module extends to the outside of the hip base, and the outer periphery of the output end of the hip output shaft is sleeved with a hip joint part, and the hip joint part is connected with the radial hole in the outer periphery of the hip output shaft through a bolt; The thigh swing driving module of the leg mechanism is arranged in the front and back directions, is installed in the hip joint part, and is located on the side away from the hip base corresponding to the hip output shaft, and the output end of the hip output shaft is provided with an arc-shaped groove for avoiding the thigh swing driving module. On the basis of replacing the traditional housing and framework with the curved metal housing, the volume of the hip mechanism is reduced, and the volume of the humanoid robot is further reduced, the assembly steps are simplified, the lightweight of the humanoid robot is realized, and the structural strength requirement is met.

[0008] Optionally, the curved metal housings of the arm mechanism and the leg mechanism are made of 7-system aviation aluminum alloy and magnesium alloy, and the curved metal housings are provided with wire holes corresponding to the curved metal housings, and the inner walls of the curved metal housings are provided with reinforcing ribs; The torso housing of the torso mechanism is a metal housing or a plastic housing; The hip curved housing is a metal housing or a plastic housing. By using the above scheme, the limbs of the humanoid robot adopt the curved metal housing, the curved metal housing combines the housing and the internal structure together while ensuring the structural strength, and the housing is used to fix the mechanism and bear the load.

[0009] Optionally, the two hip driving modules are arranged at the left and right ends of the hip base, and the motor cables of the hip driving modules are connected with the control circuit board on the fixing plate through the base wire holes on the hip base; The fixing plate comprises front and rear plates which are butted front and back, and the front and rear plates enclose the outer periphery of the torso driving module; The left and right ends of the hip base are provided with connecting flanges; the hip base is arranged between the convex edges of the two hip driving modules, and the connecting flanges are connected with the convex edges through bolts. By using the above scheme, the output shaft of the torso driving module is connected with the upper end of the hip base smoothly.

[0010] Optionally, the trunk driving module comprises a first driving module connected to the upper end of the hip base; The axis of the first driving module is arranged in a vertical direction, and the outer periphery of the motor housing of the first driving module is connected to the second driving module through a first connecting frame; the axis of the second driving module is arranged in a front-rear direction and is located above the first driving module; The first connecting frame is in a U shape and comprises a vertically arranged connecting sleeve and connecting members arranged at the front and rear ends of the connecting sleeve; the outer periphery of the motor housing of the second driving module is fixed to one connecting member of the first connecting frame, and a second connecting frame is arranged between the output shaft of the second driving module and the other connecting member of the first connecting frame; the second connecting frame is rotatably arranged on the first connecting frame; The second connecting frame has an inner cavity with openings at the left and right ends, and a third driving module is arranged in the second connecting frame; the third driving module is arranged above the first driving module and has an axis extending in a left-right direction; The output shaft of the third driving module is connected to the lower end of the trunk housing of the trunk mechanism through a third connecting frame. The above scheme effectively reduces the volume of the trunk driving module.

[0011] Optionally, the leg curved surface metal housing of the leg mechanism comprises, from top to bottom, a thigh upper housing, a thigh lower housing and a lower leg housing; The thigh upper housing comprises front and rear housings butted in front and rear directions, and the front and rear housings of the thigh upper housing are rotatably arranged on the left and right sides of the hip joint member; the output shaft of the thigh swing driving module extends out of the hip joint member and is connected to the inner side of the upper end of the thigh upper housing; The thigh lower housing comprises left and right housings butted in left and right directions; a thigh rotation driving module is arranged between the thigh upper housing and the thigh lower housing; the thigh rotation driving module is arranged in a vertical direction at the lower end of the inner cavity of the thigh upper housing, the motor housing of the thigh rotation driving module is fixed in the inner cavity of the thigh upper housing, and the output shaft of the thigh rotation driving module extends downward into the thigh lower housing and is fixedly connected to the inner side of the upper end of the thigh lower housing; The lower end of the inner cavity of the thigh lower housing is provided with a lower leg swing driving module; the lower leg housing comprises left and right housings butted in left and right directions; the left and right housings of the lower leg housing are rotatably arranged on the left and right sides of the thigh lower housing; the lower leg swing driving module is arranged in a left-right direction, and the output shaft of the lower leg swing driving module extends out of the thigh lower housing and is connected to the inner side of the upper end of the lower leg housing. The above scheme combines the leg curved surface metal housing and the internal structure together, and uses the housing to fix the mechanism and bear the load.

[0012] Optionally, a foot mechanism is arranged below the calf shell; a foot driving module is arranged in the inner cavity of the calf shell, and the foot driving module is arranged in the left-right direction, with a fixed end fixed to the calf shell and an output end connected to the foot mechanism through a leg transmission member.

[0013] Optionally, the trunk mechanism includes front and rear shells which are connected to each other in the front-rear direction; An installation rack is arranged at the upper end of the inner cavity of the trunk shell; the installation rack has a left-right symmetrical structure, and a mounting hole is arranged in the middle of the installation rack for mounting the head mechanism; Fourth driving modules are arranged at the left and right ends of the installation rack in the left-right direction, and the input ends of the fourth driving modules are connected to the shoulder shell; The shoulder shell includes front and rear shells which are connected to each other in the front-rear direction, and a fifth driving module is arranged at the end of the inner cavity of the shoulder shell away from the trunk shell; The fifth driving module is arranged in the front-rear direction, and the output shaft of the fifth driving module extends to the outside of the shoulder shell and is connected to the first large arm shell of the arm mechanism; The first large arm shell includes front and rear shells which are connected to each other in the front-rear direction, and the front and rear shells of the first large arm shell are rotatably arranged on the front and rear sides of the shoulder shell.

[0014] Optionally, the arm curved metal shell of the arm mechanism includes a first large arm shell, a second large arm shell and a first small arm shell in sequence in the left-right direction; The first large arm shell is connected to the fifth driving module of the trunk mechanism, and a large arm rotation driving module is arranged at the end of the inner cavity of the first large arm shell away from the trunk mechanism; The large arm rotation driving module is arranged in the left-right direction, and a connecting protrusion is arranged on the motor shell of the large arm rotation driving module, and the connecting protrusion is connected to the positioning block in the first large arm shell through a bolt; The second large arm shell includes upper and lower shells which are connected to each other in the up-down direction; The output shaft of the large arm rotation driving module extends to the second large arm shell, and the output shaft is connected to the positioning block in the second large arm shell through a connecting block; A large arm swing driving module is arranged at the end of the inner cavity of the second large arm shell away from the trunk mechanism, and the axis of the large arm swing driving module is arranged in the vertical direction; The first small arm shell includes upper and lower shells which are connected to each other in the up-down direction, and the upper and lower shells of the first small arm shell are rotatably arranged on the upper and lower sides of the second large arm shell; the output shaft of the large arm swing driving module extends to the outside of the second large arm shell and is connected to the first small arm shell. By adopting the above scheme, the arm curved metal shell and the internal structure are combined together, and the shell is used to fix the mechanism and bear the load.

[0015] Optionally, the outer periphery of the second large arm shell is provided with a recessed surface for avoiding the first small arm shell. With the above scheme, the up-down swinging range of the first small arm shell is increased.

[0016] Optionally, a small arm rotation driving module is mounted at the end of the first small arm shell away from the second large arm shell; The axis of the small arm rotation driving module is arranged in the left-right direction, and the output shaft of the small arm rotation driving module extends into the second small arm shell and is connected with the second small arm shell; The second small arm shell comprises upper and lower shells which are vertically connected, and a wrist driving module is mounted in the second small arm shell and arranged vertically; The lower shell of the second small arm shell is provided with an arc-shaped avoiding surface at the end away from the first small arm shell, and a hand mechanism is arranged below the arc-shaped avoiding surface; the top connecting rod of the hand mechanism extends upward into the second small arm shell and is connected with the output shaft of the wrist driving module through an arm transmission member.

[0017] Compared with the prior art, the present application has the following beneficial effects: On the basis of replacing the traditional shell and framework with the curved metal shell, the volume of the hip mechanism is reduced, and thus the volume of the humanoid robot is reduced, the assembly steps are simplified, the lightweight of the humanoid robot is realized, and the structural strength requirement is met; The limbs of the humanoid robot adopt the curved metal shell, and the curved metal shell is made of 7-system aviation aluminum alloy and magnesium alloy, so that the lightweight and the structural strength requirement are met; Only a convex edge is arranged on the upper part of the motor shell of the hip driving module, so that the overall volume of the hip assembly is reduced; the control circuit board is arranged outside, so that the width of the hip mechanism is reduced, and thus the structure of the hip driving module is more compact, so that the miniaturization requirement of the robot is realized; The avoiding recessed surface and the arc-shaped avoiding surface are additionally arranged on the arm mechanism, so that the activity range of the first small arm shell and the hand mechanism is increased, and the flexibility of the robot is improved; The decorative shell and the framework are integrated, which not only has industrial aesthetics, but also participates in structural bearing, improves the torsional stiffness and protection capability, reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0018] The above description of the present disclosure and the following description of the embodiments are used to demonstrate and explain the spirit and principles of the present application, and provide further explanation of the patent application scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0020] Figure 1 Fig. 1 is a schematic diagram of a humanoid robot in the present application; Figure 2 Fig. 2 is a schematic diagram of the inner cavity of the trunk mechanism of the humanoid robot in the present application; Figure 3 Fig. 3 is a schematic diagram of the trunk driving module and the hip mechanism in the present application; Figure 4 Fig. 4 is an exploded schematic diagram of the hip mechanism in the present application; Figure 5 Fig. 5 is a schematic diagram of the leg mechanism in the present application; Figure 6 Fig. 6 is a schematic diagram of the arm mechanism in the present application; Figure 7 Fig. 7 is a partial schematic diagram of the arm mechanism in the present application (1); Figure 8 Fig. 8 is a partial schematic diagram of the arm mechanism in the present application (2); Figure 9 Fig. 9 is a partial schematic diagram of the arm mechanism in the present application (3); Figure 10 Fig. 10 is a schematic diagram of the rear shell of the first large arm shell in the present application.

[0021] Explanation of the reference numerals: 1, trunk mechanism; 11, trunk driving module; 111, first driving module; 112, first connecting frame; 113, second driving module; 114, second connecting frame; 115, third driving module; 116, third connecting frame; 12, trunk shell; 13, mounting frame; 14, fourth driving module; 15, shoulder shell; 16, fifth driving module; 2, arm mechanism; 21, arm curved metal shell; 211, first large arm shell; 2111, first positioning platform; 2112, threaded hole; 2113, first pin hole; 2114, positioning protrusion; 212, second large arm shell; 2121, avoiding concave surface; 213, first small arm shell; 214, second small arm shell; 2141, arc-shaped avoiding surface; 22, large arm rotation driving module; 221, connecting protrusion; 222, connecting block; 223, connecting through hole; 224, second pin hole; 23, large arm swing driving module; 24, small arm rotation driving module; 25, wrist driving module; 26, supporting frame; 27, connecting turntable; 28, transmission rod; 3, hip mechanism; 31, hip curved shell; 32, hip base; 321, connecting flange; 322, base wire passing hole; 33, hip driving module; 331, convex edge; 332, hip output shaft; 3321, radial hole; 3322, arc-shaped groove; 34, fixing plate; 35, hip joint piece; 4, leg mechanism; 41, thigh swing driving module; 42, leg curved surface metal shell; 421, thigh upper shell; 422, thigh lower shell; 423, lower leg shell; 424, foot mechanism; 43, thigh rotation driving module; 44, lower leg swing driving module; 45, foot driving module; 5, head mechanism; 6, hand mechanism. DETAILED DESCRIPTION

[0022] The present application is described herein with reference to particular embodiments, and specific arrangements of parts and steps were described to provide a thorough understanding of certain examples of the application to one of ordinary skill in the art. The application is not limited to the embodiments described, but can be practiced with the

[0023] In the description of the present embodiments, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0024] The terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present embodiments, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with", "provided", "connected", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present embodiments can be understood according to the specific circumstances.

[0026] The application provides a full-size integrated humanoid robot, which does not need to adopt the traditional layout of a skeleton type metal frame matched with an external plastic shell.

[0027] Please refer to Figure 1 and Figure 2 As shown in the figures, the humanoid robot comprises a trunk mechanism 1, an arm mechanism 2, a hip mechanism 3, a leg mechanism 4 and a head mechanism 5. Among them, the arm mechanism 2 is two, symmetrically arranged on the left and right sides of the upper end of the trunk mechanism 1. The hip mechanism 3 is arranged at the lower end of the trunk mechanism 1. The leg mechanism 4 is two, symmetrically arranged at the left and right ends of the hip mechanism 3. The head mechanism 5 is arranged at the top of the trunk mechanism 1.

[0028] Among them, the limbs of the humanoid robot adopt a curved metal shell, that is, the shells of the arm mechanism 2 and the leg mechanism 4 are curved metal shells. The drive modules of the arm mechanism 2 and the leg mechanism 4 are respectively installed in the inner cavities of the corresponding curved metal shells through bolts.

[0029] In this embodiment, the curved metal shells of the arm mechanism 2, the hip mechanism 3 and the leg mechanism 4 are made of 7-system aluminum alloy and magnesium alloy. The inner wall of the curved metal shell is provided with a reinforcing rib. The curved metal shell takes into account the lightweight and structural strength requirements. The surface of the curved metal shell adopts a customized anodic oxidation and metal coloring process to form a unified high-quality appearance, while improving corrosion resistance and wear strength. The external curved metal shell of the humanoid robot effectively reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0030] In this embodiment, the main shaft of each drive module (i.e. joint module) of the humanoid robot is a hollow shaft, that is, the drive module supports a hollow wiring design. Among them, the hollow wiring design of the joint module is prior art, so it is not described in detail. The main control system (i.e. humanoid robot controller) of the humanoid robot is arranged in the trunk mechanism 1. Therefore, the cables of the mechanisms except the trunk mechanism 1 are extended into the trunk mechanism 1 to be connected with the main control system. Therefore, the shells of the arm mechanism 2, the hip mechanism 3 and the leg mechanism 4 are provided with corresponding wire holes for the cables to pass through.

[0031] Further, the trunk shell 12 of the trunk mechanism 1 is a metal shell or a plastic shell. The hip curved shell 31 is a metal shell or a plastic shell. Since the humanoid robot mainly contacts or collides with the outside world through the limbs, the probability of collision between the trunk and the hip and the outside world is small, so the trunk shell 12 and the hip curved shell 31 can adopt a plastic shell to reduce the cost and weight of the humanoid robot. In addition, the trunk shell 12 and the hip curved shell 31 can also adopt a metal shell, which is consistent with the material of the curved metal shell, so as to improve the overall aesthetics of the humanoid robot.

[0032] Preferably, the trunk shell 12 and the hip curved shell 31 are both plastic shells, which reduces the cost and weight of the humanoid robot. The surface of the plastic shell is painted or treated in other ways to make the colors of the trunk shell 12, the hip curved shell 31 and the curved metal shell of the limbs consistent, thereby improving the overall aesthetics and consistency of the humanoid robot.

[0033] Please refer to Figures 3 to 5 As shown in the figure, the hip mechanism 3 includes a hip curved shell 31 and a hip assembly. The hip assembly includes a hip base 32 and a hip drive module 33, and the hip drive module 33 is two. The hip base 32 is connected to the output shaft of the trunk drive module 11 of the trunk mechanism 1. The hip base 32 is an inverted U-shaped base with front and rear side plates. The left and right ends of the inner cavity of the hip base 32 are symmetrically provided with the hip drive module 33. The two hip drive modules 33 are arranged at the left and right ends of the hip base 32. In this embodiment, the hip drive module 33 is a harmonic joint module.

[0034] The axis of the hip drive module 33 is arranged in the left-right direction. The upper part of the motor housing of the hip drive module 33 is provided with a convex edge 331, and the convex edge 331 is connected to the edge of the side plate of the hip base 32 by bolts. Specifically, the left and right ends of the hip base 32 are each provided with a connecting flange 321. The hip base 32 is placed between the convex edges 331 of the two hip drive modules 33, and the connecting flange 321 is connected to the convex edge 331 by bolts. Only the upper part of the motor housing of the hip drive module 33 is provided with a convex edge 331 to reduce the overall volume of the hip assembly, thereby making the structure of the hip drive module 33 more compact.

[0035] The top of the hip base 32 is provided with a fixed plate 34. Compared with the traditional joint module structure, the control circuit board is arranged at the end of the cavity of the joint module; in this embodiment, the control circuit board of the hip driving module 33 is installed on the top of the fixed plate 34, thereby shortening the axial size between the two hip driving modules 33, and further reducing the width of the hip mechanism 3. In order to ensure that the output shaft of the torso driving module 11 is smoothly connected to the upper end of the hip base 32, the fixed plate 34 includes front and rear plates that are butted front and rear. The front and rear plates of the fixed plate 34 are enclosed around the outer periphery of the torso driving module 11. In addition, the motor cable of the hip driving module 33 is connected to the control circuit board on the fixed plate 34 through the base wire hole 322 on the hip base 32. Preferably, the base wire hole 322 is opened on the front and rear sides of the hip base 32 and is located between the two hip driving modules 33.

[0036] In this embodiment, the hip curved shell 31 includes front and rear shells that are butted front and rear. The front and rear shells of the hip curved shell 31 are distributed on the front and rear sides of the hip assembly and are connected to the fixed plate 34 by bolts.

[0037] The hip output shaft 332 of the hip driving module 33 extends to the outside of the hip base 32 along the left-right direction. A radial hole 3321 is opened around the output end of the hip output shaft 332. The hip output shaft 332 is sleeved with a hip joint piece 35 around the output end. The hip joint piece 35 is connected to the radial hole 3321 by bolts. By opening the radial hole 3321 around the outer periphery of the hip output shaft 332, the hip output shaft 332 is effectively connected to the hip joint piece 35, and the width of the hip mechanism 3 is reduced.

[0038] The axis of the thigh swing driving module 41 of the leg mechanism 4 is arranged in the front-rear direction. The thigh swing driving module 41 is installed in the inner cavity of the hip joint piece 35 and is located on the side corresponding to the output end of the hip output shaft 332 away from the hip base 32. In order to further reduce the width of the hip mechanism 3, the output end of the hip output shaft 332 is provided with an arc-shaped slot 3322 for avoiding the thigh swing driving module 41.

[0039] Please refer to Figure 5 As shown in the figure, the leg curved metal shell 42 of the leg mechanism 4 includes, from top to bottom, a thigh upper shell 421, a thigh lower shell 422, a lower leg shell 423, and a foot mechanism 424. The thigh upper shell 421 includes front and rear shells that are butted front and rear. The front and rear shells of the thigh upper shell 421 are rotatably arranged on the front and rear sides corresponding to the hip joint piece 35. The thigh swing driving module 41 arranged in the hip joint piece 35 has an output shaft extending to the outside of the hip joint piece 35 along the front-rear direction and connected to the inner side of the upper end of the thigh upper shell 421. The thigh swing driving module 41 is adapted to drive the thigh upper shell 421 to swing forward and backward.

[0040] The lower thigh shell 422 comprises left and right shells which are connected to each other. The upper thigh shell 421 and the lower thigh shell 422 are provided with a thigh rotation driving module 43. The axis of the thigh rotation driving module 43 is arranged in the vertical direction. The thigh rotation driving module 43 is arranged in the lower end of the inner cavity of the upper thigh shell 421 in the vertical direction. The motor housing of the thigh rotation driving module 43 is provided with a protrusion, and the protrusion is connected to the positioning block in the lower thigh shell 422 through a bolt, so as to fix the thigh rotation driving module 43 in the inner cavity of the upper thigh shell 421. The output shaft of the thigh rotation driving module 43 extends downward to the inner cavity of the lower thigh shell 422. The output shaft of the thigh rotation driving module 43 is provided with a protrusion, and the protrusion is fixedly connected to the inner side of the upper end of the lower thigh shell 422 through a bolt.

[0041] The lower end of the inner cavity of the lower thigh shell 422 is provided with a lower leg swing driving module 44. The lower leg shell 423 comprises left and right shells which are connected to each other. The left and right shells of the lower leg shell 423 are rotatably arranged on the left and right sides of the lower end of the lower thigh shell 422. The axis of the lower leg swing driving module 44 is arranged in the left-right direction. The output shaft of the lower leg swing driving module 44 extends to the outside of the lower thigh shell 422 and is connected to the inner side of the upper end of the lower leg shell 423.

[0042] Further, the inner cavity of the lower leg shell 423 is provided with a foot driving module 45. The axis of the foot driving module 45 is arranged in the left-right direction. The fixed end of the foot driving module 45 is fixed to the lower leg shell 423, and the output end of the foot driving module 45 is connected to the foot mechanism 424 through a leg transmission member.

[0043] Among them, the leg transmission member and the foot mechanism 424 are both prior art. The existing Chinese patent document with the publication number CN222005236U discloses a leg mechanism and a humanoid robot. The document details how to achieve the transmission between the foot driving module 45 and the foot mechanism 424 through a crank and connecting rod structure.

[0044] In this embodiment, the bottom of the foot mechanism 424 is provided with a non-slip pad.

[0045] Please refer to Figures 1 to 3As shown, the trunk shell 12 comprises front and rear shells which are butted front and rear. The trunk drive module 11 is arranged at the lower end of the inner cavity of the trunk shell 12. The trunk drive module 11 comprises a first drive module 111, a first connecting frame 112, a second drive module 113, a second connecting frame 114, a third drive module 115 and a third connecting frame 116. The lower end of the first drive module 111 is an output end which is connected to the upper end of the hip base 32. The axis of the first drive module 111 is arranged along the vertical direction. The outer periphery of the motor housing of the first drive module 111 is connected to the second drive module 113 through the first connecting frame 112. The axis of the second drive module 113 is arranged along the front and rear direction, and the second drive module 113 is located above the first drive module 111.

[0046] The first connecting frame 112 is in U shape, comprising a vertically arranged connecting sleeve and connecting pieces arranged at the front and rear ends of the connecting sleeve. The outer periphery of the motor housing of the second drive module 113 is fixed on the rear connecting piece of the first connecting frame 112. The output shaft of the second drive module 113 is connected to the front connecting piece of the first connecting frame 112 through the second connecting frame 114. The front end of the second connecting frame 114 is rotatably arranged on the front connecting piece of the first connecting frame 112, and the rear end of the second connecting frame 114 is fixedly connected to the output shaft of the second drive module 113. The middle part of the second connecting frame 114 has an inner cavity with openings at the left and right ends, and the third drive module 115 is installed in the inner cavity of the second connecting frame 114. The third drive module 115 is arranged above the first drive module 111 and in front of the second drive module 113. The axis of the third drive module 115 extends along the left and right directions. The output shaft of the third drive module 115 is connected to the inner side of the lower end of the trunk shell 12 through the third connecting frame 116 above it.

[0047] As shown in Figure 2 and Figure 6 As shown, the inner cavity of the trunk shell 12 is fitted with a mounting frame 13 at the upper end. The mounting frame 13 is in left and right symmetrical structure, and a mounting hole for mounting the head mechanism 5 is vertically arranged in the middle part.

[0048] As shown in Figure 6 and Figure 7 As shown, the mounting frame 13 is symmetrically provided with a fourth drive module 14 at the left and right ends. The axis of the fourth drive module 14 is arranged along the left and right directions. The input end of the fourth drive module 14 is connected to the shoulder shell 15. The shoulder shell 15 comprises front and rear shells which are butted front and rear. The fifth drive module 16 is installed in the inner cavity of the shoulder shell 15 away from the trunk shell 12. The axis of the fifth drive module 16 is arranged along the front and rear direction. The output shaft of the fifth drive module 16 extends to the outside of the shoulder shell 15 and is connected to the first large arm shell 211 of the arm mechanism 2.

[0049] As shown in Figures 6 to 9As shown, the arm section mechanism 2 includes, in sequence along the left-right direction, a first large arm shell 211, a second large arm shell 212, a first small arm shell 213, and a second small arm shell 214.

[0050] The first large arm shell 211 includes front and rear shells which are butted together in front and rear directions. The front and rear shells of the first large arm shell 211 are rotatably arranged on the front and rear sides of the corresponding shoulder shell 15, and are connected to the output shaft of the fifth drive module 16. A large arm rotation drive module 22 is mounted at the end of the inner cavity of the first large arm shell 211 away from the torso mechanism 1. The axis of the large arm rotation drive module 22 is arranged along the left-right direction. A connecting protrusion 221 is provided on the outer periphery of the motor housing of the large arm rotation drive module 22. The connecting protrusion 221 is connected to the positioning block in the first large arm shell 211 by a bolt.

[0051] The second large arm shell 212 includes upper and lower shells which are butted together in up and down directions. The output shaft of the large arm rotation drive module 22 extends into the second large arm shell 212. A connecting block 222 extending along the axial direction is provided on the output shaft of the large arm rotation drive module 22. The large arm rotation drive module 22 is connected to the positioning block in the second large arm shell 212 through the connecting block 222. A large arm swing drive module 23 is mounted at the end of the inner cavity of the second large arm shell 212 away from the torso mechanism 1. The axis of the large arm swing drive module 23 is arranged along the vertical direction.

[0052] The first small arm shell 213 includes upper and lower shells which are butted together in up and down directions. The upper and lower shells of the first small arm shell 213 are rotatably arranged on the upper and lower sides of the corresponding second large arm shell 212. The output shaft of the large arm swing drive module 23 extends out of the second large arm shell 212 and is connected to the first small arm shell 213. The large arm swing drive module 23 is adapted to drive the first small arm shell 213 to swing up and down.

[0053] Further, in order to increase the up and down swing range of the first small arm shell 213, the outer periphery of the second large arm shell 212 is provided with a recessed surface 2121 for avoiding the first small arm shell 213.

[0054] Please refer to Figure 9 As shown, a small arm rotation drive module 24 is mounted at the end of the inner cavity of the first small arm shell 213 away from the second large arm shell 212. The axis of the small arm rotation drive module 24 is arranged along the left-right direction. The output shaft of the small arm rotation drive module 24 extends into the second small arm shell 214 and is connected to the inner side of the second small arm shell 214.

[0055] The second arm housing 214 comprises upper and lower shells which are docked vertically. A wrist driving module 25 is installed in the second arm housing 214. The axis of the wrist driving module 25 is arranged vertically. The lower shell of the second arm housing 214 is provided with an arc-shaped avoiding surface 2141 at the end away from the first arm housing 213. Below the arc-shaped avoiding surface 2141, a hand mechanism 6 is arranged. The top connecting rod of the hand mechanism 6 extends upward into the second arm housing 214 and is connected with the output shaft of the wrist driving module 25 through an arm transmission member.

[0056] In the embodiment, the arm transmission member comprises a connecting turntable 27 and a transmission rod 28. The inner cavity of the second arm housing 214 is provided with a support frame 26 extending in the left-right direction and arranged above the wrist driving module 25. The left and right ends of the top of the support frame 26 are both provided with a connecting turntable 27. One of the connecting turntables 27 is connected with the output shaft of the wrist driving module 25 below it, and the other connecting turntable 27 is connected with the top connecting rod of the hand mechanism 6 below it. The transmission rod 28 is arranged horizontally and connected with the edges of the corresponding connecting turntables 27 at both ends. When the wrist driving module 25 drives the connecting turntable 27 above it to rotate, the transmission rod 28 drives the other connecting turntable 27 to rotate, thereby driving the hand mechanism 6 to rotate.

[0057] In the embodiment, the hand mechanism 6 comprises a top connecting rod and a connecting sleeve fixed at the bottom of the top connecting rod. The connecting sleeve is provided with a joint module extending in the front-back direction. The output end of the joint module extends to the outside of the connecting sleeve and is connected with a U-shaped frame.

[0058] Further, in order to reduce the assembly steps and the number of bolts, part of the positioning blocks in the curved metal shell of the arm mechanism 2 and the leg mechanism 4 can serve as the connecting bosses of the two docked shells and the positioning and mounting blocks of the corresponding driving modules. Specifically, taking the first large arm housing 211 as an example. As shown in Figure 7 、 Figure 8 and Figure 10 , the first large arm housing 211 comprises front and rear shells which are docked front and rear. The rear shell of the first large arm housing 211 is provided with a positioning block, which is a first positioning table 2111. The first positioning table 2111 is provided with two threaded holes 2112 spaced apart thereon and a first pin hole 2113 arranged between the two threaded holes 2112. The outer periphery of the threaded hole 2112 is provided with a positioning protrusion 2114.

[0059] The outer periphery of the motor shell of the large arm rotating driving module 22 is provided with a connecting protrusion 221. The connecting protrusion 221 is correspondingly provided with a connecting through hole 223 matched with the positioning protrusion 2114 and a second pin hole 224 matched with the first pin hole 2113.

[0060] When the large arm rotating drive module 22 needs to be installed in the first large arm shell 211, the connecting through hole 223 is inserted with the positioning protrusion 2114, and then the first pin hole 2113 is connected with the second pin hole 224 through a pin shaft; thereafter, the front shell of the first large arm shell 211 is butted on the rear shell of the first large arm shell 211. The shank of the bolt is sequentially threaded through the front shell of the first large arm shell 211, the connecting through hole 223, and is screwed with the threaded hole 2112, so that the large arm rotating drive module 22 is effectively installed in the first large arm shell 211.

[0061] The motor shell of the large arm rotating drive module 22 can be an integrated structure or a split structure. When the motor shell is an integrated structure, the connecting protrusion 221 and the main body of the motor shell are integrally formed. When the motor shell is a split structure, the motor shell comprises a main shell and a connecting shell. The main shell is a cylindrical structure with both ends open. The connecting shell is also a cylindrical structure with both ends open, is sleeved outside the main shell, and is fixedly connected with the main shell. The outer peripheral wall of the connecting shell is provided with the connecting protrusion 221.

[0062] In general, the full-size integrated humanoid robot provided by the present application replaces the traditional shell and skeleton with a curved metal shell, reduces the volume of the hip mechanism, thereby reducing the volume of the humanoid robot, simplifying the assembly steps, realizing the lightweight of the humanoid robot, and meeting the structural strength requirement. The limbs of the humanoid robot adopt a curved metal shell made of 7-system aviation aluminum alloy and magnesium alloy, which takes into account the lightweight and structural strength requirement. A convex edge is arranged only on the upper part of the motor shell of the hip drive module to reduce the overall volume of the hip assembly; the control circuit board is externally arranged to reduce the width of the hip mechanism, thereby making the structure of the hip drive module more compact to realize the miniaturization requirement of the robot. The avoidance concave surface and the arc avoidance surface are additionally arranged on the arm mechanism to increase the movement range of the first small arm shell and the hand mechanism, and improve the flexibility of the robot. The decorative shell and the skeleton are integrated, which not only has industrial aesthetics, but also participates in structural bearing, improves the torsional stiffness and protection capability, reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0063] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A full-size, integrated humanoid robot, characterized in that, It includes a torso mechanism (1), arm mechanisms (2) located on the left and right sides of the upper end of the torso mechanism (1), a hip mechanism (3) located at the lower end of the torso mechanism (1), and leg mechanisms (4) located at the left and right ends of the hip mechanism (3). The drive modules of the arm mechanism (2) and the leg mechanism (4) are respectively installed in the inner cavity of the corresponding curved metal shell by bolts; The hip mechanism (3) includes a hip assembly and a hip curved shell (31) mounted on the front and rear sides of the hip assembly; the hip assembly includes a hip base (32) connected to the output shaft of the torso drive module (11) of the torso mechanism (1); the hip base (32) is an inverted U-shaped base with front and rear side plates, and hip drive modules (33) are symmetrically arranged at the left and right ends of the inner cavity of the hip base (32); the axis of the hip drive module (33) is arranged in the left and right direction, and the upper part of its motor housing is provided with a hip drive module (33) connected to the hip assembly. The hip base (32) has a raised edge (331) connected to the side plate edge; the control circuit board of the hip drive module (33) is set on the top of the hip base (32) through a fixing plate (34); the hip output shaft (332) of the hip drive module (33) extends to the outside of the hip base (32), and a hip joint (35) is sleeved on the outer periphery of the output end of the hip output shaft (332), and the hip joint (35) is connected to the radial hole (3321) on the outer periphery of the hip output shaft (332) by bolts; The thigh swing drive module (41) of the leg mechanism (4) is arranged along the front-back direction, installed in the hip joint (35), and located on the side of the hip output shaft (332) away from the hip base (32). The output end of the hip output shaft (332) is provided with an arc groove (3322) for avoiding the thigh swing drive module (41).

2. The humanoid robot according to claim 1, characterized in that, The curved metal shells of the arm mechanism (2) and the leg mechanism (4) are made of 7-series aerospace aluminum alloy and magnesium alloy. Corresponding wire holes are opened on the curved metal shells, and the inner wall of the curved metal shells is provided with reinforcing ribs. The torso shell (12) of the torso mechanism (1) is a metal shell or a plastic shell; The hip curved shell (31) is a metal shell or a plastic shell.

3. The humanoid robot according to claim 1, characterized in that, The two hip drive modules (33) are spaced apart at the left and right ends of the hip base (32). The motor cables of the hip drive modules (33) are connected to the control circuit board on the fixing plate (34) through the base cable hole (322) on the hip base (32). The fixing plate (34) includes front and rear plates that are joined together, and the front and rear plates surround the outer periphery of the torso drive module (11); The hip base (32) is provided with connecting flanges (321) at both the left and right ends; the hip base (32) is placed between the protrusions (331) of the two hip drive modules (33), and the connecting flanges (321) are connected to the protrusions (331) by bolts.

4. The humanoid robot according to claim 1, characterized in that, The torso drive module (11) includes a first drive module (111) connected to the upper end of the hip base (32). The first drive module (111) has its axis set vertically, and the outer periphery of the motor housing of the first drive module (111) is connected to the second drive module (113) through the first connecting bracket (112); the axis of the second drive module (113) is set in the front-back direction and is located above the first drive module (111); The first connecting frame (112) is U-shaped and includes a vertically arranged connecting sleeve and connecting parts arranged at the front and rear ends of the connecting sleeve; the outer periphery of the motor housing of the second drive module (113) is fixed on a connecting part of the first connecting frame (112), and a second connecting frame (114) is provided between the output shaft of the second drive module (113) and another connecting part of the first connecting frame (112); the second connecting frame (114) is rotatably arranged on the first connecting frame (112); The second connecting frame (114) has an inner cavity with openings at both the left and right ends. A third driving module (115) is provided inside the second connecting frame (114). The third driving module (115) is positioned above the first driving module (111), and its axis extends in the left and right direction. The output shaft of the third drive module (115) is connected to the lower end of the torso shell (12) of the torso mechanism (1) via the third connecting frame (116).

5. The humanoid robot according to claim 1, characterized in that, The leg mechanism (4) includes, from top to bottom, the upper thigh shell (421), the lower thigh shell (422), and the calf shell (423). The upper thigh housing (421) includes front and rear housings that are joined together. The front and rear housings of the upper thigh housing (421) are rotatably disposed on the front and rear sides corresponding to the hip joint (35). The output shaft of the thigh swing drive module (41) extends to the outside of the hip joint (35) and is connected to the inner side of the upper end of the upper thigh housing (421). The lower thigh shell (422) includes left and right shells that are joined together; a thigh rotation drive module (43) is provided between the upper thigh shell (421) and the lower thigh shell (422); the thigh rotation drive module (43) is arranged vertically at the lower end of the inner cavity of the upper thigh shell (421), its motor housing is fixed in the inner cavity of the upper thigh shell (421), and its output shaft extends downward into the lower thigh shell (422) and is fixedly connected to the inner side of the upper end of the lower thigh shell (422); The lower end of the inner cavity of the lower thigh shell (422) is provided with a calf swing drive module (44); the calf shell (423) includes left and right shells that are joined together; the left and right shells of the calf shell (423) are rotatably arranged on the left and right sides corresponding to the lower thigh shell (422); the calf swing drive module (44) is arranged in the left and right direction, and its output shaft extends to the outside of the lower thigh shell (422) and is connected to the inner side of the upper end of the calf shell (423).

6. The humanoid robot according to claim 5, characterized in that, The lower part of the calf housing (423) is provided with a foot mechanism (424); a foot drive module (45) is installed in the inner cavity of the calf housing (423). The foot drive module (45) is arranged in the left and right direction, its fixed end is fixed on the calf housing (423), and its output end is connected to the foot mechanism (424) through a leg transmission component.

7. The humanoid robot according to claim 1, characterized in that, The torso shell (12) of the torso mechanism (1) includes front and rear shells that are joined together. The upper end of the inner cavity of the torso shell (12) is equipped with a mounting bracket (13); the mounting bracket (13) has a left-right symmetrical structure, and a mounting hole for mounting the head mechanism (5) is opened in the middle. The mounting bracket (13) is symmetrically provided with a fourth drive module (14) arranged in the left and right directions, and the input end of the fourth drive module (14) is connected to the shoulder housing (15). The shoulder shell (15) includes front and rear shells that are joined together. A fifth drive module (16) is installed at the end of the inner cavity of the shoulder shell (15) away from the torso shell (12). The fifth drive module (16) is arranged in the front-to-back direction, and its output shaft extends to the outside of the shoulder housing (15) and is connected to the first upper arm housing (211) of the arm mechanism (2); The first boom housing (211) includes front and rear shells that are joined together. The front and rear shells of the first boom housing (211) are rotatably disposed on the front and rear sides corresponding to the shoulder housing (15).

8. The humanoid robot according to claim 1, characterized in that, The curved metal shell (21) of the arm mechanism (2) includes, in sequence along the left and right directions, a first upper arm shell (211), a second upper arm shell (212), and a first lower arm shell (213). The first upper arm housing (211) is connected to the fifth drive module (16) of the torso mechanism (1), and an upper arm rotation drive module (22) is installed at the end of the inner cavity of the first upper arm housing (211) away from the torso mechanism (1). The axis of the boom rotation drive module (22) is set in the left and right direction, and a connecting protrusion (221) is provided on its motor housing. The connecting protrusion (221) is connected to the positioning block in the first boom housing (211) by bolts. The second boom housing (212) includes upper and lower shells that are joined together. The output shaft of the boom rotation drive module (22) extends into the second boom housing (212) and is connected to the positioning block inside the second boom housing (212) via a connecting block (222); The second upper arm housing (212) has an upper arm swing drive module (23) installed at the end of the inner cavity away from the torso mechanism (1), and the axis of the upper arm swing drive module (23) is arranged in the vertical direction; The first forearm housing (213) includes upper and lower shells that are connected vertically. The upper and lower shells of the first forearm housing (213) are rotatably disposed on the upper and lower sides corresponding to the second upper arm housing (212). The output shaft of the upper arm swing drive module (23) extends to the outside of the second upper arm housing (212) and is connected to the first forearm housing (213).

9. The humanoid robot according to claim 8, characterized in that, The outer periphery of the second upper arm housing (212) is provided with a relief concave surface (2121) to allow the first lower arm housing (213) to be avoided.

10. The humanoid robot according to claim 8, characterized in that, A forearm rotation drive module (24) is installed at the end of the inner cavity of the first forearm housing (213) away from the second upper arm housing (212). The axis of the forearm rotation drive module (24) is arranged in the left-right direction, and its output shaft extends into the second forearm housing (214) and is connected to the second forearm housing (214); The second forearm housing (214) includes upper and lower shells that are connected vertically, and a vertically arranged wrist drive module (25) is installed inside the second forearm housing (214). The lower shell of the second forearm housing (214) is provided with an arc-shaped clearance surface (2141) at one end away from the first forearm housing (213), and a hand mechanism (6) is provided below the arc-shaped clearance surface (2141); the top connecting rod of the hand mechanism (6) extends upward into the second forearm housing (214) and is connected to the output shaft of the wrist drive module (25) through the arm transmission component.

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