Arm assembly and humanoid robot

Abstract

An arm assembly and a humanoid robot. The arm assembly is used for the humanoid robot. The arm assembly includes a upper arm shell, a first driving member, an elbow joint shell, a lower arm shell and a second driving member. The first driving member is at least partially accommodated in the upper arm shell and connected to the upper arm shell, the elbow joint shell is connected to the first driving member, the second driving member is at least partially accommodated in the lower arm shell and connected to the lower arm shell, and the second driving member is also connected to the elbow joint shell. By arranging that at least part of the first driving member is accommodated in the upper arm shell and connected to the upper arm shell and the elbow joint shell, and at least part of the second driving member is accommodated in the lower arm shell and connected to the elbow joint shell, the upper arm shell, the elbow joint shell and the lower arm shell serve as human-like skin and human-like bones at the same time, thereby simplifying the assembly procedure and achieving a better human-like effect.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to an arm assembly and a humanoid robot. Background Art

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots need to use their arms to carry objects, so the structural design of the arms of humanoid robots is particularly important. The arms in the prior art are usually connected to various motors through internal skeletons, and then covered with an outer shell, which has the problem of complicated assembly procedures and increased costs. Summary of the invention

[0003] The purpose of the present invention is to provide an arm assembly and a humanoid robot to solve the problem that the arm in the prior art is usually connected to various motors through an internal skeleton and then covered with an outer shell, which results in complicated assembly procedures and increased costs.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides an arm assembly for a humanoid robot, comprising: a large arm housing; a first driving member, at least partially contained in the large arm housing and connected to the large arm housing; an elbow joint housing, connected to the first driving member; a small arm housing; a second driving member, at least partially contained in the small arm housing and connected to the small arm housing, and the second driving member is also connected to the elbow joint housing. By arranging that at least a portion of the first driving member is contained in the large arm housing and connected to the large arm housing and the elbow joint housing, and at least a portion of the second driving member is contained in the small arm housing and connected to the small arm housing and the elbow joint housing, the large arm housing, the elbow joint housing and the small arm housing serve as human-like skin and human-like bones at the same time, simplifying the assembly procedure and achieving a better human-like effect.

[0006] In one embodiment, the elbow joint housing is enclosed to form a U-shaped groove, the U-shaped groove penetrates the elbow joint housing in a first direction, and the opening direction of the U-shaped groove is a second direction, part of the upper arm housing and the first driving member are both accommodated in the U-shaped groove, the bottom wall of the U-shaped groove is opposite to the opening of the U-shaped groove, the bottom wall of the U-shaped groove is used to limit the upper arm housing, and the first direction intersects with the second direction. By setting a U-shaped groove penetrating the elbow joint housing in the first direction on the elbow joint housing, and the opening direction of the U-shaped groove is a second direction, part of the upper arm housing and the first driving member are both accommodated in the U-shaped groove, the bottom wall of the U-shaped groove is opposite to the opening of the U-shaped groove, and the bottom wall of the U-shaped groove is used to limit the upper arm housing, so that when the upper arm housing rotates around the first axis L relative to the elbow joint housing, the angle between the upper arm housing and the forearm housing is limited to a preset range, thereby preventing motion interference between the upper arm housing and the forearm housing.

[0007] In one embodiment, the elbow joint shell includes a first connecting shell, a second connecting shell and a third connecting shell connected in sequence, the first connecting shell and the third connecting shell are arranged relatively spaced in a third direction, the first connecting shell, the second connecting shell and the third connecting shell are enclosed to form the U-shaped groove, and the second connecting shell has a bottom wall of the U-shaped groove; the first driving member is connected to the first connecting shell and / or the third connecting shell, the first driving member is used to drive the upper arm shell and the elbow joint shell to rotate relative to each other around an axis extending along the third direction, the second connecting shell is used to limit the upper arm shell, and the third direction intersects with the first direction and the second direction. By setting an elbow joint shell including a first connecting shell, a second connecting shell and a third connecting shell connected in sequence, the first connecting shell and the third connecting shell are relatively spaced in a third direction, and the first connecting shell, the second connecting shell and the third connecting shell are enclosed to form a U-shaped groove, so that the first connecting shell and the third connecting shell can cover the first driving member and part of the upper arm shell in the third direction, thereby improving the anthropomorphic effect of the arm assembly, and by setting a first driving member connected to the first connecting shell and / or the third connecting shell, the first driving member is used to drive the upper arm shell and the elbow joint shell to rotate relative to each other around an axis extending along the third direction, the second connecting shell has a bottom wall of the U-shaped groove, and the second connecting shell is used to limit the upper arm shell, and the third direction intersects with the first direction and the second direction, so that the first connecting shell and / or the third connecting shell are only used to connect with the first driving member, and the second connecting shell is only used to limit the rotation angle of the upper arm shell, thereby preventing motion interference between the upper arm shell and the elbow joint shell.

[0008] In one embodiment, the upper arm housing includes a first housing, and the first housing has an avoidance groove at one end close to the elbow joint housing, the avoidance groove penetrates the first housing along the third direction, and the avoidance groove is used to accommodate part of the second connection shell. By setting the upper arm housing to include the first housing, the first housing has an avoidance groove at one end close to the elbow joint housing, the avoidance groove penetrates the first housing along the third direction, and the avoidance groove is used to accommodate part of the second connection shell, so that the rotation angle of the upper arm housing relative to the elbow joint housing is larger, which is more in line with the human body structure, and the humanoid effect of the humanoid robot is improved.

[0009] In one embodiment, the upper arm housing further includes a second housing, a portion of which is received in the avoidance groove and connected to the first housing, another portion of which is received in the U-shaped groove, and the second housing covers at least a portion of the U-shaped groove and at least a portion of the avoidance groove. By providing the second housing, a portion of the second housing is received in the avoidance groove and connected to the first housing, another portion of the second housing is received in the U-shaped groove, and the second housing covers at least a portion of the U-shaped groove and at least a portion of the avoidance groove, so that the appearance of the arm assembly is smooth and the human-like effect is better, and the second housing isolates the first driving member in the U-shaped groove from external moisture or dust to prevent the first driving member from being damaged.

[0010] In one embodiment, the first housing includes a first shell and a second shell, the first shell and the second shell are detachably connected in the third direction, and the first driving member is connected to the first shell and / or the second shell. By setting the first housing to include the first shell and the second shell, the first shell and the second shell are detachably connected in the third direction, and the first driving member is connected to the first shell and / or the second shell, the first shell is first connected to the first driving member and then connected to the second shell, or the second shell is first connected to the first driving member and then connected to the first shell, thereby reducing the difficulty of installing the first driving member.

[0011] In one embodiment, the elbow joint housing is provided with a first limiting groove extending in the circumferential direction, and the arm assembly further includes a first limiting member, which is accommodated in the elbow joint housing and connected to the upper arm housing, and the first limiting member is used to abut against the side walls at both ends of the first limiting groove in the circumferential direction. By setting the elbow joint housing to be provided with a first limiting groove extending in the circumferential direction, the arm assembly further includes a first limiting member, which is accommodated in the elbow joint housing and connected to the upper arm housing, and the first limiting member is used to abut against the side walls at both ends of the first limiting groove in the circumferential direction, so that when the upper arm housing rotates relative to the elbow joint housing, the angle between the upper arm housing and the lower arm housing is limited to a preset range, thereby preventing motion interference between the upper arm housing and the lower arm housing.

[0012] In one embodiment, the forearm housing includes a third housing and a fourth housing, the third housing has an installation space, the fourth housing is connected to one end of the third housing away from the elbow joint housing, the second drive member is accommodated in the installation space and is connected and fixed to the third housing; the arm assembly also includes a third drive member and a palm structure, the third drive member is transmission-connected to the palm structure, the third drive member is accommodated in the installation space and is connected to the third housing, and the palm structure is connected to the fourth housing. By setting the forearm housing to include a third housing and a fourth housing, the third housing has an installation space, the fourth housing is connected to one end of the third housing away from the elbow joint housing, the second drive member is accommodated in the installation space and is connected and fixed to the third housing, the arm assembly also includes a third drive member and a palm structure, the third drive member is transmission-connected to the palm structure, the third drive member is accommodated in the installation space and is connected to the third housing, and the palm structure is connected to the fourth housing, so that the palm structure can rotate relative to the forearm housing, thereby realizing the wrist function, and the palm structure will not interfere with the third housing when rotating.

[0013] In one embodiment, the forearm housing further includes a fifth housing and a sixth housing, the third housing further includes a first through hole and a second through hole, the first through hole and the second through hole are respectively arranged at the two ends of the third housing in the second direction, and the first through hole and the second through hole are both connected to the installation space; the third driving member is used to enter the installation space from the first through hole and / or the second through hole, the fifth housing is connected to the third housing and closes the first through hole, and the sixth housing is connected to the third housing and closes the second through hole. By setting the forearm housing to also include a fifth housing and a sixth housing, the third housing further includes a first through hole and a second through hole, the first through hole and the second through hole are respectively arranged at the two ends of the third housing in the second direction, and the first through hole and the second through hole are both connected to the installation space, the third driving member is used to enter the installation space from the first through hole and / or the second through hole, the fifth housing is connected to the third housing and closes the first through hole, and the sixth housing is connected to the third housing and closes the second through hole, thereby reducing the difficulty of assembling the third driving member.

[0014] In one embodiment, the elbow joint housing is further provided with a second limiting groove extending in the circumferential direction, and the arm assembly further includes a second limiting member, a portion of the second limiting member is received in the forearm housing and connected to the forearm housing, and another portion of the second limiting member is received in the second limiting groove and is used to abut against the side walls at both ends of the second limiting groove in the circumferential direction. By setting the elbow joint housing to also be provided with a second limiting groove extending in the circumferential direction, the arm assembly further includes a second limiting member, a portion of the second limiting member is received in the forearm housing and connected to the forearm housing, and another portion of the second limiting member is received in the second limiting groove and is used to abut against the side walls at both ends of the second limiting groove in the circumferential direction, the rotation angle of the forearm housing relative to the elbow joint housing is limited within a preset range, thereby preventing the forearm housing from excessively rotating to damage the second drive member or interfering with other parts in motion.

[0015] In one embodiment, the arm assembly further comprises a shoulder joint housing and a fourth driving member, at least a portion of which is accommodated in the upper arm housing and connected to the shoulder joint housing. By providing the shoulder joint housing and the fourth driving member, at least a portion of which is accommodated in the upper arm housing and connected to the shoulder joint housing, the upper arm housing can drive the elbow joint housing, the forearm housing and the palm structure to rotate synchronously relative to the shoulder joint housing, and the humanoid effect is better.

[0016] In one embodiment, the shoulder joint housing is provided with a third limit groove extending in the circumferential direction, and the arm assembly also includes a third limit piece, a portion of the third limit piece is accommodated in the upper arm housing and connected to the upper arm housing, and another portion of the third limit piece is accommodated in the third limit groove and used to abut against the side walls of the third limit groove at both ends in the circumferential direction. By setting the shoulder joint housing to be provided with a third limit groove extending in the circumferential direction, the arm assembly also includes a third limit piece, a portion of the third limit piece is accommodated in the upper arm housing and connected to the upper arm housing, and another portion of the third limit piece is accommodated in the third limit groove and used to abut against the side walls of the third limit groove at both ends in the circumferential direction, the rotation angle of the upper arm housing relative to the shoulder joint housing is limited within a preset range, and the risks of excessive rotation and motion interference are not prone to occur.

[0017] In one embodiment, the shoulder joint housing includes a seventh housing and an eighth housing, the arm assembly also includes a fifth driving member, at least a portion of the fifth driving member is accommodated in the seventh housing and connected to the eighth housing, the eighth housing is connected to the fourth driving member, and the seventh housing is used to connect to the trunk assembly. By arranging the shoulder joint housing to include a seventh housing and an eighth housing, the arm assembly also includes a fifth driving member, at least a portion of the fifth driving member is accommodated in the seventh housing and connected to the eighth housing, the eighth housing is connected to the fourth driving member, and the seventh housing is used to connect to the trunk assembly, so that the fifth driving member can drive the eighth housing, the upper arm housing, the elbow joint housing, the forearm housing and the palm structure to rotate relative to the trunk assembly, and the human-like effect is better.

[0018] In one embodiment, the eighth shell is provided with a fourth limit groove extending in the annular direction, and the arm assembly further includes a fourth limit piece, the fourth limit piece is connected to the seventh shell, at least a portion of the fourth limit piece is accommodated in the fourth limit groove, and the fourth limit piece is used to abut against the side walls of the fourth limit groove at both ends in the annular direction. By setting the eighth shell to be provided with a fourth limit groove extending in the annular direction, the arm assembly further includes a fourth limit piece, the fourth limit piece is connected to the seventh shell, at least a portion of the fourth limit piece is accommodated in the fourth limit groove, and the fourth limit piece is used to abut against the side walls of the fourth limit groove at both ends in the annular direction, so that the rotation angle of the eighth shell relative to the seventh shell is limited within a preset range, thereby preventing the arm assembly from excessive rotation and motion interference with other parts.

[0019] In a second aspect, the present invention further provides a humanoid robot, comprising a trunk component and an arm assembly described in any one of the embodiments of the first aspect, wherein the trunk component comprises a trunk shell and a sixth drive member, at least a portion of the sixth drive member is accommodated in the trunk shell and connected to the trunk shell, and the sixth drive member is connected to the arm assembly. The humanoid robot provided by the present invention, by adopting a trunk component and an arm assembly in an embodiment of the present invention, the trunk component comprises a trunk shell and a sixth drive member, at least a portion of the sixth drive member is accommodated in the trunk shell and connected to the trunk shell, and the sixth drive member is connected to the arm assembly, thereby achieving humanoid upper limb movement of the humanoid robot, and the humanoid upper limb movement has a good humanoid effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a structural intention of an arm assembly of an embodiment;

[0022] Figure 2 is a partial exploded view A of an arm assembly of an embodiment;

[0023] Figure 3 is a partial exploded view B of an arm assembly of an embodiment;

[0024] Figure 4 A cross-sectional view of an arm assembly of an embodiment Figure I ;

[0025] Figure 5 A cross-sectional view of an arm assembly of an embodiment Figure II ;

[0026] Figure 6 A cross-sectional view of an arm assembly of an embodiment Figure III ;

[0027] Figure 7 A cross-sectional view of an arm assembly of an embodiment Figure IV .

[0028] Description of reference numerals:

[0029] 100-arm assembly;

[0030] 10-big arm housing, 11-first housing, 111-avoidance groove, 112-third bottom wall, 113-fourth bottom wall, 114-first housing, 115-second housing, 116-fifth housing, 12-second housing, 13-fourth through hole;

[0031] 20-elbow joint housing, 21-U-shaped groove, 211-first bottom wall, 212-second bottom wall, 22-first connecting shell, 23-second connecting shell, 231-third shell, 232-fourth shell, 24-third connecting shell, 25-connecting piece, 26-wire management piece, 27-first limiting groove, 28-second limiting groove;

[0032] 30- small arm housing, 31- third through hole, 32- third housing, 321- first through hole, 33- fourth housing, 34- fifth housing, 35- sixth housing;

[0033] 40 - first driving member, 401 - mounting shell, 402 - circuit board, 41 - second driving member, 42 - third driving member, 43 - fourth driving member, 44 - fifth driving member;

[0034] 50-first limiting member, 51-second limiting member, 52-third limiting member, 53-fourth limiting member, 54-fifth limiting member;

[0035] 60- Palm structure;

[0036] 70-shoulder joint housing, 71-seventh housing, 72-eighth housing, 721-fourth connecting housing, 722-fifth connecting housing, 723-sixth connecting housing, 724-fourth limiting groove, 73-third limiting groove;

[0037] L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis, L6-sixth axis;

[0038] X-third direction, Y-first direction, Z-second direction. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0041] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0042] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] Please refer to Figures 1 to 3 The present invention provides an arm assembly 100 for a humanoid robot, including a large arm housing 10, a first driving member 40, an elbow joint housing 20, a small arm housing 30 and a second driving member 41. The first driving member 40 is at least partially accommodated in the large arm housing 10 and connected to the large arm housing 10, the elbow joint housing 20 is connected to the first driving member 40, the second driving member 41 is at least partially accommodated in the small arm housing 30 and connected to the small arm housing 30, and the second driving member 41 is also connected to the elbow joint housing 20.

[0044] The upper arm housing 10 is used to rotate around a first axis L1 relative to the elbow joint housing 20, and the lower arm housing 30 is used to rotate around a second axis L2 relative to the elbow joint housing 20, and the first axis L1 and the second axis L2 intersect. Optionally, the first axis L1 extends along a third direction X, and the second axis L2 extends along a second direction Z, and the second direction Z intersects the third direction X. Exemplarily, the third direction X corresponds to the width direction of the upper arm housing 10, and the second direction Z corresponds to the length direction of the lower arm housing 30.

[0045] Optionally, the first driving member 40 includes a mounting shell 401, a motor (not shown), a circuit board 402 and a reduction device (not shown), the motor, the circuit board 402 and the reduction device are all installed in the mounting shell 401, the circuit board 402 is electrically connected to the motor to control the speed and rotation direction of the motor, the plug-in terminal of the circuit board 402 is exposed from the mounting shell 401 for connecting cables (not shown), the mounting shell 401 is connected and fixed to the upper arm housing 10, the reduction device is connected to the output shaft of the motor, and the output end of the reduction device is connected and fixed to the elbow joint housing 20. Optionally, the structure of the second driving member 41 is similar to that of the first driving member 40, and can be referred to and will not be repeated.

[0046] Optionally, a third through hole 31 is formed at one end of the forearm housing 30 close to the elbow joint housing 20, and the second driving member 41 is connected to the elbow joint housing 20 through the third through hole 31. Optionally, an outer surface of one end of the elbow joint housing 20 close to the forearm housing 30 is connected to and flush with an outer surface of the forearm housing 30.

[0047] By arranging that at least a portion of the first driving member 40 is housed in the upper arm housing 10 and connects the upper arm housing 10 and the elbow joint housing 20, and at least a portion of the second driving member 41 is housed in the lower arm housing 30 and connects the lower arm housing 30 and the elbow joint housing 20, the upper arm housing 10, the elbow joint housing 20 and the lower arm housing 30 can serve as human skin and human skeleton at the same time, thereby simplifying the assembly procedure and achieving a better human simulation effect.

[0048] Please refer to Figure 2 The elbow joint housing 20 is enclosed to form a U-shaped groove 21, the U-shaped groove 21 penetrates the elbow joint housing 20 in the first direction Y, and the opening direction of the U-shaped groove 21 is the second direction Z, part of the upper arm housing 10 and the first driving member 40 are both accommodated in the U-shaped groove 21, the bottom wall of the U-shaped groove 21 is opposite to the opening of the U-shaped groove 21, and the bottom wall of the U-shaped groove 21 is used to limit the upper arm housing 10, and the first direction Y intersects with the second direction Z.

[0049] Optionally, the U-shaped groove 21 includes a first bottom wall 211 and a second bottom wall 212 in the second direction Z, the first bottom wall 211 and the second bottom wall 212 are relatively spaced apart in the first direction Y, the first bottom wall 211 and the second bottom wall 212 are spaced apart in the second direction Z, and the first bottom wall 211 and the second bottom wall 212 are both used to abut against the upper arm housing 10 to limit the rotation angle of the upper arm housing 10.

[0050] A U-shaped groove 21 is set on the elbow joint housing 20 and penetrates the elbow joint housing 20 in the first direction Y, and the opening direction of the U-shaped groove 21 is the second direction Z. Part of the upper arm housing 10 and the first driving member 40 are both accommodated in the U-shaped groove 21, and the bottom wall of the U-shaped groove 21 is opposite to the opening of the U-shaped groove 21. The bottom wall of the U-shaped groove 21 is used to limit the upper arm housing 10, so that when the upper arm housing 10 rotates around the first axis L1 relative to the elbow joint housing 20, the angle between the upper arm housing 10 and the forearm housing 30 is limited to a preset range, thereby preventing motion interference between the upper arm housing 10 and the forearm housing 30.

[0051] Please refer to Figure 2 The elbow joint housing 20 includes a first connecting shell 22, a second connecting shell 23 and a third connecting shell 24 connected in sequence. The first connecting shell 22 and the third connecting shell 24 are relatively spaced apart in the third direction X. The first connecting shell 22, the second connecting shell 23 and the third connecting shell 24 enclose a U-shaped groove 21. The second connecting shell 23 has a bottom wall of the U-shaped groove 21. The first driving member 40 is connected to the first connecting shell 22 and / or the third connecting shell 24. The first driving member 40 is used to drive the upper arm housing 10 and the elbow joint housing 20 to rotate relative to each other around an axis extending along the third direction X. The second connecting shell 23 is used to limit the upper arm housing 10. The third direction X intersects with the first direction Y and the second direction Z.

[0052] Optionally, the first bottom wall 211 and the second bottom wall 212 are both disposed on the second connection shell 23. Optionally, the second connection shell 23 includes a third shell 231 and a fourth shell 232, the third shell 231 and the fourth shell 232 are detachably connected in the third direction X, the first connection shell 22 is connected to the third shell 231, and the second connection shell 23 is connected to the fourth shell 232. Optionally, the first connection shell 22 and the third shell 231 are an integrated structure, and the second connection shell 23 and the fourth shell 232 are an integrated structure.

[0053] Optionally, the elbow joint housing 20 further includes a connecting member 25, the connecting member 25 is received in the second connecting shell 23 and is connected and fixed to the second connecting shell 23, and the connecting member 25 is connected to the aforementioned second driving member 41. Optionally, the elbow joint housing 20 further includes a wire management member 26, the wire management member 26 is connected to the surface of the connecting member 25 facing the first driving member 40, and the wire management member 26 is used to accommodate wires (not shown).

[0054] By setting the elbow joint housing 20 to include a first connecting shell 22, a second connecting shell 23 and a third connecting shell 24 connected in sequence, the first connecting shell 22 and the third connecting shell 24 are arranged at a relative interval in the third direction X, and the first connecting shell 22, the second connecting shell 23 and the third connecting shell 24 are surrounded to form a U-shaped groove 21, so that the first connecting shell 22 and the third connecting shell 24 can cover the first driving member 40 and the part of the upper arm housing 10 in the third direction X, thereby improving the human-like effect of the arm assembly 100, and by setting the first driving member 40 and the first connecting shell 22 and / or the third The connecting shell 24 is connected, the first driving member 40 is used to drive the upper arm housing 10 and the elbow joint housing 20 to rotate relative to each other around an axis extending along the third direction X, the second connecting shell 23 has a bottom wall of the U-shaped groove 21, and the second connecting shell 23 is used to limit the upper arm housing 10. The third direction X intersects with the first direction Y and the second direction Z, so that the first connecting shell 22 and / or the third connecting shell 24 are only used to connect with the first driving member 40, and the second connecting shell 23 is only used to limit the rotation angle of the upper arm housing 10 to prevent motion interference between the upper arm housing 10 and the elbow joint housing 20.

[0055] Please refer to Figure 2 The upper arm housing 10 includes a first housing 11. The first housing 11 has an avoidance groove 111 at one end close to the elbow joint housing 20. The avoidance groove 111 penetrates the first housing 11 along the third direction X. The avoidance groove 111 is used to accommodate part of the second connecting shell 23.

[0056] Among them, the bottom wall of the avoidance groove 111 is recessed in the first direction Y into the outer surface of the first shell 11 outside the avoidance groove 111. When the upper arm shell 10 rotates relative to the elbow joint shell 20, the aforementioned first bottom wall 211 is used to extend into the avoidance groove 111 and abut against the bottom wall of the avoidance groove 111.

[0057] Optionally, the avoidance groove 111 includes a third bottom wall 112 and a fourth bottom wall 113, the third bottom wall 112 is connected to one end of the fourth bottom wall 113 away from the elbow joint housing 20, the third bottom wall 112 extends along the third direction X, and also extends obliquely relative to the first direction Y and the second direction Z, the fourth bottom wall 113 extends along the third direction X, and also extends along the second direction Z, and the fourth bottom wall 113 is used to abut against the aforementioned first bottom wall 211.

[0058] By setting the upper arm shell 10 to include a first shell 11, the first shell 11 has an avoidance groove 111 at one end close to the elbow joint shell 20, and the avoidance groove 111 penetrates the first shell 11 along the third direction X. The avoidance groove 111 is used to accommodate part of the second connecting shell 23, so that the rotation angle of the upper arm shell 10 relative to the elbow joint shell 20 is larger, which is more in line with the human body structure, thereby improving the humanoid effect of the humanoid robot.

[0059] Please refer to Figure 1 and Figure 2 The upper arm housing 10 also includes a second housing 12, a portion of the second housing 12 is accommodated in the avoidance groove 111 and connected to the first housing 11, and another portion of the second housing 12 is accommodated in the U-shaped groove 21, and the second housing 12 covers at least a portion of the U-shaped groove 21 and at least a portion of the avoidance groove 111.

[0060] Optionally, the second housing 12 is detachably connected to the third bottom wall 112, and the second housing 12 is detachably connected to the first housing 11 by means of snap connection, screw connection, magnetic attraction, etc., without limitation. Optionally, the outer surface of the second housing 12 is connected to and flush with the outer surface of the first housing 11.

[0061] In one embodiment, the second shell 12 can be made of a material that meets the requirements of structural strength, high hardness and easy processing and forming, specifically aluminum alloy, stainless steel, magnesium alloy, etc., without limitation. When the elbow joint shell 20 rotates relative to the upper arm shell 10, the second connecting shell 23 is always located on the side of the second shell 12 facing away from the first driving member 40.

[0062] In another embodiment, the second shell 12 can be made of a material that meets the requirements of structural strength, low hardness and easy processing and molding, specifically rubber and silicone, wherein the second shell 12 is also connected to the second connecting shell 23. When the upper arm shell 10 rotates relative to the elbow joint shell 20, the second shell 12 is deformed under the drive of the upper arm shell 10 and the elbow joint shell 20.

[0063] By setting the second shell 12, a part of the second shell 12 is accommodated in the avoidance groove 111 and connected to the first shell 11, and the other part of the second shell 12 is accommodated in the U-shaped groove 21. The second shell 12 covers at least a part of the U-shaped groove 21 and at least a part of the avoidance groove 111, so that the appearance of the arm assembly 100 is smooth and the human-like effect is better. In addition, the second shell 12 isolates the first driving component 40 in the U-shaped groove 21 from external moisture or dust to prevent the first driving component 40 from being damaged.

[0064] Please refer to Figure 1 and Figure 2 The first housing 11 includes a first shell 114 and a second shell 115 , the first shell 114 and the second shell 115 are detachably connected in the third direction X, and the first driving member 40 is connected to the first shell 114 and / or the second shell 115 .

[0065] Optionally, the first shell 114 and the second shell 115 can be detachably connected by means of snap connection, screw connection, riveting and magnetic attraction, etc., without limitation. Optionally, the first shell 11 also includes a fifth shell 116, the fifth shell 116 is connected to the first shell 114, the fifth shell 116 is located at the end of the fourth bottom wall 113 away from the third bottom wall 112, a part of the first driving member 40 is accommodated in the fifth shell 116 and connected to the fifth shell 116, and the other part is located outside the fifth shell 116, and the first driving member 40 passes through the through hole on the fifth shell 116 and is connected to the first connecting shell 22.

[0066] By setting the first shell 11 to include a first shell 114 and a second shell 115, the first shell 114 and the second shell 115 are detachably connected in the third direction X, and the first driving member 40 is connected to the first shell 114 and / or the second shell 115, so that the first shell 114 is first connected to the first driving member 40 and then the first shell 114 is connected to the second shell 115, or the second shell 115 is first connected to the first driving member 40 and then the second shell 115 is connected to the first shell 114, thereby reducing the difficulty of installing the first driving member 40.

[0067] Please refer to Figure 2 and Figure 4 The elbow joint housing 20 is provided with a first limiting groove 27 extending in the annular direction. The arm assembly 100 also includes a first limiting member 50, which is accommodated in the elbow joint housing 20 and connected to the upper arm housing 10. The first limiting member 50 is used to abut against the side walls of the first limiting groove 27 at both ends in the annular direction.

[0068] Optionally, the first stopper 50 is connected to the surface of the fifth shell 116 facing away from the second shell 115. Optionally, the first stopper 50 and the fifth shell 116 can be an integrated structure, or can be detachably connected by means of snap connection, screw connection, riveting and magnetic attraction, etc., without limitation. Optionally, in the orthographic projection on the third direction X, the contour shape of the first stopper 50 can be circular, elliptical, triangular, etc., without limitation, and correspondingly, the shape of the side walls of the first stopper groove 27 at both ends in the annular direction is set corresponding to the first stopper 50.

[0069] By setting the elbow joint housing 20 to have a first limiting groove 27 extending in the circumferential direction, the arm assembly 100 also includes a first limiting member 50, which is accommodated in the elbow joint housing 20 and connected to the upper arm housing 10, and the first limiting member 50 is used to abut against the side walls of the first limiting groove 27 at both ends in the circumferential direction, so that when the upper arm housing 10 rotates relative to the elbow joint housing 20, the angle between the upper arm housing 10 and the lower arm housing 30 is limited within a preset range, thereby preventing motion interference between the upper arm housing 10 and the lower arm housing 30.

[0070] Please refer to Figure 1 and Figure 3 The forearm housing 30 includes a third housing 32 and a fourth housing 33. The third housing 32 has an installation space. The fourth housing 33 is connected to an end of the third housing 32 away from the elbow joint housing 20. The second driving member 41 is accommodated in the installation space and is fixedly connected to the third housing 32. The arm assembly 100 also includes a third driving member 42 and a palm structure 60. The third driving member 42 is transmission-connected to the palm structure 60. The third driving member 42 is accommodated in the installation space and is connected to the third housing 32. The palm structure 60 is connected to the fourth housing 33.

[0071] Optionally, the third shell 32 and the fourth shell 33 can be an integrated structure, or can be detachably connected by means of snap connection, screw connection, and riveting, without limitation. Optionally, the palm structure 60 is rotatably connected to the fourth shell 33 via a bearing, and the third driving member 42 is used to drive the palm structure 60 to rotate around the third axis L3 relative to the fourth shell 33. The third driving member 42 is also used to drive the palm structure 60 to rotate around the fourth axis L4 relative to the fourth shell 33, and the third axis L3 intersects with the fourth axis L4. Optionally, the third axis L3 extends along the thickness direction of the palm structure 60, and the fourth axis L4 extends along the width direction of the palm structure 60.

[0072] The forearm housing 30 includes a third housing 32 and a fourth housing 33, the third housing 32 has an installation space, the fourth housing 33 is connected to an end of the third housing 32 away from the elbow joint housing 20, the second driving member 41 is accommodated in the installation space and is fixedly connected to the third housing 32, the arm assembly 100 also includes a third driving member 42 and a palm structure 60, the third driving member 42 is transmission-connected to the palm structure 60, the third driving member 42 is accommodated in the installation space and is connected to the third housing 32, the palm structure 60 is connected to the fourth housing 33, so that the palm structure 60 can rotate relative to the forearm housing 30, thereby realizing the wrist function, and the palm structure 60 will not interfere with the third housing 32 when rotating.

[0073] Please refer to Figure 1 and Figure 3 The forearm housing 30 also includes a fifth housing 34 and a sixth housing 35. The third housing 32 is also provided with a first through hole 321 and a second through hole (not shown). The first through hole 321 and the second through hole are respectively arranged at two ends of the third housing 32 in the second direction Z. The first through hole 321 and the second through hole are both connected to the installation space. The third driving member 42 is used to enter the installation space from the first through hole 321 and / or the second through hole. The fifth housing 34 is connected to the third housing 32 and closes the first through hole 321. The sixth housing 35 is connected to the third housing 32 and closes the second through hole.

[0074] Optionally, the outer surface of the fifth housing 34 is connected and flush with the outer surface of the third housing 32, and the outer surface of the sixth housing 35 is connected and flush with the outer surface of the third housing 32. Optionally, both the fifth housing 34 and the sixth housing 35 can be detachably connected to the third housing 32 by means of snap connection, screw connection, riveting, magnetic attraction, etc., without limitation.

[0075] Optionally, the outer circumferential surface of the fifth housing 116 and the outer circumferential surface of the sixth housing are both provided with a seal (not shown), and the seal abuts against the bottom wall of the first through hole 321 and the second through hole to prevent water or dust from entering. Optionally, the seal may also be provided around the bottom wall of the first through hole 321 and the bottom wall of the second through hole.

[0076] By setting the forearm housing 30 to also include a fifth housing 34 and a sixth housing 35, the third housing 32 is also provided with a first through hole 321 and a second through hole, the first through hole 321 and the second through hole are respectively arranged at two ends of the third housing 32 in the second direction Z, the first through hole 321 and the second through hole are both connected to the installation space, the third driving member 42 is used to enter the installation space from the first through hole 321 and / or the second through hole, the fifth housing 34 is connected to the third housing 32 and closes the first through hole 321, the sixth housing 35 is connected to the third housing 32 and closes the second through hole, thereby reducing the difficulty of assembling the third driving member 42.

[0077] Please refer to Figure 2 , Figure 3 and Figure 5 The elbow joint housing 20 is also provided with a second limiting groove 28 extending in the annular direction. The arm assembly 100 also includes a second limiting member 51. A portion of the second limiting member 51 is accommodated in the forearm housing 30 and connected to the forearm housing 30, and another portion of the second limiting member 51 is accommodated in the second limiting groove 28 and is used to abut against the side walls of the second limiting groove 28 at both ends in the annular direction.

[0078] Specifically, the second stopper 51 is used to abut against both ends of the aforementioned connecting member 25 in the first direction Y. Optionally, at least a portion of the second stopper 51 is accommodated in the aforementioned third through hole 31 and connected to the aforementioned third housing 32, and the second stopper 51 is also connected and fixed to the housing of the second driving member 41, and the output end of the second driving member 41 is penetrated by the second stopper 51 and connected to the elbow joint housing 20. Optionally, the second stopper 51 and the forearm housing 30 can be an integrated structure, or can be detachably connected by means of snap connection, screw connection, riveting, magnetic attraction, etc., without limitation.

[0079] By setting the elbow joint housing 20 to also have a second limiting groove 28 extending in the circumferential direction, the arm assembly 100 also includes a second limiting member 51, a part of the second limiting member 51 is accommodated in the forearm housing 30 and connected to the forearm housing 30, and the other part of the second limiting member 51 is accommodated in the second limiting groove 28 and is used to abut against the side walls of the second limiting groove 28 at both ends in the circumferential direction, so that the rotation angle of the forearm housing 30 relative to the elbow joint housing 20 is limited within a preset range, thereby preventing the forearm housing 30 from rotating excessively to damage the second driving member 41 or interfere with the movement of other parts.

[0080] Please refer to Figure 1 and Figure 2 The arm assembly 100 also includes a shoulder joint housing 70 and a fourth driving member 43 , at least a portion of the fourth driving member 43 is accommodated in the upper arm housing 10 and connected to the shoulder joint housing 70 .

[0081] Optionally, a fourth through hole 13 is formed at one end of the upper arm housing 10 away from the elbow joint housing 20, and the fourth driving member 43 is connected to the shoulder joint housing 70 through the fourth through hole 13. Optionally, the fourth driving member 43 is used to drive the upper arm housing 10 to rotate around a fifth axis L5 relative to the shoulder joint housing 70, and the fifth axis L5 extends along the length direction of the upper arm housing 10. Optionally, the outer surface of the shoulder joint housing 70 is connected to and flush with the outer surface of the upper arm housing 10. The structure of the fourth driving member 43 is similar to that of the aforementioned first driving member 40, and reference can be made thereto without further elaboration.

[0082] By setting the shoulder joint housing 70 and the fourth driving member 43, at least a portion of the fourth driving member 43 is accommodated in the upper arm housing 10 and connected to the shoulder joint housing 70, so that the upper arm housing 10 can drive the elbow joint housing 20, the forearm housing 30 and the palm structure 60 to rotate synchronously relative to the shoulder joint housing 70, and the humanoid effect is better.

[0083] Please refer to Figure 1 and Figure 2 The shoulder joint housing 70 includes a seventh housing 71 and an eighth housing 72. The arm assembly 100 also includes a fifth driving member 44. At least a portion of the fifth driving member 44 is accommodated in the seventh housing 71 and connected to the eighth housing 72. The eighth housing 72 is connected to the fourth driving member 43. The seventh housing 71 is used to connect to the torso assembly.

[0084] Optionally, the fifth driving member 44 is used to drive the seventh housing 71 to rotate relative to the eighth housing 72 around the sixth axis L6, and the sixth axis L6 extends along the front-to-back direction of the humanoid robot. Optionally, the eighth housing 72 includes a fourth connecting shell 721, a fifth connecting shell 722 and a sixth connecting shell 723 connected in sequence, the fourth connecting shell 721 and the sixth connecting shell 723 are relatively spaced apart on the fifth connecting shell 722, and the fourth connecting shell 721, the fifth connecting shell 722 and the sixth connecting shell 723 are also enclosed to form a U-shaped groove 21, and part of the seventh housing 71 and the fifth driving member 44 are both accommodated in the U-shaped groove 21, and the fifth connecting shell 722 is used to abut against the seventh housing 71 to limit the rotation angle between the seventh housing 71 and the eighth housing 72. Optionally, the structure of the eighth housing 72 is similar to the structure of the aforementioned elbow joint housing 20, and can be referred to and will not be repeated.

[0085] By setting the shoulder joint housing 70 to include a seventh housing 71 and an eighth housing 72, the arm assembly 100 also includes a fifth driving member 44, at least a portion of the fifth driving member 44 is accommodated in the seventh housing 71 and connected to the eighth housing 72, the eighth housing 72 is connected to the fourth driving member 43, and the seventh housing 71 is used to connect to the torso assembly, so that the fifth driving member 44 can drive the eighth housing 72, the upper arm housing 10, the elbow joint housing 20, the forearm housing 30 and the palm structure 60 to rotate relative to the torso assembly, and the humanoid effect is better.

[0086] Please refer to Figure 2 and Figure 6 The shoulder joint housing 70 is provided with a third limiting groove 73 extending in the circumferential direction. The arm assembly 100 also includes a third limiting member 52. A portion of the third limiting member 52 is received in the upper arm housing 10 and connected to the upper arm housing 10. Another portion of the third limiting member 52 is received in the third limiting groove 73 and is used to abut against the side walls of the third limiting groove 73 at both ends in the circumferential direction. Optionally, the third limiting groove 73 is provided in the aforementioned sixth connecting shell 723. Optionally, a connecting member 25 is also provided in the sixth connecting shell 723 for connecting with the fifth driving member 44, and the third limiting member 52 is used to abut against the two ends opposite to the connecting member 25.

[0087] By setting the shoulder joint housing 70 to be provided with a third limiting groove 73 extending in the circumferential direction, the arm assembly 100 also includes a third limiting member 52, a part of which is accommodated in the upper arm housing 10 and connected to the upper arm housing 10, and the other part of the third limiting member 52 is accommodated in the third limiting groove 73 and is used to abut against the side walls of the third limiting groove 73 at both ends in the circumferential direction, so that the rotation angle of the upper arm housing 10 relative to the shoulder joint housing 70 is limited within a preset range, and the risks of excessive rotation and motion interference are not prone to occur.

[0088] Please refer to Figure 2 and Figure 7The eighth shell 72 is provided with a fourth limiting groove 724 extending in the annular direction. The arm assembly 100 also includes a fourth limiting member 53, which is connected to the seventh shell 71. At least a portion of the fourth limiting member 53 is accommodated in the fourth limiting groove 724. The fourth limiting member 53 is used to abut against the side walls of the fourth limiting groove 724 at both ends in the annular direction.

[0089] Optionally, the fourth limiting groove 724 is provided on the surface of the fourth connection shell 721 facing the sixth connection shell 723. Optionally, the fourth limiting member 53 and the seventh housing 71 may be an integral structure, or may be detachably connected by means of snap connection, screw connection, riveting, etc., without limitation.

[0090] By setting the eighth shell 72 to have a fourth limit groove 724 extending in the circumferential direction, the arm assembly 100 also includes a fourth limit member 53, the fourth limit member 53 is connected to the seventh shell 71, at least part of the fourth limit member 53 is accommodated in the fourth limit groove 724, the fourth limit member 53 is used to abut against the side walls of the fourth limit groove 724 at both ends in the circumferential direction, so that the rotation angle of the eighth shell 72 relative to the seventh shell 71 is limited within a preset range, thereby preventing the arm assembly 100 from excessive rotation and interfering with other parts in movement.

[0091] Please refer to Figures 1 to 3 The present invention also provides a humanoid robot, including a torso component (not shown) and an arm assembly 100 in an embodiment of the present invention, the torso component including a torso shell and a sixth driving member, at least a portion of the sixth driving member is accommodated in the torso shell and connected to the torso shell, and the sixth driving member is connected to the arm assembly 100.

[0092] Optionally, the sixth driving member is connected to the aforementioned seventh housing 71. Optionally, the arm assembly 100 further includes a fifth limiting member 54, which is fixedly connected to the seventh housing 71, and the trunk housing is further provided with a fifth limiting groove extending in the circumferential direction, and at least a portion of the fifth limiting member 54 is received in the fifth limiting groove and is used to abut against the side walls of both ends of the fifth limiting groove in the circumferential direction to limit the rotation angle of the arm assembly 100 relative to the trunk assembly.

[0093] The humanoid robot further includes a lower limb assembly (not shown) and a head and neck assembly (not shown). The upper limb assembly, the lower limb assembly and the head and neck assembly in the embodiment of the present invention are all connected to the trunk assembly and can rotate relative to the trunk assembly. Optionally, there are two upper limb assemblies and two lower limb assemblies.

[0094] The humanoid robot provided by the present invention adopts a torso component and the arm assembly 100 in the embodiment of the present invention. The torso component includes a torso shell and a sixth driving component. At least a portion of the sixth driving component is accommodated in the torso shell and connected to the torso shell. The sixth driving component is connected to the arm assembly 100, thereby realizing the humanoid upper limb movement of the humanoid robot, and the humanoid upper limb movement has a good humanoid effect.

[0095] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0096] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. An arm assembly, characterized in that: For humanoid robots, including: A large arm housing, comprising a first housing, wherein the first housing comprises a first shell, a second shell and a fifth shell, wherein the first shell and the second shell are detachably connected in a third direction, and the fifth shell is connected to the first shell; a first driving member, a portion of which is received in the fifth housing and connected to the fifth housing, and another portion of which is located outside the fifth housing; An elbow joint housing, wherein the first driving member penetrates a through hole on the fifth housing and is connected to the elbow joint housing, the first housing and the second housing have an avoidance groove at one end close to the elbow joint housing, the avoidance groove penetrates the first housing and the second housing along the third direction, the fifth housing is located at a side of the avoidance groove close to the elbow joint housing, and the elbow joint housing is used to extend into the avoidance groove and abut against the bottom wall of the avoidance groove; The elbow joint shell is enclosed to form a U-shaped groove, the U-shaped groove penetrates the elbow joint shell in a first direction, and the opening direction of the U-shaped groove is a second direction, the first direction intersects with the second direction, and the third direction intersects with the first direction and the second direction; Forearm housing; A second driving member is at least partially accommodated in the forearm housing and connected to the forearm housing, and the second driving member is also connected to the elbow joint housing.

2. The arm assembly according to claim 1, characterized in that: Part of the upper arm housing and the first driving member are both accommodated in the U-shaped groove, the bottom wall of the U-shaped groove is opposite to the opening of the U-shaped groove, and the bottom wall of the U-shaped groove is used to limit the upper arm housing.

3. The arm assembly according to claim 2, characterized in that: The elbow joint housing comprises a first connection shell, a second connection shell and a third connection shell connected in sequence, the first connection shell and the third connection shell are arranged relatively spaced apart in the third direction, the first connection shell, the second connection shell and the third connection shell are enclosed to form the U-shaped groove, and the second connection shell has a bottom wall of the U-shaped groove; The first driving member is connected to the first connecting shell and / or the third connecting shell, and the first driving member is used to drive the upper arm shell and the elbow joint shell to rotate relative to each other around an axis extending along the third direction, and the second connecting shell is used to limit the upper arm shell.

4. The arm assembly according to claim 3, characterized in that: The upper arm housing also includes a second housing, a portion of which is accommodated in the avoidance groove and connected to the first housing, another portion of which is accommodated in the U-shaped groove, and the second housing covers at least a portion of the U-shaped groove and at least a portion of the avoidance groove.

5. The arm assembly according to claim 1, characterized in that: The elbow joint shell is provided with a first limiting groove extending in a circumferential direction, and the arm assembly also includes a first limiting member, which is accommodated in the elbow joint shell and connected to the upper arm shell, and the first limiting member is used to abut against the side walls of the first limiting groove at both ends in the circumferential direction.

6. The arm assembly according to claim 1, characterized in that: The forearm housing comprises a third housing and a fourth housing, the third housing has an installation space, the fourth housing is connected to an end of the third housing away from the elbow joint housing, and the second driving member is accommodated in the installation space and is connected and fixed to the third housing; The arm assembly also includes a third driving member and a palm structure, the third driving member is transmission-connected to the palm structure, the third driving member is accommodated in the installation space and connected to the third shell, and the palm structure is connected to the fourth shell.

7. The arm assembly according to claim 6, characterized in that: The forearm housing also includes a fifth housing and a sixth housing, and the third housing is further provided with a first through hole and a second through hole, the first through hole and the second through hole are respectively arranged at the two ends of the third housing in the second direction, the first through hole and the second through hole are both connected to the installation space, and the third driving member is used to enter the installation space from the first through hole and / or the second through hole, the fifth housing is connected to the third housing and closes the first through hole, and the sixth housing is connected to the third housing and closes the second through hole.

8. The arm assembly according to claim 1, characterized in that: The elbow joint shell is also provided with a second limiting groove extending in the circumferential direction, and the arm assembly also includes a second limiting member, a portion of which is accommodated in the forearm shell and connected to the forearm shell, and another portion of the second limiting member is accommodated in the second limiting groove and is used to abut against the side walls at both ends of the second limiting groove in the circumferential direction.

9. The arm assembly according to claim 8, characterized in that: The arm assembly also includes a shoulder joint housing and a fourth driving member, at least a portion of the fourth driving member is accommodated in the upper arm housing and connected to the shoulder joint housing.

10. The arm assembly according to claim 9, characterized in that: The shoulder joint housing is provided with a third limiting groove extending in a circumferential direction, and the arm assembly also includes a third limiting member, a portion of which is accommodated in and connected to the upper arm housing, and another portion of the third limiting member is accommodated in the third limiting groove and is used to abut against the side walls of the third limiting groove at both ends in the circumferential direction.

11. The arm assembly according to claim 9, characterized in that: The shoulder joint housing includes a seventh housing and an eighth housing, and the arm assembly also includes a fifth driving member, at least part of which is accommodated in the seventh housing and connected to the eighth housing, the eighth housing is connected to the fourth driving member, and the seventh housing is used to connect to the torso assembly.

12. The arm assembly according to claim 11, characterized in that: The eighth shell is provided with a fourth limit groove extending in the circumferential direction, and the arm assembly also includes a fourth limit member, which is connected to the seventh shell, and at least a portion of the fourth limit member is accommodated in the fourth limit groove, and the fourth limit member is used to abut against the side walls of the fourth limit groove at both ends in the circumferential direction.

13. A humanoid robot, characterized in that: It comprises a trunk component and an arm assembly as described in any one of claims 1-12, wherein the trunk component comprises a trunk shell and a sixth driving member, at least a portion of the sixth driving member is accommodated in the trunk shell and connected to the trunk shell, and the sixth driving member is connected to the arm assembly.

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