Shoulder joint structure and humanoid robot

Abstract

The present application provides a shoulder joint structure and a humanoid robot, wherein the shoulder joint structure includes a first support assembly, a second support assembly and a third support assembly, wherein the first support assembly has a mounting surface connected to a trunk structure, and the first support assembly extends obliquely upward; the second support assembly is rotationally connected to the first support assembly around a first axis, and the third support assembly is rotationally connected to the second support assembly around a second axis intersecting the first axis, and at least part of the second support assembly is accommodated in the third support assembly; in the orthographic projection of the second axis, the third support assembly is curved, and the second support assembly is connected to the third support assembly to form a "C"-shaped structure with an opening facing the trunk structure. The shoulder joint structure and the humanoid robot provided by the present application can relieve the stress at the connection between the shoulder joint structure and the trunk structure, reduce the torque on the connection between the shoulder joint structure and the trunk structure, and are conducive to improving the service life of the shoulder joint structure and the humanoid robot.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a shoulder joint structure and a humanoid robot. Background Art

[0002] With the advancement of science and technology, the application of intelligent robots is becoming more and more extensive, and users' requirements for intelligent robots are also getting higher and higher. The form of traditional intelligent robots is relatively simple. For example, the walking system of intelligent robots is generally replaced by a wheeled motion system. Now intelligent robots are increasingly tending to imitate humanoid design, so humanoid robots came into being.

[0003] In current humanoid robots, the extension direction of the shoulder joint structure is perpendicular to the extension direction of the part connected to the torso structure. Stress concentration is prone to occur at the connection between the shoulder joint structure and the torso structure, and the connection between the shoulder joint structure and the torso structure is subject to a large torque from the arm structure. In the process of the shoulder joint structure driving the arm structure to move, the connection between the shoulder joint structure and the torso structure is severely worn. Moreover, when the arm structure lifts a heavy object, the connection between the shoulder joint structure and the torso structure is prone to breakage, which in turn affects the service life of the humanoid robot. Summary of the invention

[0004] In response to the shortcomings of the prior art, the present application provides a shoulder joint structure and a humanoid robot, which can alleviate the stress concentration phenomenon at the connection between the shoulder joint structure and the torso structure, and reduce the torque exerted by the arm structure on the connection part between the shoulder joint structure and the torso structure, which is beneficial to improving the service life of the shoulder joint structure and the humanoid robot.

[0005] On the one hand, the present application provides a shoulder joint structure for a humanoid robot, wherein the humanoid robot comprises a torso structure, a head structure and an arm structure; the shoulder joint structure comprises:

[0006] A first support component, one end of which has a mounting surface, the mounting surface being used to connect to the trunk structure, the first support component extending obliquely upward from the mounting surface; wherein the direction from the trunk structure toward the head structure is upward;

[0007] A second support assembly is rotatably connected to an end of the first support assembly away from the mounting surface about a first axis; and

[0008] The third support assembly is rotatably connected with the end of the second support assembly away from the first support assembly around a second axis, and the first axis and the second axis intersect; the end of the second support assembly away from the first support assembly is accommodated in the third support assembly, and the end of the third support assembly away from the second support assembly is used to connect with the arm structure; in the orthographic projection of the second axis, the third support assembly is curved, and the structure formed by the connection of the second support assembly and the third support assembly is "C"-shaped, and the opening of the "C"-shaped faces the torso structure.

[0009] The shoulder joint structure provided in this embodiment, on the one hand, is connected to the trunk structure through the mounting surface of the first support assembly, and the first support assembly extends obliquely upward from one end of the mounting surface, that is, the first support assembly is inclined from the end close to the mounting surface to the end away from the mounting surface obliquely upward to the head structure of the humanoid robot. When the first support assembly is subjected to the force of the arm structure, due to the setting of the mounting surface, the force applied to the first support assembly is uniformly applied to the connection between the first support assembly and the trunk structure through the mounting surface, which is conducive to reducing the stress concentration phenomenon at the connection between the first support assembly and the trunk structure, thereby reducing the wear at the connection between the first support assembly and the trunk structure. Moreover, the first support assembly can share part of the force applied to the first support assembly by the arm structure, which is conducive to reducing the torque applied to the first support assembly in the up and down directions of the humanoid robot, thereby reducing the risk of the first support assembly breaking. Thus, it is conducive to improving the service life of the shoulder joint structure and the humanoid robot formed by the shoulder joint structure. On the other hand, in the orthographic projection of the second axis, since the third support assembly is curved, and the structure formed by connecting the second support assembly and the third support assembly is "C"-shaped, and the opening of the "C"-shaped structure faces the torso structure, the humanoid shoulder joint effect of the shoulder joint structure can be better, and the arm structure connected to the third support assembly can form a humanoid arm structure, thereby improving the humanoid effect of the humanoid robot formed by the shoulder joint structure.

[0010] In a possible embodiment, the third support component bends and extends obliquely downward from an end of the third support component close to the second support component to an end of the third support component away from the second support component; wherein the direction from the torso structure facing away from the head structure is downward.

[0011] The shoulder joint structure provided in this embodiment is bent and extended obliquely downward from one end connected to the second support component to the end away from the second support component through the third support component, that is, the third support component is inclined obliquely downward from the end close to the second support component to the end away from the second support component, facing away from the head structure of the humanoid robot, so that the end of the third support component away from the second support component is connected to the arm structure, so that the humanoid shoulder joint effect of the shoulder joint structure is better, and the arm structure connected to the third support component can form a humanoid arm structure, thereby improving the humanoid effect of the humanoid robot formed by the shoulder joint structure.

[0012] In a possible embodiment, the third support assembly includes a first connecting shell and a second connecting shell that overlap each other; the first connecting shell includes a first connecting portion and a first extension portion, and the connection between the first connecting portion and the first extension portion is smoothly transitioned; the second connecting shell includes a second connecting portion and a second extension portion, and the connection between the second connecting portion and the second extension portion is smoothly transitioned; in the orthographic projection of the second axis, the first connecting portion and the second connecting portion are opposite to and spaced apart to form a receiving cavity, and the first extension portion and the second extension portion overlap each other; at least a portion of the second support assembly away from the first support assembly is received in the receiving cavity.

[0013] The shoulder joint structure provided in this embodiment, on the one hand, is formed by covering the first extension part of the first connecting shell and the second extension part of the second connecting shell, and the first connecting part of the first connecting shell and the second connecting part of the second connecting shell are arranged relatively spaced apart to form a receiving cavity, and at least part of the end of the second support component away from the first support component is received in the receiving cavity, so as to reduce the space occupied by the shoulder joint structure in the humanoid robot, so as to facilitate the design of other components connected to the shoulder joint structure. On the other hand, the first connecting part and the first extension part are smoothly transitioned, and the second connecting part and the second extension part are smoothly transitioned, so that the outer surface of the third supporting component of the shoulder joint structure is smoother, so that the humanoid shoulder joint effect of the shoulder joint structure is better.

[0014] In a possible embodiment, in the orthographic projection of the second axis, the periphery of the first connecting portion and the periphery of the second connecting portion are both circular, and the center of the circle where the periphery of the first connecting portion is located and the center of the circle where the periphery of the second connecting portion is located are collinear; during the rotation of the third support assembly around the second axis, the end of the second support assembly away from one end of the first support assembly is completely accommodated in the accommodation cavity.

[0015] The shoulder joint structure provided by the present embodiment is characterized in that the first connecting part and the second connecting part are both circular, the center of the circle where the circumference of the first connecting part is located and the center of the circle where the circumference of the second connecting part is located are colinearly arranged along the direction where the second axis is located, and the end of the second support component away from the first support component is completely accommodated in the accommodating cavity, so that the end of the second support component of the shoulder joint structure away from the first support component will not protrude, so that the outer surface of the third support component of the shoulder joint structure can be made smoother, so that the human-like shoulder joint effect of the shoulder joint structure is better.

[0016] In a possible embodiment, the first support assembly includes a mounting plate, a first support shell and a first driving member; the mounting plate is arranged on the peripheral side wall of the first support assembly at one end close to the torso structure, the first support shell extends obliquely upward from one end close to the mounting plate to one end away from the mounting plate, and the mounting surface is arranged on the mounting plate and faces the torso structure; the stator of the first driving member is accommodated in the first support shell and fixedly connected to the first support shell, and the rotor of the first driving member is fixedly connected to the second support assembly and rotates around the first axis to drive the second support assembly to swing along the front and rear direction of the humanoid robot; wherein, the first axis is the extension direction of the first support shell from one end close to the mounting plate to one end away from the mounting plate.

[0017] The shoulder joint structure provided in this embodiment, on the one hand, is provided with a mounting surface on a mounting plate, and the mounting plate is connected to the trunk structure, which is conducive to improving the connection strength between the first support assembly and the trunk structure, so as to reduce the risk of the first support assembly falling from the trunk structure. At the same time, by providing the mounting plate on the peripheral side wall of one end of the first support assembly close to the trunk structure, it is conducive to increasing the contact area between the first support assembly and the trunk structure, thereby better dispersing the stress at the connection between the first support assembly and the trunk structure, reducing the stress concentration phenomenon at the connection between the shoulder joint structure and the trunk structure, and thus reducing the wear at the connection between the shoulder joint structure and the trunk structure. On the other hand, the second support assembly is driven to rotate around the first axis by the first driving member, that is, the first driving member can drive the second support assembly, the third support assembly and the arm structure connected to the third support assembly to swing along the front and rear direction of the humanoid robot, so that the shoulder joint structure can achieve a front and rear arm swinging action similar to that of a human.

[0018] In a possible embodiment, the second support assembly includes a second support shell and a second driving member; the second support shell is fixedly connected to the rotor of the first driving member, the stator of the second driving member is accommodated in the second support shell and fixedly connected to the second support shell, the rotor of the second driving member is fixedly connected to the third support assembly and rotates around the second axis to drive the third support assembly to swing along the left and right direction of the humanoid robot; wherein the second axis is perpendicular to the first axis.

[0019] The shoulder joint structure provided in this embodiment drives the third support assembly to rotate around the second axis through the second drive member, that is, the second drive member can drive the third support assembly and the arm structure connected to the third support assembly to swing along the left and right directions of the humanoid robot, so that the shoulder joint structure can achieve a left and right arm swinging action similar to that of a human.

[0020] In a possible embodiment, a first limiting portion and a first calibration portion are provided on the first supporting shell, and a second limiting portion and a second calibration portion are provided on the second supporting shell; the first limiting portion is used to cooperate with the second limiting portion to limit the angle at which the first driving member drives the second supporting shell to rotate relative to the first supporting shell around the first axis; the first calibration portion is used to cooperate with the second calibration portion, and when the first calibration portion is aligned with the second calibration portion, the orthographic projection of the third supporting assembly in the left-right direction of the humanoid robot extends along the up-down direction of the humanoid robot.

[0021] The shoulder joint structure provided in this embodiment, on the one hand, can prevent the second support assembly from interfering with surrounding parts during its rotation around the first axis by limiting the first limiting portion of the first support shell and the second limiting portion of the second support shell to limit the angle of rotation of the second support assembly relative to the first support assembly around the first axis through the first limiting portion of the first support shell, and on the other hand, by the first calibration portion and the second calibration portion being matched, and when the first calibration portion and the second calibration portion are aligned, the positive projection of the third support assembly in the left and right directions of the humanoid robot extends along the up and down directions of the humanoid robot, that is, the third support assembly and the arm structure connected to the third support assembly are in the middle position in the front and back directions of the humanoid robot, so as to simplify the program design of the rotation of the first drive member of the shoulder joint structure, which is conducive to improving the stability of the first drive member driving the second support assembly to rotate.

[0022] In a possible embodiment, the third support assembly includes a third support shell and a third driving member; the third support shell is fixedly connected to the rotor of the second driving member, the stator of the third driving member is accommodated in the third support shell and is used to be fixedly connected to the arm structure, and the rotor of the third driving member rotates around a third axis to drive the arm structure to rotate around the up and down directions of the humanoid robot; wherein the third axis is coplanar with the first axis, and the third axis is perpendicular to the second axis.

[0023] The shoulder joint structure provided in this embodiment drives the arm structure connected to the third support assembly to rotate around the third axis through the third driving member, that is, the third driving member can drive the arm structure connected to the third support assembly to rotate around the up and down directions of the humanoid robot, so that the shoulder joint structure can achieve an arm rotation movement similar to that of a human in the up and down directions.

[0024] In a possible embodiment, a third limit portion and a third calibration portion are provided on the second supporting shell, and a fourth limit portion and a fourth calibration portion are provided on the third supporting shell; the third limit portion is used to cooperate with the fourth limit portion to limit the angle at which the second driving member drives the third supporting shell to rotate relative to the second supporting shell around the second axis; the third calibration portion is used to cooperate with the fourth calibration portion, and when the third calibration portion is aligned with the fourth calibration portion, the orthographic projection of the third supporting assembly in the front-rear direction of the humanoid robot extends along the up-and-down direction of the humanoid robot.

[0025] The shoulder joint structure provided in this embodiment, on the one hand, can prevent the third support assembly from interfering with surrounding parts during the rotation of the third support assembly around the second axis by limiting the third limiting portion of the second support shell and the fourth limiting portion of the third support shell through the second driving member driving the third support assembly to rotate relative to the second support assembly around the second axis. On the other hand, by the third calibration portion and the fourth calibration portion cooperating, and when the third calibration portion and the fourth calibration portion are aligned, the positive projection of the third support assembly in the front and rear direction of the humanoid robot extends along the up and down direction of the humanoid robot, that is, the third support assembly and the arm structure connected to the third support assembly are in the middle position in the left and right direction of the humanoid robot, so as to simplify the program design of the rotation of the second driving member of the shoulder joint structure, which is conducive to improving the stability of the second driving member driving the third support assembly to rotate.

[0026] In a possible embodiment, the third support assembly further includes an elastic support member and a rotating member; one end of the second support shell away from the first support assembly is accommodated in the third support shell; one end of the second support shell along the second axis is fixedly connected to one end of the elastic support member, and the other end of the second support shell along the second axis is used for the second driving member to pass through and is fixedly connected to the third support shell; the rotating member rotatably connects the other end of the elastic support member and the third support shell.

[0027] The shoulder joint structure provided in this embodiment, on the one hand, is elastically supported between one end of the second support shell and the third support shell by an elastic supporting member, and the second driving member is fixedly connected to the third support shell at the other end of the second support shell, so that the shoulder joint structure has a certain buffering capacity through the elastic supporting member during vibration, which can reduce the probability of rigid collision between the second support assembly and the third support assembly, and is beneficial to improving the anti-vibration performance of the shoulder joint structure. At the same time, through the provision of the elastic supporting member, it is also convenient to install the end of the second support assembly to the third support assembly. On the other hand, by the rotating member being rotatably connected between the elastic supporting member and the third support shell, it is beneficial to improve the smoothness of the rotation of the third support assembly around the second axis relative to the second support assembly, thereby improving the flexibility of the shoulder joint structure.

[0028] In a possible embodiment, the mounting surface is perpendicular to the left-right direction of the humanoid robot; the first support assembly also has a cutting surface, which passes through the mounting plate of the first support shell and is connected to the mounting surface, and the cutting surface is perpendicular to the up-down direction of the humanoid robot.

[0029] The shoulder joint structure provided in this embodiment, on the one hand, is based on the first support component extending obliquely upward from one end of the mounting surface, and the mounting surface is perpendicular to the left and right directions of the humanoid robot, that is, the mounting surface is parallel to the front-to-back direction and the up-down direction of the humanoid robot, thereby making the contact area between the mounting surface and the trunk structure larger, which is conducive to reducing the stress received by the mounting surface on a single surface area, thereby reducing the wear of the connection between the first support component and the trunk structure. On the other hand, the cutting surface passes through the first support shell and is connected to the mounting surface, and the cutting surface is perpendicular to the up-down direction of the humanoid robot, that is, the cutting surface is parallel to the front-to-back direction and the left-to-right direction of the humanoid robot, which is conducive to reducing the space occupied by the second support shell in the trunk structure, so as to facilitate the reasonable layout design of the parts of the trunk structure.

[0030] In a possible implementation, the first support assembly further includes a reinforcing rib extending along the direction of the first axis, the reinforcing rib being arranged on a peripheral side wall of the first support shell and connected to a side of the mounting plate facing away from the mounting surface.

[0031] The shoulder joint structure provided in this embodiment is provided with reinforcing ribs on the peripheral side wall of the first support shell and extending to be connected to the mounting plate, so as to improve the strength of the connection between the first support shell and the mounting plate, thereby improving the strength and stability of the connection between the shoulder joint structure and the trunk structure. At the same time, the reinforcing ribs extend along the direction of the first axis, which is conducive to improving the bending resistance of the first support shell, thereby improving the shoulder joint structure to withstand greater forces from the arm structure.

[0032] On the other hand, the present application provides a humanoid robot, comprising:

[0033] Trunk structure;

[0034] A head structure connected to the trunk structure along the up-down direction of the humanoid robot;

[0035] The shoulder joint structure is connected to the trunk structure; and

[0036] The arm structure is connected to one end of the shoulder joint structure away from the trunk structure.

[0037] The humanoid robot provided by the present embodiment includes the above-mentioned shoulder joint structure, and the shoulder joint structure is connected between the trunk structure and the arm structure. By reasonably designing the shoulder joint structure, the stress concentration phenomenon at the connection between the shoulder joint structure and the trunk structure can be reduced, thereby reducing the wear at the connection between the shoulder joint structure and the trunk structure. Moreover, the shoulder joint structure can share part of the force formed by the arm structure on the shoulder joint structure, which is beneficial to reducing the torque received by the shoulder joint structure in the up and down directions of the humanoid robot, thereby reducing the risk of fracture of the shoulder joint structure. Therefore, through the design of the above-mentioned shoulder joint structure, the structural stability of the humanoid robot formed by the shoulder joint structure can be improved, which is beneficial to improving the service life of the humanoid robot formed by the shoulder joint structure. At the same time, since the humanoid shoulder joint effect of the shoulder joint structure is better, the humanoid effect of the humanoid robot formed by the shoulder joint structure can also be improved.

[0038] In a possible embodiment, the torso structure includes a first shell, a second shell, a battery box and fasteners, the first shell and the second shell cover and surround each other along the front-to-back direction of the humanoid robot to form a receiving space, the battery box is fixed in the receiving space, and the fasteners are sleeved on the first shell and the second shell to cover and fix the first shell and the second shell; the mounting surface of the shoulder joint structure is fixedly connected to one side of the battery box along the left-right direction of the humanoid robot, and the first support component of the shoulder joint structure is completely contained in the receiving space.

[0039] The humanoid robot provided in this embodiment is completely contained in the containing space of the torso structure by the first supporting component, that is, the first supporting component will not be exposed to the outer surface of the humanoid robot, which is conducive to simplifying the decorative design of the peripheral side wall of the first supporting component, thereby reducing the manufacturing cost of the first supporting component. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some implementation methods provided by the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 An assembly of a humanoid robot provided in one embodiment of the present application Figure 1 ;

[0042] Figure 2 An assembly of a humanoid robot provided in one embodiment of the present application Figure 2 ;

[0043] Figure 3 is an assembly diagram of a shoulder joint structure provided by an embodiment of the present application;

[0044] Figure 4 is an exploded view of a shoulder joint structure provided by an embodiment of the present application;

[0045] Figure 5 This is a partial structural diagram of a third support assembly provided in one embodiment of the present application;

[0046] Figure 6 This is a partial structural diagram of a first support assembly provided in one embodiment of the present application;

[0047] Figure 7 This is a partial structural diagram of a second support assembly provided in one embodiment of the present application;

[0048] Figure 8 This is an assembly diagram of an elastic supporting member and a rotating member provided in one embodiment of the present application.

[0049] Description of reference numerals:

[0050] Humanoid robot-1000, shoulder joint structure-100, first support assembly-10, mounting surface-10a, cutting surface-10b, mounting plate-11, first support shell-12, first limiting portion-121, first calibration portion-122, first driving member-13, reinforcing rib-14, heat dissipation hole-15, second support assembly-30, second support shell-31, second limiting portion-311, second calibration portion-312, third limiting portion-313, third calibration portion-314, second driving member-32, second positioning portion-321, third support assembly-50, first connecting shell-51, first connecting portion-511 , first extension portion-512, second connecting shell-52, second connecting portion-521, second extension portion-522, first positioning portion-523, anti-mistake notch-524, accommodating groove-525, accommodating cavity-53, third supporting shell-54, fourth limiting portion-541, fourth marking portion-542, third driving member-55, elastic supporting member-56, rotating member-57, torso structure-200, first shell-201, second shell-202, battery box-203, fastener-204, head structure-300, arm structure-400, first axis-L1, second axis-L2, third axis-L3. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a component in the middle. When a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a component in the middle. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a component in the middle.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those generally understood by technicians in the technical field of this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The directional terms mentioned in the description of this application, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "top", "side", "bottom", "top wall", "side wall", "bottom wall", "inner side wall", "outer side wall", "length direction", "width direction", "height direction", etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In the description of this application, for example, "first", "second", "third", "fourth", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0054] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] See also Figure 1 The embodiment of the present application provides a humanoid robot 1000, which includes a shoulder joint structure 100, a trunk structure 200, a head structure 300, and an arm structure 400. The shoulder joint structure 100 is connected to one side of the trunk structure 200 along the left-right direction of the humanoid robot 1000. The head structure 300 is connected to one side of the trunk structure 200 along the up-down direction of the humanoid robot 1000, and the head structure 300 is located above the trunk structure 200 of the humanoid robot 1000. The arm structure 400 is connected to one end of the shoulder joint structure 100 away from the trunk structure 200.

[0056] In this embodiment, the humanoid robot 1000 includes two shoulder joint structures 100 and two arm structures 400. The two shoulder joint structures 100 are respectively connected to the opposite sides of the trunk structure 200 along the left-right direction of the humanoid robot 1000, and the two shoulder joint structures 100 are symmetrically arranged along the up-down direction of the humanoid robot 1000. The two arm structures 400 are respectively connected to one end of the two shoulder joint structures 100 away from the trunk structure 200. Each shoulder joint structure 100 drives an arm structure 400 to move, and the shoulder joint structure 100 drives the arm structure 400 to move, which at least includes driving the arm structure 400 to swing along the front-back direction of the humanoid robot 1000, driving the arm structure 400 to swing along the left-right direction of the humanoid robot 1000, and driving the arm structure 400 to rotate around the up-down direction of the humanoid robot 1000. One or more of the above, thereby enabling the shoulder joint structure 100 to achieve a shoulder joint function similar to that of the human body structure.

[0057] It can be understood that the head structure 300 is movably connected to the torso structure 200, and the head structure 300 can swing around the left and right direction of the humanoid robot 1000, swing around the front and back direction of the humanoid robot 1000, and rotate around the up and down direction of the humanoid robot 1000 relative to the torso structure 200. One or more of the following, and the present application does not impose any restrictions on this.

[0058] See also Figures 1 to 3 In a specific embodiment, the trunk structure 200 of the humanoid robot 1000 includes a first shell 201, a second shell 202, a battery box 203 and a fastener 204. The first shell 201 and the second shell 202 are covered and enclosed along the front-back direction of the humanoid robot 1000 to form a receiving space, the battery box 203 is fixed in the receiving space, and the fastener 204 is sleeved on the first shell 201 and the second shell 202 to cover and fix the first shell 201 and the second shell 202. The shoulder joint structure 100 includes a first support assembly 10, a second support assembly 30 and a third support assembly 50 connected in sequence, and one end of the first support assembly 10 away from the second support assembly 30 is fixedly connected to one side of the battery box 203 along the left-right direction of the humanoid robot 1000, and the first support assembly 10 of the shoulder joint structure 100 is completely contained in the receiving space.

[0059] The humanoid robot 1000 provided in this embodiment has the first support assembly 10 of the shoulder joint structure 100 completely accommodated in the accommodation space of the trunk structure 200, that is, the first support assembly 10 of the shoulder joint structure 100 will not be exposed to the outer surface of the humanoid robot 1000, which is conducive to simplifying the decorative design of the peripheral side wall of the first support assembly 10, thereby reducing the manufacturing cost of the first support assembly 10. At the same time, the first support assembly 10 of the shoulder joint structure 100 is accommodated inside the trunk structure 200, which can reduce the size of the shoulder joint structure 100 along the left-right direction of the humanoid robot 1000, thereby preventing the size of the shoulder joint structure 100 in the left-right direction of the humanoid robot 1000 from occupying a larger proportion, thereby making the humanoid effect of the shoulder joint structure 100 of the humanoid robot 1000 better.

[0060] See also Figures 1 to 3 In one embodiment, the shoulder joint structure 100 in the above-mentioned humanoid robot 1000 includes a first support assembly 10, a second support assembly 30 and a third support assembly 50, and the first support assembly 10, the second support assembly 30 and the third support assembly 50 are connected in sequence, and the end of the first support assembly 10 away from the second support assembly 30 is fixedly connected to the torso structure 200, and the end of the third support assembly 50 away from the second support assembly 30 is connected to the arm structure 400.

[0061] The first support assembly 10 has an end fixedly connected to the trunk structure 200 and has a mounting surface 10a, and the mounting surface 10a is used to be fixedly connected to the battery box 203 of the trunk structure 200. The first support assembly 10 extends obliquely upward from the mounting surface 10a, that is, the first support assembly 10 extends obliquely upward from the end of the battery box 203 close to the trunk structure 200 to the end of the battery box 203 away from the trunk structure 200. The direction from the trunk structure 200 of the humanoid robot 1000 toward the head structure 300 is the upward direction. The second support assembly 30 is connected to the end of the first support assembly 10 away from the mounting surface 10a, and the second support assembly 30 can rotate relative to the first support assembly 10 around the first axis L1. The extension direction of the first axis L1 is the extension direction of the first support assembly 10 from the end of the battery box 203 close to the trunk structure 200 to the end of the battery box 203 away from the trunk structure 200. The third support assembly 50 is connected to one end of the second support assembly 30 away from the first support assembly 10, and the third support assembly 50 can rotate relative to the second support assembly 30 around the second axis L2. The first axis L1 and the second axis L2 intersect and are perpendicular, and the second axis L2 is parallel to the front-to-back direction of the humanoid robot 1000. One end of the second support assembly 30 away from the first support assembly 10 is accommodated in the third support assembly 50, and one end of the third support assembly 50 away from the second support assembly 30 is used to connect with the arm structure 400 of the humanoid robot 1000. When the arm structure 400 of the humanoid robot 1000 is in a naturally drooping state, in the orthographic projection of the second axis L2, that is, along the front-to-back direction of the humanoid robot 1000, the third support assembly 50 is curved, and the structure formed by the connection of the second support assembly 30 and the third support assembly 50 is "C" shaped, and the opening of the "C" shape faces the trunk structure 200 of the humanoid robot 1000.

[0062] The shoulder joint structure 100 provided in this embodiment, on the one hand, is connected to the trunk structure 200 through the mounting surface 10a of the first support component 10, and the first support component 10 extends obliquely upward from one end of the mounting surface 10a, that is, the first support component 10 is arranged obliquely upward from the end close to the mounting surface 10a to the end away from the mounting surface 10a. When the first support component 10 is subjected to the force of the arm structure 400, due to the setting of the mounting surface 10a, the force applied to the first support component 10 is uniformly applied to the connection between the first support component 10 and the trunk structure 200 through the mounting surface 10a, which is conducive to reducing the stress concentration phenomenon at the connection between the first support component 10 and the trunk structure 200, thereby reducing the wear at the connection between the first support component 10 and the trunk structure 200. Moreover, the first support assembly 10 can share part of the force exerted by the arm structure 400 on the first support assembly 10, which is beneficial to reduce the torque exerted on the first support assembly 10 in the up and down directions of the humanoid robot 1000, thereby reducing the risk of the first support assembly 10 breaking. Therefore, it is beneficial to improve the service life of the shoulder joint structure 100 and the humanoid robot 1000 formed by the shoulder joint structure 100. On the other hand, in the orthographic projection of the second axis L2, since the third support assembly 50 is curved, and the structure formed by connecting the second support assembly 30 and the third support assembly 50 is "C" shaped, and the opening of the "C" shape faces the trunk structure 200, so that the humanoid shoulder joint effect of the shoulder joint structure 100 is better, and the arm structure 400 connected to the third support assembly 50 can form a humanoid arm structure, thereby improving the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100.

[0063] It can be understood that in some other embodiments, the first axis L1 and the second axis L2 intersect, and the first axis L1 and the second axis L2 may not be perpendicular, and the present application does not impose any limitation on this.

[0064] The humanoid robot 1000 provided in this embodiment includes the above-mentioned shoulder joint structure 100, and the shoulder joint structure 100 is connected between the trunk structure 200 and the arm structure 400. By reasonably designing the shoulder joint structure 100, the stress concentration phenomenon at the connection between the shoulder joint structure 100 and the trunk structure 200 can be reduced, thereby reducing the wear at the connection between the shoulder joint structure 100 and the trunk structure 200. Moreover, the shoulder joint structure 100 can share part of the force formed by the arm structure 400 on the shoulder joint structure 100, which is conducive to reducing the torque of the shoulder joint structure 100 in the up and down directions of the humanoid robot 1000, thereby reducing the risk of fracture of the shoulder joint structure 100. Therefore, through the design of the above-mentioned shoulder joint structure 100, the structural stability of the humanoid robot 1000 formed by the shoulder joint structure 100 can be improved, which is conducive to improving the service life of the humanoid robot 1000 formed by the shoulder joint structure 100. At the same time, since the humanoid shoulder joint effect of the shoulder joint structure 100 is better, the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100 can also be improved.

[0065] See also Figures 1 to 3 In a specific embodiment, the first support assembly 10 extends obliquely upward from the end close to the mounting surface 10a to the end away from the mounting surface 10a toward the head structure 300 of the humanoid robot 1000, and the angle at which the first support assembly 10 is inclined from the end close to the mounting surface 10a to the end away from the mounting surface 10a toward the head structure 300 of the humanoid robot 1000 is in the range of [20,50] degrees. Exemplarily, the angle at which the first support assembly 10 is inclined from the end close to the mounting surface 10a to the end away from the mounting surface 10a toward the head structure 300 of the humanoid robot 1000 may be 30 degrees, 45 degrees, etc., and this application does not impose any limitation on this.

[0066] On the one hand, if the angle at which the first support assembly 10 is tilted from the end close to the mounting surface 10a to the end away from the mounting surface 10a to the head structure 300 of the humanoid robot 1000 is too large, the shoulder of the humanoid robot 1000 formed by the shoulder joint structure 100 will be seriously raised, thereby resulting in a poor humanoid effect of the shoulder joint structure 100. On the other hand, if the angle at which the first support assembly 10 is tilted from the end close to the mounting surface 10a to the end away from the mounting surface 10a to the head structure 300 of the humanoid robot 1000 is too small, the force exerted on the first support assembly 10 by the arm structure 400 will be reduced, resulting in a large torque on the first support assembly 10 in the up and down directions of the humanoid robot 1000, and the risk of the first support assembly 10 breaking will be likely to occur.

[0067] The shoulder joint structure 100 provided in this embodiment limits the angle of the first support assembly 10 from the end close to the mounting surface 10a to the end away from the mounting surface 10a to the oblique upper side of the head structure 300 of the humanoid robot 1000 to a range of [20,50] degrees, so that the shoulder of the humanoid robot 1000 formed by the shoulder joint structure 100 will not be too upward, thereby making the humanoid effect of the shoulder joint structure 100 better. In addition, the first support assembly 10 can share part of the force exerted by the arm structure 400 on the first support assembly 10, which is conducive to reducing the torque exerted on the first support assembly 10 in the up and down directions of the humanoid robot 1000, thereby reducing the risk of the first support assembly 10 breaking.

[0068] See also Figures 1 to 3 In a specific embodiment, the third support component 50 bends and extends obliquely downward from one end of the third support component 50 close to the second support component 30 to one end of the third support component 50 away from the second support component 30. The direction from the trunk structure 200 back to the head structure 300 is the downward direction.

[0069] The shoulder joint structure 100 provided in this embodiment is bent and extended obliquely downward from one end connected to the second support component 30 to one end away from the second support component 30 through the third support component 50, that is, the third support component 50 is inclined from one end close to the second support component 30 to one end away from the second support component 30 and is tilted obliquely downward with its back to the head structure 300 of the humanoid robot 1000, so that the end of the third support component 50 away from the second support component 30 is connected to the arm structure 400, so that the humanoid shoulder joint effect of the shoulder joint structure 100 is better, and the arm structure 400 connected to the third support component 50 can form a humanoid arm structure, thereby improving the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100.

[0070] See also Figures 1 to 5In a specific embodiment, the third support assembly 50 of the shoulder joint structure 100 includes a first connection shell 51 and a second connection shell 52 that overlap each other, and the first connection shell 51 and the second connection shell 52 overlap each other along the front-to-back direction of the humanoid robot 1000. The first connection shell 51 includes an integrally formed first connection portion 511 and a first extension portion 512, and the connection between the first connection portion 511 and the first extension portion 512 is smoothly transitioned. The second connection shell 52 includes an integrally formed second connection portion 521 and a second extension portion 522, and the connection between the second connection portion 521 and the second extension portion 522 is smoothly transitioned. In the orthographic projection of the second axis L2, that is, the front-to-back direction of the humanoid robot 1000, the first connection portion 511 and the second connection portion 521 are oppositely and spaced apart to form a receiving cavity 53, and the first extension portion 512 and the second extension portion 522 overlap each other, so that the third support assembly 50 is a "U"-shaped structure. The first connection portion 511 is closer to the second support assembly 30 relative to the first extension portion 512 , the second connection portion 521 is closer to the second support assembly 30 relative to the second extension portion 522 , and at least a portion of the second support assembly 30 away from the first support assembly 10 is received in the receiving cavity 53 .

[0071] The shoulder joint structure 100 provided in this embodiment, on the one hand, is formed by covering the first extension portion 512 of the first connection shell 51 and the second extension portion 522 of the second connection shell 52, and the first connection portion 511 of the first connection shell 51 and the second connection portion 521 of the second connection shell 52 are relatively spaced to form a receiving cavity 53, and at least part of the end of the second support component 30 away from the first support component 10 is received in the receiving cavity 53, so as to reduce the space occupied by the shoulder joint structure 100 in the humanoid robot 1000, so as to facilitate the design of other components connected to the shoulder joint structure 100. On the other hand, the first connection portion 511 and the first extension portion 512 are smoothly transitioned, and the second connection portion 521 and the second extension portion 522 are smoothly transitioned, so that the outer surface of the third support component 50 of the shoulder joint structure 100 is smoother, thereby making the humanoid shoulder joint effect of the shoulder joint structure 100 better.

[0072] See also Figures 1 to 5 In a specific embodiment, in the orthographic projection of the second axis L2, that is, the front-back direction of the humanoid robot 1000, the periphery of the first connection portion 511 and the periphery of the second connection portion 521 are both circular, and the center of the circle where the periphery of the first connection portion 511 is located and the center of the circle where the periphery of the second connection portion 521 is located are collinear along the second axis L2. During the rotation of the third support assembly 50 relative to the second support assembly 30 around the second axis L2, the end of the second support assembly 30 away from the first support assembly 10 is completely accommodated in the accommodation cavity 53.

[0073] The shoulder joint structure 100 provided in this embodiment is circular through the first connecting part 511 and the second connecting part 521, and the center of the circle where the circumference of the first connecting part 511 is located and the center of the circle where the circumference of the second connecting part 521 is located are arranged colinearly along the direction where the second axis L2 is located, and the end of the second support component 30 away from the first support component 10 is completely accommodated in the accommodating cavity 53, so that the end of the second support component 30 of the shoulder joint structure 100 away from the first support component 10 will not protrude, so that the outer surface of the third support component 50 of the shoulder joint structure 100 can be made smoother, thereby making the human-like shoulder joint effect of the shoulder joint structure 100 better.

[0074] More specifically, the first connecting shell 51 and the second connecting shell 52 overlap and merge to form a third supporting shell 54. The second supporting shell 31 is located in the receiving cavity 53 and the surface of the receiving cavity 53 facing the upper side of the humanoid robot 1000 is a smooth curved surface. This part of the arc curved surface smoothly transitions with the outer surface of one end of the third supporting shell 54 having the receiving cavity 53, so that the structure formed by the connection between the second supporting shell 31 and the third supporting shell 54 is a smooth structure, which is beneficial to improving the aesthetics of the shoulder joint structure 100.

[0075] See also Figures 1 to 6 In a specific embodiment, the first support assembly 10 of the shoulder joint structure 100 includes a mounting plate 11, a first support shell 12 and a first driving member 13, and the mounting plate 11, the first support shell 12 and the first driving member 13 are sequentially connected along the first axis L1. The mounting plate 11 is used to be fixedly connected to the battery box 203 of the trunk structure 200. The mounting plate 11 is arranged on the peripheral side wall of one end of the first support assembly 10 close to the battery box 203 of the trunk structure 200. The first support shell 12 extends obliquely upward from one end close to the mounting plate 11 to one end away from the mounting plate 11. The mounting surface 10a is arranged on the mounting plate 11 and faces the battery box 203 of the trunk structure 200. The stator of the first driving member 13 is accommodated in the first support shell 12 and fixedly connected to the first support shell 12. The rotor of the first driving member 13 is fixedly connected to the second support assembly 30 and can rotate around the first axis L1 to drive the second support assembly 30 to swing along the front and rear direction of the humanoid robot 1000. The first axis L1 is an extending direction of the first supporting shell 12 from an end close to the mounting plate 11 to an end far away from the mounting plate 11 .

[0076] The shoulder joint structure 100 provided in this embodiment, on the one hand, is provided on the mounting plate 11 by the mounting surface 10a, and the mounting plate 11 is fixedly connected to the battery box 203 of the trunk structure 200, which is conducive to improving the connection strength between the first support assembly 10 of the shoulder joint structure 100 and the battery box 203 of the trunk structure 200, so as to reduce the risk of the first support assembly 10 falling from the battery box 203 of the trunk structure 200. At the same time, by providing the mounting plate 11 on the peripheral side wall of one end of the first support assembly 10 close to the battery box 203 of the trunk structure 200, it is conducive to increasing the contact area between the first support assembly 10 and the battery box 203 of the trunk structure 200, thereby better dispersing the stress at the connection between the first support assembly 10 and the battery box 203 of the trunk structure 200, reducing the stress concentration phenomenon at the connection between the shoulder joint structure 100 and the battery box 203 of the trunk structure 200, thereby reducing the wear at the connection between the shoulder joint structure 100 and the battery box 203 of the trunk structure 200. On the other hand, the second support assembly 30 is driven to rotate around the first axis L1 by the first driving member 13, that is, the first driving member 13 can drive the second support assembly 30, the third support assembly 50 and the arm structure 400 connected to the third support assembly 50 to swing along the front and back directions of the humanoid robot 1000, so that the shoulder joint structure 100 can realize a forward and backward arm swinging movement similar to that of a human.

[0077] See also Figures 1 to 7 In a specific embodiment, the second support assembly 30 of the shoulder joint structure 100 includes a second support shell 31 and a second drive member 32. The second support shell 31 is fixedly connected to the rotor of the first drive member 13, the stator of the second drive member 32 is accommodated in the second support shell 31 and fixedly connected to the second support shell 31, and the rotor of the second drive member 32 is fixedly connected to the third support assembly 50 and can rotate around the second axis L2 to drive the third support assembly 50 to swing along the left and right direction of the humanoid robot 1000. The second axis L2 is perpendicular to the first axis L1. When the arm structure 400 of the humanoid robot 1000 is in a natural drooping state, the second axis L2 is parallel to the front-to-back direction of the humanoid robot 1000.

[0078] The shoulder joint structure 100 provided in this embodiment drives the third support component 50 to rotate around the second axis L2 through the second drive component 32, that is, the second drive component 32 can drive the third support component 50 and the arm structure 400 connected to the third support component 50 to swing along the left and right directions of the humanoid robot 1000, so that the shoulder joint structure 100 can achieve a left and right arm swinging action similar to that of a human.

[0079] See also Figures 1 to 7In a specific embodiment, a first positioning portion 523 is provided on the side of the second connection portion 521 of the second connection shell 52 facing the first connection portion 511 of the first connection shell 51, and a second positioning portion 321 is provided on the end of the second driving member 32 connected to the second connection portion 521, and the first positioning portion 523 cooperates with the second positioning portion 321, and the second driving member 32 is fixedly connected to the second connection portion 521. In this embodiment, the first positioning portion 523 is a circular groove, and the second positioning portion 321 is a circular annular boss, and the positioning of the second driving member 32 when connected to the second connection portion 521 is achieved by the cooperation between the groove and the boss.

[0080] Furthermore, an anti-mistake notch 524 is provided on the first positioning portion 523, and the anti-mistake notch 524 is used to cooperate with the second driving member 32 to prevent relative rotation during the fixed connection between the second driving member 32 and the second connecting portion 521, thereby improving the assembly efficiency of the second driving member 32 and the second connecting portion 521.

[0081] Furthermore, a receiving groove 525 is provided on the first positioning portion 523, and the receiving groove 525 is used to receive part of the wire of the second driving member 32, so as to prevent the wire of the second driving member 32 from being damaged during the assembly process of the second driving member 32 and the second connecting portion 521. At the same time, through the design of the receiving groove 525, the space required for the assembly of the second driving member 32 and the second connecting portion 521 can be reduced, which is conducive to improving the space utilization rate of the shoulder joint structure 100.

[0082] See also Figures 1 to 7 In a specific embodiment, a first limiting portion 121 and a first marking portion 122 are provided on the first support shell 12 of the shoulder joint structure 100, and a second limiting portion 311 and a second marking portion 312 are provided on the second support shell 31 of the shoulder joint structure 100. The first limiting portion 121 is used to cooperate with the second limiting portion 311 to limit the angle of rotation of the second support shell 31 relative to the first support shell 12 driven by the first driving member 13 around the first axis L1. The first marking portion 122 is used to cooperate with the second marking portion 312. When the first marking portion 122 is aligned with the second marking portion 312, the orthographic projection of the third support assembly 50 in the left-right direction of the humanoid robot 1000 is approximately bent and extended in the up-down direction of the humanoid robot 1000.

[0083] The shoulder joint structure 100 provided in this embodiment, on the one hand, limits the angle of the second support assembly 30 driven by the first driving member 13 to rotate relative to the first support assembly 10 around the first axis L1 through the first limiting portion 121 of the first support shell 12 of the shoulder joint structure 100 and the second limiting portion 311 of the second support shell 31 of the shoulder joint structure 100, so as to prevent the second support assembly 30 from interfering with surrounding parts during the rotation around the first axis L1. On the other hand, through the cooperation of the first marking portion 122 and the second marking portion 312, and when the first marking portion 122 and the second marking portion 312 are aligned, the positive projection of the third support assembly 50 in the left-right direction of the humanoid robot 1000 extends along the up-down direction of the humanoid robot 1000, that is, the third support assembly 50 and the arm structure 400 connected to the third support assembly 50 are in the middle position in the front-back direction of the humanoid robot 1000, so as to simplify the program design of the rotation of the first driving member 13 of the shoulder joint structure 100, which is conducive to improving the stability of the first driving member 13 driving the second support assembly 30 to rotate.

[0084] In this embodiment, the first limiting portion 121 is a boss, the second limiting portion 311 is a boss, and the outer wall of the first limiting portion 121 cooperates with the outer wall of the second limiting portion 311. The first limiting portion 121 provided on the first supporting shell 12 is located in the annular groove on the first supporting shell 12, and the second limiting portion 311 provided on the second supporting shell 31 extends into the annular groove and cooperates with the first limiting portion 121 to limit the angle at which the first driving member 13 drives the second supporting shell 31 to rotate relative to the first supporting shell 12 around the first axis L1. The outer wall of the second limiting portion 311 is in sliding contact with the inner wall of the annular groove to provide a guiding effect for the second limiting portion 311 to move in the annular groove, and at the same time, the stability of the second limiting portion 311 moving in the annular groove can be improved.

[0085] It is understandable that in some other embodiments, the first limiting portion 121 is a boss, the second limiting portion 311 is a groove, and the first limiting portion 121 is matched with the inner wall of the second limiting portion 311. Alternatively, the first limiting portion 121 is a groove, the second limiting portion 311 is a boss, and the inner wall of the first limiting portion 121 is matched with the outer wall of the second limiting portion 311, and the present application does not limit this.

[0086] In this embodiment, the first calibration portion 122 is a groove, and the second calibration portion 312 is a groove, and the first calibration portion 122 and the second calibration portion 312 can be aligned by a clamp. When the first calibration portion 122 and the second calibration portion 312 are aligned, the opening of the first calibration portion 122 and the opening of the second calibration portion 312 are arranged opposite to each other along the direction of the first axis L1, and the first calibration portion 122 and the second calibration portion 312 are connected.

[0087] It can be understood that in some other embodiments, the first calibration portion 122 is a boss, the second calibration portion 312 is a boss, and the first calibration portion 122 and the second calibration portion 312 can be aligned by a ferrule. When the first calibration portion 122 and the second calibration portion 312 are aligned, the first calibration portion 122 and the second calibration portion 312 are arranged relative to each other along the direction of the first axis L1. When the first calibration portion 122 and the second calibration portion 312 are aligned, the second support assembly 30 is in an initial position relative to the first support assembly 10, and the initial position is used as the zero point for the third support assembly 50 to swing in the front-back direction of the humanoid robot 1000. Therefore, in the process of designing the algorithm program for controlling the action angle of the third support assembly 50, the algorithm program for the first drive member 13 to drive the second support assembly 30 and the third support assembly 50 to swing in the front-to-back direction of the humanoid robot 1000 is designed with the initial position as the design zero point, so as to simplify the design of the algorithm program for the first drive member 13 to drive the second support assembly 30 and the third support assembly 50 to swing in the front-to-back direction of the humanoid robot 1000, which is beneficial to improve the stability of the algorithm program for the first drive member 13 to drive the second support assembly 30 and the third support assembly 50 to swing in the front-to-back direction of the humanoid robot 1000 during operation.

[0088] It should be understood that, when the third support assembly 50 of the humanoid robot 1000 is swinging in the front-to-back direction of the humanoid robot 1000, the arm structure 400 of the humanoid robot 1000 can swing toward the front of the humanoid robot 1000 or toward the back of the humanoid robot 1000. When the first marking portion 122 of the first support shell 12 is aligned with the second marking portion 312 of the second support shell 31, the arm structure 400 of the humanoid robot 1000 is in an initial position, and the initial position is used as the zero point for the arm structure 400 to swing in the front-to-back direction of the humanoid robot 1000. When the first driving member 13 drives the second support assembly 30, the third support assembly 50 and the arm structure 400 to rotate clockwise around the first axis L1, the arm structure 400 of the humanoid robot 1000 can swing toward the front of the humanoid robot 1000. When the first driving member 13 drives the second supporting assembly 30, the third supporting assembly 50 and the arm structure 400 to rotate counterclockwise around the first axis L1, the arm structure 400 of the humanoid robot 1000 can swing toward the rear of the humanoid robot 1000. Therefore, the algorithm program of the first driving member 13 driving the second supporting assembly 30, the third supporting assembly 50 and the arm structure 400 to swing in the front-back direction of the humanoid robot 1000 is simpler, which is conducive to improving the stability of the algorithm program of the first driving member 13 driving the second supporting assembly 30, the third supporting assembly 50 and the arm structure 400 to swing in the front-back direction of the humanoid robot 1000 during operation.

[0089] See also Figures 1 to 5 In a specific embodiment, the third support assembly 50 of the shoulder joint structure 100 includes a third support shell 54 and a third driving member 55. The third support shell 54 is fixedly connected to the rotor of the second driving member 32, the stator of the third driving member 55 is accommodated in the third support shell 54 and is used to be fixedly connected to the arm structure 400, and the rotor of the third driving member 55 can rotate around the third axis L3 to drive the arm structure 400 to rotate around the up and down direction of the humanoid robot 1000. The third axis L3 is coplanar with the first axis L1, and the third axis L3 is perpendicular to the second axis L2.

[0090] The shoulder joint structure 100 provided in this embodiment drives the arm structure 400 connected to the third support assembly 50 to rotate around the third axis L3 through the third driving member 55, that is, the third driving member 55 can drive the arm structure 400 connected to the third support assembly 50 to rotate around the up and down directions of the humanoid robot 1000, so that the shoulder joint structure 100 can achieve an arm rotation movement similar to that of a human in the up and down directions.

[0091] See also Figures 1 to 7 In a specific embodiment, a third limiting portion 313 and a third marking portion 314 are provided on the second support shell 31 of the shoulder joint structure 100, and a fourth limiting portion 541 and a fourth marking portion 542 are provided on the third support shell 54 of the shoulder joint structure 100. The third limiting portion 313 is used to cooperate with the fourth limiting portion 541 to limit the angle of rotation of the third support shell 54 relative to the second support shell 31 driven by the second driving member 32 around the second axis L2. The third marking portion 314 is used to cooperate with the fourth marking portion 542. When the third marking portion 314 is aligned with the fourth marking portion 542, the orthographic projection of the third support assembly 50 in the front-to-back direction of the humanoid robot 1000 extends along the up-and-down direction of the humanoid robot 1000.

[0092] The shoulder joint structure 100 provided in this embodiment, on the one hand, limits the angle of rotation of the third support assembly 50 relative to the second support assembly 30 around the second axis L2 driven by the second driving member 32 through the third limiting portion 313 of the second support shell 31 of the shoulder joint structure 100 and the fourth limiting portion 541 of the third support shell 54 of the shoulder joint structure 100, thereby preventing the third support assembly 50 from interfering with surrounding components during the rotation around the second axis L2. On the other hand, by cooperating with the fourth calibration part 314 and the fourth calibration part 542, and when the third calibration part 314 and the fourth calibration part 542 are aligned, the positive projection of the third support assembly 50 in the front-to-back direction of the humanoid robot 1000 extends along the up-and-down direction of the humanoid robot 1000, that is, the third support assembly 50 and the arm structure 400 connected to the third support assembly 50 are in the center position in the left-right direction of the humanoid robot 1000, so as to simplify the program design of the rotation of the second driving member 32 of the shoulder joint structure 100, which is beneficial to improve the stability of the second driving member 32 driving the third support assembly 50 to rotate.

[0093] In this embodiment, the third limiting portion 313 is a boss, the fourth limiting portion 541 is a boss, and the outer wall of the third limiting portion 313 cooperates with the outer wall of the fourth limiting portion 541. It can be understood that in some other embodiments, the third limiting portion 313 is a boss, the fourth limiting portion 541 is a groove, and the third limiting portion 313 cooperates with the inner wall of the fourth limiting portion 541. Alternatively, the third limiting portion 313 is a groove, the fourth limiting portion 541 is a boss, and the inner wall of the third limiting portion 313 cooperates with the outer wall of the fourth limiting portion 541, and this application does not limit this.

[0094] In this embodiment, the third marking portion 314 is a groove, the fourth marking portion 542 is a groove, and the third marking portion 314 and the fourth marking portion 542 can be aligned by a clamping member. When the third marking portion 314 and the fourth marking portion 542 are aligned, the opening of the third marking portion 314 and the opening of the fourth marking portion 542 are arranged relative to each other along the direction of the second axis L2, and the third marking portion 314 is connected to the fourth marking portion 542. It can be understood that in some other embodiments, the third marking portion 314 is a boss, the fourth marking portion 542 is a boss, and the third marking portion 314 and the fourth marking portion 542 can be aligned by a ferrule. When the third marking portion 314 and the fourth marking portion 542 are aligned, the third marking portion 314 and the fourth marking portion 542 are arranged relative to each other along the direction of the first axis L1. When the third calibration portion 314 is aligned with the fourth calibration portion 542, the third support assembly 50 is in an initial position relative to the second support assembly 30, and the initial position is used as the zero point for the third support assembly 50 to swing in the left-right direction of the humanoid robot 1000. Therefore, in the process of designing the algorithm program for controlling the action angle of the third support assembly 50, the algorithm program for the second driving member 32 to drive the third support assembly 50 to swing in the left-right direction of the humanoid robot 1000 is designed with the initial position as the design zero point, so as to simplify the design of the algorithm program for the second driving member 32 to drive the third support assembly 50 to swing in the left-right direction of the humanoid robot 1000, which is conducive to improving the stability of the algorithm program for the second driving member 32 to drive the third support assembly 50 to swing in the left-right direction of the humanoid robot 1000 during operation.

[0095] It should be understood that, during the swinging of the third support assembly 50 of the humanoid robot 1000 in the left-right direction of the humanoid robot 1000, the arm structure 400 of the humanoid robot 1000 can swing toward the left side of the humanoid robot 1000 or toward the right side of the humanoid robot 1000. When the third marking portion 314 of the second support shell 31 is aligned with the fourth marking portion 542 of the third support shell 54, the arm structure 400 of the humanoid robot 1000 is in an initial position, and the initial position is used as a zero point for the swinging of the arm structure 400 in the left-right direction of the humanoid robot 1000. When the second driving member 32 drives the third support assembly 50 and the arm structure 400 to rotate clockwise around the second axis L2, the arm structure 400 of the humanoid robot 1000 can swing toward the left side of the humanoid robot 1000. When the second driving member 32 drives the third supporting assembly 50 and the arm structure 400 to rotate counterclockwise around the second axis L2, the arm structure 400 of the humanoid robot 1000 can swing toward the right side of the humanoid robot 1000. Therefore, the algorithm program of the second driving member 32 driving the third supporting assembly 50 and the arm structure 400 to swing in the left and right directions of the humanoid robot 1000 is simpler, which is conducive to improving the stability of the algorithm program of the second driving member 32 driving the third supporting assembly 50 and the arm structure 400 to swing in the left and right directions of the humanoid robot 1000 during operation.

[0096] See also Figures 1 to 8 In a specific embodiment, the third support assembly 50 of the shoulder joint structure 100 further includes an elastic abutment member 56 and a rotation member 57. One end of the second support shell 31 away from the first support assembly 10 is accommodated in the third support shell 54. One end of the second support shell 31 along the second axis L2 is fixedly connected to one end of the elastic abutment member 56, and the other end of the second support shell 31 along the second axis L2 is used for the second driving member 32 to pass through and is fixedly connected to the third support shell 54. The rotation member 57 rotationally connects the other end of the elastic abutment member 56 and the third support shell 54.

[0097] The shoulder joint structure 100 provided in this embodiment, on the one hand, is elastically supported between one end of the second support shell 31 and the third support shell 54 by the elastic supporting member 56, and the second driving member 32 is fixedly connected to the third support shell 54 at the other end of the second support shell 31, so that the shoulder joint structure 100 has a certain buffering capacity through the elastic supporting member 56 during vibration, which can reduce the probability of rigid collision between the second support assembly 30 and the third support assembly 50, which is beneficial to improve the anti-vibration performance of the shoulder joint structure 100. At the same time, the provision of the elastic supporting member 56 also facilitates the installation of the end of the second support assembly 30 to the third support assembly 50. On the other hand, the rotation member 57 is rotationally connected between the elastic supporting member 56 and the third support shell 54, which is beneficial to improve the smoothness of the rotation of the third support assembly 50 relative to the second support assembly 30 around the second axis L2, thereby improving the flexibility of the shoulder joint structure 100.

[0098] In this embodiment, the third support shell 54 is formed by covering the first connection shell 51 and the second connection shell 52. The elastic supporting member 56 is formed by a plurality of spring sheets, one end of which is connected, and the other ends of which are separated from each other, and the plane where the ends of the plurality of spring sheets are connected is different from the plane where the ends of the plurality of spring sheets are separated from each other. The end where the plurality of spring sheets are connected of the elastic supporting member 56 is connected is connected to the rotating member 57, and the rotating member 57 is rotatably connected between the first connection portion 511 of the first connection shell 51 and the end where the plurality of spring sheets of the elastic supporting member 56 are connected, and the end where the plurality of spring sheets of the elastic supporting member 56 are separated from each other abuts against the stator of the second support shell 31 or the second driving member 32. The rotor of the second driving member 32 is fixedly connected to the second connection shell 52, so that the rotor of the second driving member 32 can drive the second connection shell 52 and the third support shell 54 to rotate around the second axis L2 as a whole.

[0099] The shoulder joint structure 100 provided in this embodiment, on the one hand, is connected to the rotating member 57 through one end connected with multiple spring pieces of the elastic abutting member 56, and the rotating member 57 is rotatably connected between the first connection portion 511 of the first connection shell 51 and one end connected with multiple spring pieces of the elastic abutting member 56, and one end of the multiple spring pieces of the elastic abutting member 56 separated from each other abuts against the stator of the second support shell 31 or the second driving member 32, so that the shoulder joint structure 100 has a certain buffering capacity through the elastic abutting member 56 during vibration, which can reduce the probability of rigid collision between the second support assembly 30 and the third support assembly 50, and is conducive to improving the anti-vibration performance of the shoulder joint structure 100. At the same time, through the provision of the elastic abutting member 56, it is also convenient to install the end of the second support assembly 30 to the receiving cavity 53 formed by the first connection portion 511 and the second connection portion 521. On the other hand, the rotating member 57 is rotatably connected between the elastic supporting member 56 and the first connecting portion 511 of the third supporting shell 54, which is beneficial to improving the smoothness of the second driving member 32 driving the third supporting assembly 50 to rotate around the second axis L2 relative to the second supporting assembly 30, thereby improving the flexibility of rotation of the shoulder joint structure 100.

[0100] See also Figures 1 to 6 In a specific embodiment, the mounting surface 10a of the first support assembly 10 of the shoulder joint structure 100 is perpendicular to the left-right direction of the humanoid robot 1000. The first support assembly 10 also has a cutting surface 10b, which penetrates the first support shell 12 mounting plate 11 and is connected to the mounting surface 10a, and the cutting surface 10b is perpendicular to the up-down direction of the humanoid robot 1000.

[0101] The shoulder joint structure 100 provided in this embodiment, on the one hand, is based on the first support assembly 10 extending obliquely upward from one end of the mounting surface 10a, and the mounting surface 10a is perpendicular to the left-right direction of the humanoid robot 1000, that is, the mounting surface 10a is parallel to the front-to-back direction and the up-down direction of the humanoid robot 1000, thereby making the contact area between the mounting surface 10a and the trunk structure 200 larger, which is conducive to reducing the stress received by the mounting surface 10a on a single surface area, thereby reducing the wear of the connection between the first support assembly 10 and the trunk structure 200. On the other hand, the cutting surface 10b penetrates the first support shell 12 and is connected to the mounting surface 10a, and the cutting surface 10b is arranged perpendicular to the up-down direction of the humanoid robot 1000, that is, the cutting surface 10b is parallel to the front-to-back direction and the left-to-right direction of the humanoid robot 1000, which is conducive to reducing the space occupied by the second support shell 31 in the trunk structure 200, so as to facilitate the reasonable layout design of the components of the trunk structure 200.

[0102] See also Figures 1 to 6In a specific embodiment, the first support assembly 10 of the shoulder joint structure 100 further includes a reinforcing rib 14, which extends along the direction of the first axis L1. The reinforcing rib 14 is arranged on the peripheral side wall of the first support shell 12 and is connected to the side of the mounting plate 11 facing away from the mounting surface 10a.

[0103] The shoulder joint structure 100 provided in this embodiment is provided with reinforcing ribs 14 on the peripheral side wall of the first support shell 12 and extending to be connected with the mounting plate 11, so as to improve the strength of the connection between the first support shell 12 and the mounting plate 11, thereby improving the strength and stability of the connection between the shoulder joint structure 100 and the trunk structure 200. At the same time, the reinforcing ribs 14 extend in the direction of the first axis L1, which is conducive to improving the bending resistance of the first support shell 12, thereby improving the shoulder joint structure 100 to withstand a greater force from the arm structure 400.

[0104] Furthermore, the first support shell 12 of the shoulder joint structure 100 has a heat dissipation hole 15 , which penetrates the peripheral side wall of the first support shell 12 , so that the first driving member 13 accommodated in the first support shell 12 can dissipate heat through the heat dissipation hole 15 .

[0105] The above are some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A shoulder joint structure, characterized in that: Used for a humanoid robot, the humanoid robot comprises a trunk structure, a head structure and an arm structure; the shoulder joint structure comprises: A first support component, one end of which has a mounting surface, the mounting surface being used to connect to the trunk structure, the first support component extending obliquely upward from the mounting surface; wherein the direction from the trunk structure toward the head structure is upward; a second support assembly, rotatably connected to an end of the first support assembly away from the mounting surface around a first axis; wherein the second support assembly comprises a second support shell and a second drive member, and the stator of the second drive member is accommodated in the second support shell and fixedly connected to the second support shell; and The third support assembly is rotatably connected with the end of the second support assembly away from the first support assembly around the second axis, and the first axis and the second axis intersect; the end of the second support assembly away from the first support assembly is accommodated in the third support assembly, and the end of the third support assembly away from the second support assembly is used to connect with the arm structure; in the positive projection of the second axis, the third support assembly is curved, and the structure formed by the connection of the second support assembly and the third support assembly is "C" shaped, and the opening of the "C" shape faces the trunk structure; wherein the third support assembly includes a third support shell, an elastic abutment and a rotating member; the end of the second support shell away from the first support assembly is accommodated in the third support shell, and the third support shell is fixedly connected to the rotor of the second driving member; one end of the second support shell along the second axis is fixedly connected to one end of the elastic abutment, and the other end of the second support shell along the second axis is used for the second driving member to pass through and is fixedly connected to the third support shell; the rotating member rotatably connects the other end of the elastic abutment and the third support shell.

2. The shoulder joint structure according to claim 1, characterized in that: The third support component bends and extends obliquely downward from one end of the third support component close to the second support component to one end of the third support component away from the second support component; wherein the direction from the trunk structure back to the head structure is downward.

3. The shoulder joint structure according to claim 2, characterized in that: The third supporting assembly includes a first connecting shell and a second connecting shell that overlap each other; the first connecting shell includes a first connecting portion and a first extending portion, and the connection between the first connecting portion and the first extending portion is a smooth transition; the second connecting shell includes a second connecting portion and a second extending portion, and the connection between the second connecting portion and the second extending portion is a smooth transition; in the orthographic projection of the second axis, the first connecting portion and the second connecting portion are opposite to and spaced apart to form a receiving cavity, and the first extending portion and the second extending portion overlap each other; at least a portion of the second supporting assembly away from the first supporting assembly is received in the receiving cavity.

4. The shoulder joint structure according to claim 3, characterized in that: In the orthographic projection of the second axis, the periphery of the first connection portion and the periphery of the second connection portion are both circular, and the center of the circle where the periphery of the first connection portion is located and the center of the circle where the periphery of the second connection portion is located are collinear; during the rotation of the third support assembly around the second axis, the end of the second support assembly away from one end of the first support assembly is completely accommodated in the accommodation cavity.

5. The shoulder joint structure according to claim 1, characterized in that: The first support assembly includes a mounting plate, a first support shell and a first driving member; the mounting plate is arranged on the peripheral side wall of the first support assembly at one end close to the torso structure, the first support shell extends obliquely upward from one end close to the mounting plate to one end away from the mounting plate, and the mounting surface is arranged on the mounting plate and faces the torso structure; the stator of the first driving member is accommodated in the first support shell and fixedly connected to the first support shell, and the rotor of the first driving member is fixedly connected to the second support assembly and rotates around the first axis to drive the second support assembly to swing along the front and rear direction of the humanoid robot; wherein the first axis is the extension direction of the first support shell from one end close to the mounting plate to one end away from the mounting plate.

6. The shoulder joint structure according to claim 5, characterized in that: The second support shell is fixedly connected to the rotor of the first driving member, and the rotor of the second driving member is fixedly connected to the third support assembly and rotates around the second axis to drive the third support assembly to swing along the left and right directions of the humanoid robot; wherein the second axis is perpendicular to the first axis.

7. The shoulder joint structure according to claim 6, characterized in that: The first supporting shell is provided with a first limiting portion and a first marking portion, and the second supporting shell is provided with a second limiting portion and a second marking portion; the first limiting portion is used to cooperate with the second limiting portion to limit the angle at which the first driving member drives the second supporting shell to rotate relative to the first supporting shell around the first axis; the first marking portion is used to cooperate with the second marking portion, and when the first marking portion is aligned with the second marking portion, the orthographic projection of the third supporting assembly in the left-right direction of the humanoid robot extends along the up-down direction of the humanoid robot.

8. The shoulder joint structure according to claim 6, characterized in that: The third support assembly also includes a third driving member; the stator of the third driving member is accommodated in the third support shell and is used to be fixedly connected to the arm structure, and the rotor of the third driving member rotates around a third axis to drive the arm structure to rotate around the up and down directions of the humanoid robot; wherein the third axis is coplanar with the first axis, and the third axis is perpendicular to the second axis.

9. The shoulder joint structure according to claim 8, characterized in that: A third limiting portion and a third marking portion are provided on the second supporting shell, and a fourth limiting portion and a fourth marking portion are provided on the third supporting shell; the third limiting portion is used to cooperate with the fourth limiting portion to limit the angle at which the second driving member drives the third supporting shell to rotate relative to the second supporting shell around the second axis; the third marking portion is used to cooperate with the fourth marking portion, and when the third marking portion is aligned with the fourth marking portion, the orthographic projection of the third supporting assembly in the front-rear direction of the humanoid robot extends along the up-and-down direction of the humanoid robot.

10. The shoulder joint structure according to claim 5, characterized in that: The mounting surface is perpendicular to the left-right direction of the humanoid robot; the first support assembly also has a cutting surface, which passes through the mounting plate of the first support shell and is connected to the mounting surface, and the cutting surface is perpendicular to the up-down direction of the humanoid robot.

11. The shoulder joint structure according to claim 5, characterized in that: The first support assembly further includes a reinforcing rib extending in the direction of the first axis, the reinforcing rib being arranged on the peripheral side wall of the first support shell and connected to a side of the mounting plate facing away from the mounting surface.

12. A humanoid robot, characterized in that: include: Trunk structure; A head structure connected to the trunk structure along the up-down direction of the humanoid robot; The shoulder joint structure according to any one of claims 1 to 11, connected to a trunk structure; as well as The arm structure is connected to one end of the shoulder joint structure away from the trunk structure.

13. The humanoid robot according to claim 12, characterized in that: The torso structure includes a first shell, a second shell, a battery box and fasteners. The first shell and the second shell cover and surround each other along the front-to-back direction of the humanoid robot to form a receiving space. The battery box is fixed in the receiving space. The fasteners are sleeved on the first shell and the second shell to cover and fix the first shell and the second shell. The mounting surface of the shoulder joint structure is fixedly connected to one side of the battery box along the left-right direction of the humanoid robot, and the first support component of the shoulder joint structure is completely received in the receiving space.

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