Upper limb assembly and humanoid robot

Abstract

The upper limb assembly comprises a forearm shell, a first mounting part, a first driving part and a second mounting part, the first mounting part comprises a first cylinder, a first end plate, a first connecting arm and a second connecting arm, and the first end plate is provided with a first mounting hole and connected with an opening in one end of the first cylinder; the first connecting arm and the second connecting arm are oppositely connected to the end face, back on to the first end plate, of the first barrel in a spaced mode and rotationally connected with the small arm shell around the first axis, part of the first driving piece is contained in the first barrel and connected with the first end plate, and the second mounting piece is connected with a rotor of the first driving piece. The first driving part is used for driving the second mounting part to rotate around a second axis, the second axis is perpendicular to the first axis, and the first mounting part is symmetrical relative to a first symmetry plane which passes through the first axis and is parallel to the second axis and a second symmetry plane which passes through the second axis and is perpendicular to the first axis; and the manufacturing difficulty and the assembling difficulty of the first mounting piece are reduced.

Description

Technical Field

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

[0002] At present, humanoid robots have received more and more attention in recent years because they have good mobility when facing complex terrain. Among them, humanoid robots use mechanical arms to perform human-like upper limb movements. In order to ensure the structural strength of the mechanical arm, the structural parts of the mechanical arm are usually made of metal, which leads to complex manufacturing processes and assembly of mechanical arm parts. Summary of the invention

[0003] The purpose of the present invention is to provide an upper limb assembly and a humanoid robot to solve the problem of complex manufacturing process and assembly of parts of a robotic arm.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions: In a first aspect, the present invention provides an upper limb assembly for a humanoid robot, comprising: a forearm housing; a first mounting member, comprising a first cylinder, a first end plate, a first connecting arm and a second connecting arm, the first cylinder being in the shape of a cylinder with openings at both ends, the first end plate being connected to an opening at one end of the first cylinder, the first end plate being provided with a first mounting hole, the first connecting arm and the second connecting arm being connected to an end surface of the first cylinder facing away from the first end plate at relative intervals, the first connecting arm and the second connecting arm being both connected to the forearm housing for rotation around a first axis; a first driving member, a portion of the first driving member being accommodated in the first cylinder, the stator of the first driving member being connected to the first end plate, and the rotor of the first driving member being exposed from the first mounting hole; a second mounting member being connected to the rotor of the first driving member, the first driving member being used to drive the second mounting member to rotate around a second axis, the second axis being perpendicular to the first axis; wherein the first mounting member is symmetrical with respect to the first symmetry plane and the second symmetry plane, the first symmetry plane passes through the first axis and is parallel to the second axis, and the second symmetry plane passes through the second axis and is perpendicular to the first axis. The first mounting member includes a first cylinder, a first end plate, a first connecting arm and a second connecting arm, the first cylinder being in the shape of a cylinder with openings at both ends, the first end plate being provided with a first mounting hole and being connected to an opening at one end of the first cylinder, the first connecting arm and the second connecting arm being connected to the end surface of the first cylinder facing away from the first end plate at a relative interval and both being connected to the arm housing for rotation around the first axis, a portion of the first driving member is accommodated in the first cylinder and connected to the first end plate, the second mounting member is connected to the rotor of the first driving member, the first driving member is used to drive the second mounting member to rotate around the second axis, the second axis is perpendicular to the first axis, the first mounting member is symmetrical relative to a first symmetry plane passing through the first axis and parallel to the second axis and a second symmetry plane passing through the second axis and perpendicular to the first axis, so that the structure of the first mounting member is a symmetrical component, so that there is no need to distinguish the installation direction when connecting the first mounting member to the arm housing, so as to realize the installation of the first mounting member in the positive and negative directions, and at the same time, it is beneficial to reduce the difficulty of making the mold for forming the first mounting member, and reduce the difficulty of making and assembling the first mounting member.

[0005] In one embodiment, the first cylinder is an integral structure with the first connecting arm and the second connecting arm, the inner circumferential surface of the first cylinder is flush with the inner surface of the first connecting arm, and the outer circumferential surface of the first cylinder is flush with the outer surface of the first connecting arm; in the orthographic projection of the first axis, the width of the first connecting arm gradually decreases from the direction close to the first cylinder to the direction away from the first cylinder. By setting the first cylinder, the first connecting arm and the second connecting arm as an integral structure, the inner circumferential surface of the first cylinder is flush with the inner surface of the first connecting arm, and the outer circumferential surface of the first cylinder is flush with the outer surface of the first connecting arm, the first cylinder, the first connecting arm and the second connecting arm can be integrally formed, thereby improving the structural strength of the first mounting member, and at the same time, in the orthographic projection of the first axis, the width of the first connecting arm gradually decreases from the direction close to the first cylinder to the direction away from the first cylinder, thereby improving the lightweight degree of the first mounting member under the premise that the first mounting member meets the structural strength requirements.

[0006] In one embodiment, the first mounting member further includes a first limiting portion and a second limiting portion, the first limiting portion and the second limiting portion are both connected to the inner wall surface of the first mounting hole, and the first limiting portion and the second limiting portion are relatively spaced along the direction of the first axis; the second mounting member includes a main body and a third limiting portion, the third limiting portion is connected to the main body, the main body is connected to the rotor of the first driving member, and the third limiting portion is used to abut against the first limiting portion or the second limiting portion. By setting the first mounting member to also include a first limiting portion and a second limiting portion, the first limiting portion and the second limiting portion are both connected to the inner wall surface of the first mounting hole, the first limiting portion and the second limiting portion are relatively spaced along the direction of the first axis, the second mounting member includes a main body and a third limiting portion, the third limiting portion is connected to the main body, the main body is connected to the rotor of the first driving member, and the third limiting portion is used to abut against the first limiting portion or the second limiting portion, so that the rotation angle of the second mounting member relative to the first mounting member is limited within a preset range, preventing the second mounting member from excessively rotating and causing motion interference.

[0007] In one embodiment, the upper limb assembly also includes a palm piece, which is connected to an end of the second mounting piece away from the first mounting piece, the second mounting piece is L-shaped and includes a connecting end, the connecting end is the end of the second mounting piece away from the first driving piece, the connecting end is located on the side of the first mounting piece facing away from the forearm housing, the connecting end is circular, the center line of the connecting end is a third axis, and the length direction of the palm piece extends along the third axis; the second mounting piece is symmetrical with respect to a third symmetry plane, and the third symmetry plane passes through the second axis and the third axis. By setting the upper limb assembly also including a palm piece, the palm piece is connected to the end of the second mounting piece away from the first mounting piece, the second mounting piece is L-shaped and includes a connecting end, the connecting end is the end of the second mounting piece away from the first driving piece, the connecting end is located on the side of the first mounting piece facing away from the forearm housing, the connecting end is circular, the center line of the connecting end is the third axis, the length direction of the palm piece extends along the third axis, the second mounting piece is symmetrical relative to the third symmetry plane, the third symmetry plane passes through the second axis and the third axis, so that the second mounting piece is a symmetrical component, so that the difficulty of making a mold for forming the second mounting piece is reduced, thereby reducing the difficulty of making the second mounting piece.

[0008] In one embodiment, the forearm housing includes a second cylinder, a third cylinder, a third connecting arm and a fourth connecting arm, the second cylinder and the third cylinder are connected in sequence along a fourth axis, the fourth axis intersects and is perpendicular to the first axis, the third connecting arm and the fourth connecting arm are respectively connected to the two ends of the second cylinder on the first axis, the third connecting arm is rotationally connected to the first connecting arm, and the fourth connecting arm is rotationally connected to the second connecting arm; the upper limb assembly also includes a second driving member and a transmission assembly, the second driving member is accommodated in the second cylinder, the stator of the second driving member is connected to the second cylinder, the transmission assembly connects the rotor of the second driving member and the first cylinder, and the second driving member is used to drive the first mounting member to rotate around the first axis; in the orthographic projection of the first connecting arm in the direction close to the second connecting arm, the forearm housing is symmetrical relative to the fourth symmetry plane, and the fourth symmetry plane passes through the first axis and the fourth axis; in the orthographic projection of the third cylinder in the direction close to the second cylinder, the forearm housing is symmetrical relative to the fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis and is perpendicular to the first axis. By setting the forearm shell to include a second cylinder, a third cylinder, a third connecting arm and a fourth connecting arm, the second cylinder and the third cylinder are connected in sequence along a fourth axis, the fourth axis intersects and is perpendicular to the first axis, the third connecting arm and the fourth connecting arm are respectively connected to the two ends of the second cylinder on the first axis, the third connecting arm is rotatably connected to the first connecting arm, and the fourth connecting arm is rotatably connected to the second connecting arm, so that the connection strength between the second mounting member and the forearm shell is high, so that the second mounting member is not prone to shaking when rotating relative to the forearm shell, and a second driving member and a transmission assembly are set, the second driving member is accommodated in the second cylinder, the stator of the second driving member is connected to the second cylinder, and the transmission assembly connects the rotor of the second driving member and the first A cylinder, a second driving member is used to drive the first mounting member to rotate around the first axis, so that the first mounting member can rotate under the drive of the second driving member and the transmission assembly, so as to realize the movement of the palm member in one degree of freedom. At the same time, it is arranged that in the orthographic projection in the direction in which the first connecting arm is close to the second connecting arm, the forearm shell is symmetrical with respect to the fourth symmetry plane, and the fourth symmetry plane passes through the first axis and the fourth axis, and in the orthographic projection in the direction in which the third cylinder is close to the second cylinder, the forearm shell is symmetrical with respect to the fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis and is perpendicular to the first axis, so that the forearm shell is roughly a symmetrical component, so as to reduce the difficulty of making the mold for forming the forearm shell, thereby reducing the difficulty of making the forearm shell.

[0009] In one embodiment, the upper limb assembly also includes a large arm housing, the large arm housing includes a fourth cylinder and a fifth cylinder, the fourth cylinder and the fifth cylinder are connected in sequence along the fifth axis; the upper limb assembly also includes a third driving member, a fourth driving member and a third mounting member, the third driving member is accommodated in the third cylinder, the stator of the third driving member is connected to the third cylinder, at least part of the fourth driving member is accommodated in the fourth cylinder, the stator of the fourth driving member is connected to the fourth cylinder, one end of the third mounting member is connected to the rotor of the third driving member, and the other end of the third mounting member is connected to the rotor of the fourth driving member; the third driving member is used to drive the small arm housing to rotate around the fourth axis, and the fourth driving member is used to drive the third mounting member to rotate around the sixth axis, the fourth axis and the fifth axis are both intersecting and perpendicular to the sixth axis; the third mounting member is symmetrical with respect to the sixth symmetry plane, and the sixth symmetry plane passes through the fourth axis and the sixth axis; the large arm housing is symmetrical with respect to the seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis and the sixth axis. By setting a big arm shell, a third driving member, a fourth driving member and a third mounting member, the big arm shell includes a fourth cylinder and a fifth cylinder, the fourth cylinder and the fifth cylinder are connected in sequence along the fifth axis, the third driving member is accommodated in the third cylinder, the stator of the third driving member is connected to the third cylinder, at least part of the fourth driving member is accommodated in the fourth cylinder, the stator of the fourth driving member is connected to the fourth cylinder, one end of the third mounting member is connected to the rotor of the third driving member, and the other end of the third mounting member is connected to the rotor of the fourth driving member. The third driving member is used to drive the small arm shell to rotate around the fourth axis, and the fourth driving member is used to drive the third mounting member to rotate around the sixth axis. The fourth axis and the fifth axis are both intersected and perpendicular to the sixth axis, so that the small arm shell rotates in two degrees of freedom, realizing the human-like movement of the small arm shell, and at the same time, the third mounting member is symmetrical relative to the sixth symmetry plane, the sixth symmetry plane passes through the fourth axis and the sixth axis, the big arm shell is symmetrical relative to the seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis and the sixth axis, so that the third mounting member and the big arm shell are both symmetrical components, reducing the difficulty of manufacturing the third mounting member and the big arm shell.

[0010] In one embodiment, the first axis and the second axis intersect, the palm piece is in an initial state relative to the forearm housing, and the forearm housing is in an initial state relative to the upper arm housing, and the third axis, the fourth axis, and the fifth axis all coincide. By setting the first axis and the second axis to intersect, the palm piece is in an initial state relative to the forearm housing, and the forearm housing is in an initial state relative to the upper arm housing, the third axis, the fourth axis, and the fifth axis all coincide, so that the center of gravity of the palm piece, the forearm housing, and the upper arm housing are all roughly located on the same straight line, so that the first drive member, the second drive member, and the fourth drive member can achieve the straightening form of the upper limb assembly without outputting torque, and the palm piece and the forearm housing will not deviate or shake.

[0011] In one embodiment, the upper limb component also includes a shoulder joint housing, a fifth driving member, a sixth driving member and a fourth mounting member, the fifth driving member is accommodated in the shoulder joint housing, the stator of the fifth driving member is connected to the shoulder joint housing, the sixth driving member is accommodated in the fifth cylinder, the stator of the sixth driving member is connected to the fifth cylinder, one end of the fourth mounting member is connected to the rotor of the fifth driving member, and the other end of the fourth mounting member is connected to the rotor of the sixth driving member; the fifth driving member is used to drive the fourth mounting member to rotate around the seventh axis, and the sixth driving member is used to drive the upper arm housing to rotate around the fifth axis, the fifth axis intersects and is perpendicular to the seventh axis; the shoulder joint housing is symmetrical with respect to the eighth symmetry plane, and the eighth symmetry plane passes through the fifth axis and is perpendicular to the seventh axis. By setting a shoulder joint housing, a fifth drive member, a sixth drive member and a fourth mounting member, the fifth drive member is accommodated in the shoulder joint housing, the stator of the fifth drive member is connected to the shoulder joint housing, the sixth drive member is accommodated in the fifth cylinder, the stator of the sixth drive member is connected to the fifth cylinder, one end of the fourth mounting member is connected to the rotor of the fifth drive member, and the other end of the fourth mounting member is connected to the rotor of the sixth drive member. The fifth drive member is used to drive the fourth mounting member to rotate around the seventh axis, and the sixth drive member is used to drive the upper arm housing to rotate around the fifth axis. The fifth axis intersects and is perpendicular to the seventh axis, so that the upper arm housing can rotate in two degrees of freedom, thereby realizing the humanoid movement of the upper limb assembly. At the same time, the shoulder joint housing is symmetrical relative to the eighth symmetry plane, and the eighth symmetry plane passes through the fifth axis and is perpendicular to the seventh axis, so that the shoulder joint housing is a symmetrical component, so that there is no need to distinguish the front and rear directions when installing the shoulder joint housing, and the positive and negative installation of the shoulder joint housing is realized, while the difficulty of manufacturing the shoulder joint housing is reduced.

[0012] In one embodiment, the fourth mounting member includes a first mounting plate, a second mounting plate and a third mounting plate which are sequentially connected on the seventh axis, the first mounting plate and the third mounting plate are relatively spaced apart, the first mounting plate is connected to the rotor of the fifth driving member, and the third mounting plate is rotatably connected to the shoulder joint housing; the first mounting plate and the second mounting plate are both symmetrical with respect to the ninth symmetry plane, the ninth symmetry plane passes through the fifth axis and the seventh axis, and the second mounting plate is also symmetrical with respect to the eighth symmetry plane. By setting the fourth mounting member including the first mounting plate, the second mounting plate and the third mounting plate connected in sequence on the seventh axis, the first mounting plate and the third mounting plate are relatively spaced apart, the first mounting plate is connected to the rotor of the fifth driving member, and the third mounting plate is rotatably connected to the shoulder joint housing, so that the connection between the fourth mounting member and the shoulder joint housing is more stable, thereby improving the connection stability between the upper arm housing and the shoulder joint housing, so that the upper arm housing is not prone to shaking when rotating relative to the shoulder joint housing, and it is beneficial to reduce the difficulty of assembling the fourth mounting member. At the same time, the first mounting plate and the second mounting plate are symmetrical relative to the ninth symmetry plane, and the ninth symmetry plane passes through the fifth axis and the seventh axis. The second mounting plate is also symmetrical relative to the eighth symmetry plane, so that the first mounting plate and the second mounting plate are both symmetrical components, which reduces the difficulty of making the first mounting plate and the second mounting plate.

[0013] In one embodiment, the fourth mounting member further includes a reinforcing plate, the reinforcing plate connecting the first mounting plate and the third mounting plate, and the reinforcing plate is disposed between the second mounting plate and the shoulder joint housing, the reinforcing plate is symmetrical with respect to the eighth symmetrical plane and the tenth symmetrical plane, the tenth symmetrical plane is perpendicular to the eighth symmetrical plane and has an acute angle with the ninth symmetrical plane. By providing a reinforcing plate, the reinforcing plate connecting the first mounting plate and the third mounting plate, and the reinforcing plate is disposed between the second mounting plate and the shoulder joint housing, the structural strength of the fourth mounting member is increased, and the bearing capacity of the fourth mounting member is improved, so that the upper arm housing is not prone to shaking when rotating relative to the shoulder joint housing. At the same time, the reinforcing plate is symmetrical with respect to the eighth symmetrical plane and the tenth symmetrical plane, the tenth symmetrical plane is perpendicular to the eighth symmetrical plane and has an acute angle with the ninth symmetrical plane, so that the reinforcing plate is a symmetrical component, which reduces the difficulty of manufacturing the reinforcing plate.

[0014] In one embodiment, the upper limb assembly further comprises a connecting member, the connecting member comprises an outer ring, an inner ring and a plurality of connecting ribs, the outer ring is sleeved on the inner ring, a plurality of connecting ribs are located between the outer ring and the inner ring and connect the inner ring and the outer ring, and a plurality of connecting ribs are arranged at equal intervals in the circumferential direction of the inner ring, the outer ring is connected to the shoulder joint housing, and the inner ring is rotatably connected to the third mounting plate. By setting a connecting member, the connecting member comprises an outer ring, an inner ring and a plurality of connecting ribs, the outer ring is sleeved on the inner ring, a plurality of connecting ribs are located between the outer ring and the inner ring and connect the inner ring and the outer ring, the outer ring is connected to the shoulder joint housing, and the inner ring is rotatably connected to the third mounting plate, so that the connection between the third mounting plate and the shoulder joint housing is more stable, so that the upper arm housing is not easy to shake when rotating relative to the shoulder joint housing, and a plurality of connecting ribs are arranged at equal intervals in the circumferential direction of the inner ring, so that the connection between the outer ring and the inner ring is more stable, and the connecting member is a symmetrical component, which reduces the difficulty of manufacturing the connecting member.

[0015] In one embodiment, the upper limb assembly also includes a seventh driving member and a fifth mounting member, the seventh driving member is accommodated in the fifth mounting member, the stator of the seventh driving member is connected to the fifth mounting member, the rotor of the seventh driving member is connected to the shoulder joint housing, the fifth mounting member is used to connect to the torso assembly of the humanoid robot, the seventh driving member is used to drive the shoulder joint housing to rotate around an eighth axis, the eighth axis intersects and is perpendicular to the seventh axis, and the eighth axis is the left and right direction of the humanoid robot; the shoulder joint housing is symmetrical with respect to the eleventh symmetry plane, and the eleventh symmetry plane passes through the seventh axis and the eighth axis; the fifth mounting member is symmetrical with respect to the twelfth symmetry plane and the thirteenth symmetry plane, the twelfth symmetry plane passes through the eighth axis and extends along the up and down direction of the humanoid robot, and the thirteenth symmetry plane passes through the eighth axis and extends along the front and back direction of the humanoid robot. By setting the seventh driving member and the fifth mounting member, the seventh driving member is accommodated in the fifth mounting member, the stator of the seventh driving member is connected to the fifth mounting member, the rotor of the seventh driving member is connected to the shoulder joint housing, the fifth mounting member is used to connect to the torso assembly of the humanoid robot, the seventh driving member is used to drive the shoulder joint housing to rotate around the eighth axis, the eighth axis intersects and is perpendicular to the seventh axis, the eighth axis is the left and right direction of the humanoid robot, so that the shoulder joint housing can rotate relative to the torso assembly, realizing the humanoid movement of the upper limb assembly, and at the same time, the shoulder joint housing is set to be symmetrical relative to the eleventh symmetry plane, the eleventh symmetry plane passes through the seventh axis and the eighth axis, the fifth mounting member is symmetrical relative to the twelfth symmetry plane and the thirteenth symmetry plane, the twelfth symmetry plane passes through the eighth axis and extends along the up and down direction of the humanoid robot, the thirteenth symmetry plane passes through the eighth axis and extends along the front and back direction of the humanoid robot, so that the symmetry of the shoulder joint housing is higher, which further reduces the difficulty of making the shoulder joint housing, and makes the fifth mounting member a symmetrical component, which reduces the difficulty of making the fifth mounting member.

[0016] In a second aspect, the present invention further provides a humanoid robot, comprising an upper limb assembly as described in any one of the embodiments of the first aspect. The humanoid robot provided by the present invention realizes humanoid arm movements of the humanoid robot by adopting the upper limb assembly in the embodiment of the present invention, and the parts manufacturing difficulty and assembly difficulty of the upper limb assembly are relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1is a structural diagram of an upper limb assembly of an embodiment; Figure 2 is an exploded view of an upper limb assembly of one embodiment; Figure 3 is an exploded view of an upper limb assembly of another embodiment; Figure 4 4 is a structural diagram of a fourth mounting member of an embodiment.

[0019] Description of reference numerals: 100-upper limb assembly; 10-small arm housing, 11-second cylinder, 12-third cylinder, 13-third connecting arm, 14-fourth connecting arm, 15-second driving member, 16-transmission assembly, 17-second end plate, 171-second mounting hole, 18-third end plate, 181-third mounting hole, 19-third driving member; 20-first mounting member, 21-first cylinder, 22-first end plate, 221-first mounting hole, 23-first connecting arm, 231-first boss, 24-second connecting arm, 25-U-shaped groove, 26-first limiting portion, 27-second limiting portion, 28-rotating shaft; 30-first driving member; 40 - second mounting member, 41 - main body, 411 - first connecting plate, 412 - second connecting plate, 413 - second boss, 42 - third limiting portion, 43 - connecting end, 431 - first wiring hole; 50-palm piece; 60-big arm housing, 61-fourth cylinder, 611-heat dissipation port, 62-fifth cylinder, 63-fourth driving member, 64-fourth end plate, 641-fourth mounting hole, 65-fifth end plate, 651-fifth mounting hole, 66-sixth driving member, 67-second limiting block, 68-third mounting member; 70-shoulder joint housing, 71-fifth driving member, 72-sixth cylinder, 73-sixth end plate, 731-sixth mounting hole, 74-seventh cylinder, 75-seventh end plate, 751-second wiring hole, 76-reinforcement rib, 77-first limit block, 78-connecting member, 781-outer ring, 782-inner ring, 783-connecting rib, 79-fourth limit block; 80-fourth mounting member, 81-first mounting plate, 811-first limiting groove, 82-second mounting plate, 821-third wiring hole, 83-third mounting plate, 84-structural countersunk hole, 85-third limiting block, 86-reinforcement plate, 861-fourth wiring hole; 90-fifth mounting member, 91-seventh driving member, 92-eighth cylinder, 93-ninth cylinder, 94-eighth end plate, 941-seventh mounting hole, 95-ninth end plate, 96-fifth limiting block; L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis, L6-sixth axis, L7-seventh axis, L8-eighth axis. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0022] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] Please refer to Figures 1 to 3 The present invention provides a humanoid robot, comprising an upper limb assembly 100 in an embodiment of the present invention. The humanoid robot also includes a trunk assembly, a lower limb assembly and a head and neck assembly, and the upper limb assembly 100, the lower limb assembly and the head and neck assembly in the embodiment of the present invention are all connected to the trunk assembly. Among them, there are two upper limb assemblies 100 in the embodiment of the present invention, and the two upper limb assemblies 100 are respectively arranged on the left and right sides of the trunk assembly. The humanoid robot provided by the present invention realizes the humanoid arm movement of the humanoid robot by adopting the upper limb assembly 100 in the embodiment of the present invention, and the parts manufacturing difficulty and assembly difficulty of the upper limb assembly 100 are relatively low.

[0025] Please refer to Figures 1 to 3The present invention also provides an upper limb assembly 100 for a humanoid robot, comprising a forearm housing 10, a first mounting member 20, a first driving member 30 and a second mounting member 40, wherein the first mounting member 20 comprises a first cylinder 21, a first end plate 22, a first connecting arm 23 and a second connecting arm 24, wherein the first cylinder 21 is in the shape of a cylinder with openings at both ends, the first end plate 22 is connected to an opening at one end of the first cylinder 21, the first end plate 22 is provided with a first mounting hole 221, the first connecting arm 23 and the second connecting arm 24 are connected to the end surface of the first cylinder 21 facing away from the first end plate 22 with relative spacing, and the first connecting arm 23 and the second connecting arm 24 are both connected to the forearm housing 10. 0 is connected to rotate around the first axis L1; part of the first driving member 30 is accommodated in the first cylinder 21, the stator of the first driving member 30 is connected to the first end plate 22, and the rotor of the first driving member 30 is exposed from the first mounting hole 221; the second mounting member 40 is connected to the rotor of the first driving member 30, and the first driving member 30 is used to drive the second mounting member 40 to rotate around the second axis L2, and the second axis L2 is perpendicular to the first axis L1; wherein, the first mounting member 20 is symmetrical with respect to the first symmetry plane and the second symmetry plane, the first symmetry plane passes through the first axis L1 and is parallel to the second axis L2, and the second symmetry plane passes through the second axis L2 and is perpendicular to the first axis L1.

[0026] Optionally, a first boss 231 is provided on the surface of the first connecting arm 23 away from one end of the first cylinder 21 and facing away from the second connecting arm 24, and the first boss 231 is provided with a threaded hole extending from the first connecting arm 23 to the second connecting arm 24. A bearing is provided on the outer sleeve of the first boss 231, and the inner ring of the bearing is fixed to the first boss 231 by bolts. The outer ring of the bearing is connected and fixed to the forearm housing 10. The second connecting arm 24 and the first connecting arm 23 are symmetrically arranged to realize the rotational connection between the first connecting arm 23, the second connecting arm 24 and the forearm housing 10, and the first connecting arm 23 and the second connecting arm 24 have a gap with the forearm housing 10 in the direction of the first axis L1 to prevent movement interference between the first connecting arm 23 and the second connecting arm 24 and the forearm housing 10.

[0027] Optionally, the first cylinder 21 and the first end plate 22 are an integrated structure to improve the connection stability of the first cylinder 21 and the first end plate 22 and the structural strength of the first mounting member 20. Optionally, the first cylinder 21 and the first end plate 22 can also be detachably connected by means of snap-on, screw-on and riveting, without limitation. Optionally, the first drive member 30 is a motor, and the first drive member 30 is detachably connected to the end plate by screwing. Optionally, the outer peripheral surface of the first drive member 30 contacts the inner peripheral surface of the first cylinder 21 to limit the radial position of the first drive member 30. Optionally, the shape of the first cylinder 21 and the shape of the first end plate 22 are both adapted to the shape of the first drive member 30 to improve the humanism of the upper limb assembly 100 at the corresponding human wrist. Optionally, the first axis L1 may intersect or not intersect, without limitation.

[0028] The first mounting member 20 includes a first cylinder 21, a first end plate 22, a first connecting arm 23 and a second connecting arm 24. The first cylinder 21 is in the shape of a cylinder with openings at both ends. The first end plate 22 is provided with a first mounting hole 221 and is connected to an opening at one end of the first cylinder 21. The first connecting arm 23 and the second connecting arm 24 are connected to the end surface of the first cylinder 21 facing away from the first end plate 22 at a relative interval and are both connected to the forearm housing 10 for rotation around the first axis L1. A portion of the first driving member 30 is accommodated in the first cylinder 21 and connected to the first end plate 22. The second mounting member 40 is connected to the rotor of the first driving member 30. 0 is used to drive the second mounting member 40 to rotate around the second axis L2, the second axis L2 is perpendicular to the first axis L1, the first mounting member 20 is symmetrical with respect to a first symmetry plane passing through the first axis L1 and parallel to the second axis L2 and a second symmetry plane passing through the second axis L2 and perpendicular to the first axis L1, so that the structure of the first mounting member 20 is a symmetrical component, so that when the first mounting member 20 is connected to the forearm housing 10, there is no need to distinguish the installation direction, and the first mounting member 20 can be installed in the forward and reverse directions, which is beneficial to reducing the difficulty of making a mold for forming the first mounting member 20, and reducing the difficulty of making and assembling the first mounting member 20.

[0029] Please refer to Figures 1 to 3 The first cylinder 21 and the first connecting arm 23 and the second connecting arm 24 are an integrated structure. The inner circumferential surface of the first cylinder 21 is flush with the inner surface of the first connecting arm 23, and the outer circumferential surface of the first cylinder 21 is flush with the outer surface of the first connecting arm 23. In the orthographic projection of the first axis L1, the width of the first connecting arm 23 gradually decreases from the direction close to the first cylinder 21 to the direction away from the first cylinder 21.

[0030] Optionally, the first connecting arm 23, the second connecting arm 24 and the surface of the first cylinder 21 away from the lower end plate are smoothly connected. Optionally, in the orthographic projection on the first axis L1, the contour shapes of the end surfaces of the first connecting arm 23 and the second connecting arm 24 away from the first cylinder 21 are arcs. Optionally, in the orthographic projection on the first axis L1, the contour shape of the first connecting arm 23 can be a rectangle, a triangle, a semicircle, etc., without limitation.

[0031] Optionally, in the orthographic projection in the direction perpendicular to the first axis L1 and the second axis L2, the first connecting arm 23, the second connecting arm 24 and the first cylinder 21 enclose a U-shaped groove 25, and a portion of the first driving member 30 is exposed from the U-shaped groove 25. Optionally, in the orthographic projection on the second axis L2, the inner circumferential surface contour and the outer circumferential surface contour of the first cylinder 21 are both circular. Optionally, in the orthographic projection on the second axis L2, the inner circumferential surface contour and the outer circumferential surface contour of the first cylinder 21 can also be rectangular, triangular, elliptical, etc., without limitation.

[0032] By arranging the first cylinder 21 and the first connecting arm 23 and the second connecting arm 24 as an integrated structure, the inner circumferential surface of the first cylinder 21 is flush with the inner surface of the first connecting arm 23, and the outer circumferential surface of the first cylinder 21 is flush with the outer surface of the first connecting arm 23, so that the first cylinder 21, the first connecting arm 23 and the second connecting arm 24 can be formed as one piece, thereby improving the structural strength of the first mounting member 20. At the same time, in the positive projection of the first axis L1, the width of the first connecting arm 23 gradually decreases from approaching the first cylinder 21 to away from the first cylinder 21, thereby improving the lightweight degree of the first mounting member 20 under the premise that the first mounting member 20 meets the structural strength requirements.

[0033] Please refer to Figures 1 to 3 The first mounting member 20 also includes a first limiting portion 26 and a second limiting portion 27, both of which are connected to the inner wall surface of the first mounting hole 221, and the first limiting portion 26 and the second limiting portion 27 are relatively spaced apart along the direction of the first axis L1; the second mounting member 40 includes a main body 41 and a third limiting portion 42, the third limiting portion 42 is connected to the main body 41, and the main body 41 is connected to the rotor of the first driving member 30, and the third limiting portion 42 is used to abut against the first limiting portion 26 or the second limiting portion 27.

[0034] Optionally, the main body 41 includes a first connecting plate 411, a second connecting plate 412 and a second boss 413. The first connecting plate 411 and the second connecting plate 412 are connected in the extension direction of the second axis L2. The second boss 413 is connected to the surface of the first connecting plate 411 facing the second connecting plate 412. The third limiting portion 42 is connected to the surface of the second boss 413 facing the second connecting plate 412. The second boss 413 also extends into the first mounting hole 221 and is connected to the rotor of the first driving member 30. The second connecting plate 412 is used to connect to the palm member 50.

[0035] Optionally, in the orthographic projection on the second axis L2, the contour of the first mounting hole 221 is circular, the contour of the outer peripheral surface of the second boss 413 is also circular, the side walls of the first limiting portion 26 and the second limiting portion 27 facing away from the first mounting hole 221 are both arcuate surfaces, and the surface of the third limiting portion 42 facing away from the second boss 413 is an arcuate surface, so as to achieve the sliding fit between the second mounting member 40 and the first end plate 22. Optionally, the first limiting portion 26, the second limiting portion 27 and the first end plate 22 are an integrated structure. Optionally, the third limiting portion 42 and the main body 41 are an integrated structure.

[0036] By setting the first mounting member 20 also including a first limiting portion 26 and a second limiting portion 27, the first limiting portion 26 and the second limiting portion 27 are both connected to the inner wall surface of the first mounting hole 221, and the first limiting portion 26 and the second limiting portion 27 are relatively spaced apart along the direction of the first axis L1. The second mounting member 40 includes a main body 41 and a third limiting portion 42. The third limiting portion 42 is connected to the main body 41, and the main body 41 is connected to the rotor of the first driving member 30. The third limiting portion 42 is used to abut against the first limiting portion 26 or the second limiting portion 27, so that the rotation angle of the second mounting member 40 relative to the first mounting member 20 is limited within a preset range, thereby preventing the second mounting member 40 from excessively rotating and causing motion interference.

[0037] Please refer to Figures 1 to 3 The upper limb assembly 100 also includes a palm member 50, which is connected to an end of the second mounting member 40 away from the first mounting member 20. The second mounting member 40 is L-shaped and includes a connecting end 43. The connecting end 43 is an end of the second mounting member 40 away from the first driving member 30. The connecting end 43 is located on the side of the first mounting member 20 that is away from the forearm housing 10. The connecting end 43 is circular, and the center line of the connecting end 43 is the third axis L3. The length direction of the palm member 50 extends along the third axis L3. The second mounting member 40 is symmetrical with respect to the third symmetry plane, and the third symmetry plane passes through the second axis L2 and the third axis L3.

[0038] The connection end 43 is connected to the aforementioned second connection plate 412. Optionally, the connection end 43 encloses a first wiring hole 431, and the first wiring hole 431 also penetrates the second connection plate 412. The first wiring hole 431 is used for the wire to pass through. In the orthographic projection on the third axis L3, the contour shape of the first wiring hole 431 is circular, and the third axis L3 passes through the center line of the first wiring hole 431.

[0039] The upper limb assembly 100 also includes a palm piece 50, which is connected to the end of the second mounting piece 40 away from the first mounting piece 20. The second mounting piece 40 is L-shaped and includes a connecting end 43. The connecting end 43 is the end of the second mounting piece 40 away from the first driving piece 30. The connecting end 43 is located on the side of the first mounting piece 20 that is away from the forearm housing 10. The connecting end 43 is in a circular ring shape. The center line of the connecting end 43 is the third axis L3. The length direction of the palm piece 50 extends along the third axis L3. The second mounting piece 40 is symmetrical with respect to the third symmetry plane. The third symmetry plane passes through the second axis L2 and the third axis L3, so that the second mounting piece 40 is a symmetrical component, so that the difficulty of making the mold used to form the second mounting piece 40 is reduced, thereby reducing the difficulty of making the second mounting piece 40.

[0040] Please refer to Figures 1 to 3 The forearm housing 10 includes a second cylinder 11, a third cylinder 12, a third connecting arm 13 and a fourth connecting arm 14. The second cylinder 11 and the third cylinder 12 are sequentially connected along a fourth axis L4. The fourth axis L4 intersects and is perpendicular to the first axis L1. The third connecting arm 13 and the fourth connecting arm 14 are respectively connected to the two ends of the second cylinder 11 on the first axis L1. The third connecting arm 13 is rotatably connected to the first connecting arm 23, and the fourth connecting arm 14 is rotatably connected to the second connecting arm 24. The upper limb assembly 100 also includes a second driving member 15 and a transmission assembly 16. The second driving member 15 is accommodated in the second cylinder 11. The stator of the second driving member 15 is connected to the second cylinder 11, the transmission assembly 16 connects the rotor of the second driving member 15 and the first cylinder 21, and the second driving member 15 is used to drive the first mounting member 20 to rotate around the first axis L1; in the orthographic projection in the direction in which the first connecting arm 23 is close to the second connecting arm 24, the forearm housing 10 is symmetrical relative to the fourth symmetry plane, and the fourth symmetry plane passes through the first axis L1 and the fourth axis L4; in the orthographic projection in the direction in which the third cylinder 12 is close to the second cylinder 11, the forearm housing 10 is symmetrical relative to the fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis L4 and is perpendicular to the first axis L1.

[0041] The upper limb assembly 100 further includes a rotating shaft 28, which is connected to one end of the first cylinder 21 near the second connecting arm 24, and the transmission assembly 16 is rotatably connected to the rotating shaft 28. Optionally, the rotating shaft 28 is detachably connected to the first cylinder 21. Optionally, the second cylinder 11 and the third cylinder 12 are also cylindrical structures with openings at both ends, and the arm housing 10 further includes a second end plate 17 and a third end plate 18, the second end plate 17 is provided with a second mounting hole 171, and the third end plate 18 is provided with a third mounting hole 181, the second end plate 17 is connected to the opening of one end of the second cylinder 11 near the fourth connecting arm 14, the second driving member 15 is connected to the second end plate 17, the rotor of the second driving member 15 is exposed from the second mounting hole 171, and the third end plate 18 is connected to the opening of one end of the third cylinder 12 away from the second cylinder 11. Optionally, the shape of the second cylinder 11 and the shape of the second end plate 17 are both adapted to the shape of the second driving member 15 to improve the humanistic nature of the upper limb assembly 100 at the corresponding human forearm.

[0042] Optionally, the minimum spacing between the third connecting arm 13 and the fourth connecting arm 14 on the first axis L1 is D1, and the width of the first mounting member 20 on the first axis L1 is D2, satisfying: 1<D1 / D2≤1.2, so that no motion interference occurs when the first mounting member 20 rotates between the third connecting arm 13 and the fourth connecting arm 14, and the compactness of the structure of the upper limb assembly 100 is ensured.

[0043] Optionally, the second barrel 11, the third connecting arm 13 and the fourth connecting arm 14 also enclose a U-shaped groove 25, and a portion of the first driving member 30 and a portion of the first mounting member 20 are accommodated in the U-shaped groove 25. Optionally, the second barrel 11, the third barrel 12, the third connecting arm 13 and the fourth connecting arm 14 are an integrated structure.

[0044] Optionally, the bottom wall surface of the U-shaped groove 25 formed by the second cylinder 11, the third connecting arm 13 and the fourth connecting arm 14 on the third axis L3 is an arc surface, and the outer peripheral surface of the portion of the first cylinder 21 used to extend into the U-shaped groove 25 is a corresponding arc surface, and the maximum spacing distance between the bottom wall surface of the U-shaped groove 25 and the first axis L1 in the extension direction of the fourth axis L4 is D3, and the maximum spacing distance between the surface of the second mounting member 40 facing away from the first mounting member 20 and the first axis L1 in the extension direction of the second axis L2 is D4, satisfying: 1<D3 / D4≤1.2, so that when the first mounting member 20 and the second mounting member 40 rotate synchronously around the first axis L1, the second mounting member 40 will not interfere with the bottom wall surface of the U-shaped groove 25 in motion, while ensuring the compactness of the structure of the upper limb assembly 100.

[0045] By setting the forearm housing 10 to include a second cylinder 11, a third cylinder 12, a third connecting arm 13 and a fourth connecting arm 14, the second cylinder 11 and the third cylinder 12 are connected in sequence along a fourth axis L4, the fourth axis L4 intersects and is perpendicular to the first axis L1, the third connecting arm 13 and the fourth connecting arm 14 are respectively connected to the two ends of the second cylinder 11 on the first axis L1, the third connecting arm 13 is rotatably connected to the first connecting arm 23, and the fourth connecting arm 14 is rotatably connected to the second connecting arm 24, so that the connection strength between the second mounting member 40 and the forearm housing 10 is high, so that the second mounting member 40 is not prone to shaking when rotating relative to the forearm housing 10, and a second driving member 15 and a transmission assembly 16 are set, the second driving member 15 is accommodated in the second cylinder 11, the stator of the second driving member 15 is connected to the second cylinder 11, and the transmission assembly 16 is connected to the second driving member The rotor of the movable member 15 and the first cylinder 21, the second driving member 15 is used to drive the first mounting member 20 to rotate around the first axis L1, so that the first mounting member 20 can rotate driven by the second driving member 15 and the transmission assembly 16, so as to realize the movement of the palm member 50 in one degree of freedom. At the same time, in the positive projection in the direction in which the first connecting arm 23 is close to the second connecting arm 24, the forearm housing 10 is symmetrical relative to the fourth symmetry plane, and the fourth symmetry plane passes through the first axis L1 and the fourth axis L4, and in the positive projection in the direction in which the third cylinder 12 is close to the second cylinder 11, the forearm housing 10 is symmetrical relative to the fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis L4 and is perpendicular to the first axis L1, so that the forearm housing 10 is roughly a symmetrical component, so that the difficulty of making the mold used to form the forearm housing 10 is reduced, thereby reducing the difficulty of making the forearm housing 10.

[0046] Please refer to Figures 1 to 3 The upper limb assembly 100 also includes a large arm housing 60, and the large arm housing 60 includes a fourth cylinder 61 and a fifth cylinder 62, and the fourth cylinder 61 and the fifth cylinder 62 are sequentially connected along the fifth axis L5; the upper limb assembly 100 also includes a third driving member 19, a fourth driving member 63 and a third mounting member 68, the third driving member 19 is accommodated in the third cylinder 12, the stator of the third driving member 19 is connected to the third cylinder 12, at least part of the fourth driving member 63 is accommodated in the fourth cylinder 61, the stator of the fourth driving member 63 is connected to the fourth cylinder 61, and one end of the third mounting member 68 is connected to the third The third mounting member 68 is connected to the rotor of the driving member 19, and the other end of the third mounting member 68 is connected to the rotor of the fourth driving member 63; the third driving member 19 is used to drive the forearm housing 10 to rotate around the fourth axis L4, and the fourth driving member 63 is used to drive the third mounting member 68 to rotate around the sixth axis L6, and the fourth axis L4 and the fifth axis L5 both intersect and are perpendicular to the sixth axis L6; the third mounting member 68 is symmetrical relative to the sixth symmetry plane, and the sixth symmetry plane passes through the fourth axis L4 and the sixth axis L6; the upper arm housing 60 is symmetrical relative to the seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis L5 and the sixth axis L6.

[0047] Optionally, the radial dimension of the fifth cylinder 62 gradually decreases from the direction in which the fifth cylinder 62 approaches the fourth cylinder 61. Specifically, in the orthographic projection perpendicular to the seventh symmetry plane, the contour shape of the outer peripheral surface of the end of the fifth cylinder 62 away from the fourth cylinder 61 is an arc protruding outward, and the contour shape of the outer peripheral surface of the end of the fifth cylinder 62 close to the fourth cylinder 61 is an arc concave inward, so that the shape of the upper arm shell 60 is similar to the upper arm of the human body, thereby improving the human-like effect of the upper arm shell 60 and reducing the weight of the upper arm shell 60 without affecting the structural strength of the upper arm shell 60.

[0048] Optionally, the shape of the third cylinder 12 and the shape of the third end plate 18 are both adapted to the shape of the third driving member 19 to improve the humanistic nature of the upper limb assembly 100 at the corresponding human forearm.

[0049] Optionally, the stator of the third driving member 19 is connected and fixed to the third end plate 18, and the rotor of the third driving member 19 is exposed through the third mounting hole 181. Optionally, the fourth cylinder 61 is a cylindrical structure with two ends open, and optionally, a heat dissipation port 611 is provided at one end of the fourth cylinder 61 away from the fifth cylinder 62, and a portion of the fourth driving member 63 is exposed from the heat dissipation port 611. Optionally, the fourth cylinder 61 and the fifth cylinder 62 are an integrated structure.

[0050] Optionally, the upper arm housing 60 also includes a fourth end plate 64 and a fifth end plate 65, the fourth end plate 64 is provided with a fourth mounting hole 641, the fifth end plate 65 is provided with a fifth mounting hole 651, the fourth end plate 64 is connected to an opening at one end of the fourth cylinder 61, the fifth end plate 65 is connected to an opening at one end of the fifth cylinder 62 away from the fourth cylinder 61, the stator of the fourth driving member 63 is connected and fixed to the fourth end plate 64, and the rotor of the fourth driving member 63 is exposed through the fourth mounting hole 641.

[0051] Optionally, the shape of the fourth cylinder 61 and the shape of the fourth end plate 64 are adapted to the shape of the fourth driving member 63 to improve the humanistic nature of the upper limb assembly 100 at the corresponding human elbow joint.

[0052] By setting the upper arm housing 60, the third driving member 19, the fourth driving member 63 and the third mounting member 68, the upper arm housing 60 includes a fourth cylinder 61 and a fifth cylinder 62, the fourth cylinder 61 and the fifth cylinder 62 are connected in sequence along the fifth axis L5, the third driving member 19 is accommodated in the third cylinder 12, the stator of the third driving member 19 is connected to the third cylinder 12, at least part of the fourth driving member 63 is accommodated in the fourth cylinder 61, the stator of the fourth driving member 63 is connected to the fourth cylinder 61, one end of the third mounting member 68 is connected to the rotor of the third driving member 19, the other end of the third mounting member 68 is connected to the rotor of the fourth driving member 63, and the third driving member 19 is used to drive the lower arm The shell 10 rotates around the fourth axis L4, and the fourth driving member 63 is used to drive the third mounting member 68 to rotate around the sixth axis L6. The fourth axis L4 and the fifth axis L5 both intersect and are perpendicular to the sixth axis L6, so that the forearm shell 10 rotates in two degrees of freedom, realizing the anthropomorphic movement of the forearm shell 10. At the same time, the third mounting member 68 is symmetrical relative to the sixth symmetry plane, and the sixth symmetry plane passes through the fourth axis L4 and the sixth axis L6. The upper arm shell 60 is symmetrical relative to the seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis L5 and the sixth axis L6, so that the third mounting member 68 and the upper arm shell 60 are both symmetrical components, which reduces the difficulty of manufacturing the third mounting member 68 and the upper arm shell 60.

[0053] Please refer to Figures 1 to 3 , the first axis L1 and the second axis L2 intersect, the palm member 50 is in the initial state relative to the forearm housing 10, and the forearm housing 10 is in the initial state relative to the upper arm housing 60, and the third axis L3, the fourth axis L4 and the fifth axis L5 all coincide. Among them, the initial state is that the upper limb assembly is in a straight state, that is, the palm member 50, the forearm housing 10 and the upper arm housing 60 are arranged in sequence in the extension direction of the same straight line.

[0054] By setting the first axis L1 and the second axis L2 to intersect, the palm piece 50 is in an initial state relative to the forearm housing 10, and the forearm housing 10 is in an initial state relative to the upper arm housing 60, and the third axis L3, the fourth axis L4 and the fifth axis L5 all coincide, so that the center of gravity of the palm piece 50, the forearm housing 10 and the upper arm housing 60 are all roughly located on the same straight line, so that the first drive member 30, the second drive member 15 and the fourth drive member 63 can achieve the straight form of the upper limb assembly 100 without outputting torque, and the palm piece 50 and the forearm housing 10 will not deviate or shake.

[0055] Please refer to Figures 1 to 3The upper limb assembly also includes a shoulder joint housing 70, a fifth driving member 71, a sixth driving member 66 and a fourth mounting member 80. The fifth driving member 71 is accommodated in the shoulder joint housing 70, and the stator of the fifth driving member 71 is connected to the shoulder joint housing 70. The sixth driving member 66 is accommodated in the fifth cylinder 62, and the stator of the sixth driving member 66 is connected to the fifth cylinder 62. One end of the fourth mounting member 80 is connected to the rotor of the fifth driving member 71, and the other end of the fourth mounting member 80 is connected to the rotor of the sixth driving member 66; the fifth driving member 71 is used to drive the fourth mounting member 80 to rotate around the seventh axis L7, and the sixth driving member 66 is used to drive the upper arm housing 60 to rotate around the fifth axis L5, and the fifth axis L5 intersects and is perpendicular to the seventh axis L7; the shoulder joint housing 70 is symmetrical with respect to the eighth symmetry plane, and the eighth symmetry plane passes through the fifth axis L5 and is perpendicular to the seventh axis L7.

[0056] Optionally, the stator of the sixth driving member 66 is connected and fixed to the fifth end plate 65, and the rotor of the sixth driving member 66 is exposed through the fifth mounting hole 651. Optionally, the shape of the fifth end plate 65 and the shape of the fifth cylinder 62 are both adapted to the shape of the sixth driving member 66 to improve the humanism of the upper limb assembly 100 at the corresponding human upper arm.

[0057] Optionally, the shoulder joint housing 70 includes a sixth cylinder 72, a sixth end plate 73, a seventh cylinder 74 and a seventh end plate 75. The sixth cylinder 72 and the seventh cylinder 74 are connected. The sixth cylinder 72 and the seventh cylinder 74 are both tubular structures with openings at both ends. The sixth end plate 73 is connected to an opening at one end of the sixth cylinder 72 and is fixedly connected to the stator of the fifth drive member 71. The sixth end plate 73 is provided with a sixth mounting hole 731. The rotor of the fifth drive member 71 is exposed from the sixth mounting hole 731. The seventh end plate 75 is connected to an opening at one end of the seventh cylinder 74 away from the sixth cylinder 72, and the seventh end plate 75 protrudes from the outer peripheral surface of the seventh cylinder 74. The seventh end plate 75 is provided with a second wiring hole 751 for the passage of wires.

[0058] Optionally, the shape of the sixth cylinder 72 and the shape of the sixth end plate 73 are both adapted to the shape of the fifth driving member 71 to improve the humanistic nature of the upper limb assembly 100 at the corresponding human shoulder.

[0059] Optionally, the shoulder joint housing 70 further includes a plurality of reinforcing ribs 76, which are evenly spaced around the seventh cylinder 74 and are connected and fixed to the sixth cylinder 72 to strengthen the structural strength of the shoulder joint housing 70. Optionally, the sixth cylinder 72, the seventh cylinder 74 and the plurality of reinforcing ribs 76 are an integrated structure to simplify the installation and removal of the shoulder joint housing 70.

[0060] By setting the shoulder joint housing 70, the fifth driving member 71, the sixth driving member 66 and the fourth mounting member 80, the fifth driving member 71 is accommodated in the shoulder joint housing 70, the stator of the fifth driving member 71 is connected to the shoulder joint housing 70, the sixth driving member 66 is accommodated in the fifth cylinder 62, the stator of the sixth driving member 66 is connected to the fifth cylinder 62, one end of the fourth mounting member 80 is connected to the rotor of the fifth driving member 71, the other end of the fourth mounting member 80 is connected to the rotor of the sixth driving member 66, the fifth driving member 71 is used to drive the fourth mounting member 80 to rotate around the seventh axis L7, and the sixth driving member 66 is accommodated in the fifth cylinder 62. The movable part 66 is used to drive the upper arm housing 60 to rotate around the fifth axis L5. The fifth axis L5 intersects and is perpendicular to the seventh axis L7, so that the upper arm housing 60 can rotate in two degrees of freedom, realizing the anthropomorphic movement of the upper limb assembly 100. At the same time, the shoulder joint housing 70 is set symmetrically relative to the eighth symmetry plane. The eighth symmetry plane passes through the fifth axis L5 and is perpendicular to the seventh axis L7, so that the shoulder joint housing 70 is a symmetrical component, so that there is no need to distinguish the front and rear directions when installing the shoulder joint housing 70, thereby realizing the positive and negative installation of the shoulder joint housing 70 and reducing the difficulty of manufacturing the shoulder joint housing 70.

[0061] Please refer to Figures 1 to 4 The fourth mounting member 80 includes a first mounting plate 81, a second mounting plate 82 and a third mounting plate 83 which are sequentially connected on the seventh axis L7. The first mounting plate 81 and the third mounting plate 83 are relatively spaced apart. The first mounting plate 81 is connected to the rotor of the fifth driving member 71, and the third mounting plate 83 is rotatably connected to the shoulder joint housing 70. The first mounting plate 81 and the second mounting plate 82 are both symmetrical relative to the ninth symmetrical plane, and the ninth symmetrical plane passes through the fifth axis L5 and the seventh axis L7. The second mounting plate 82 is also symmetrical relative to the eighth symmetrical plane.

[0062] Optionally, the first mounting plate 81, the second mounting plate 82 and the third mounting plate 83 are detachably connected, and can be connected and fixed by means of snap connection, screw connection and riveting, etc., without limitation. A plurality of structural countersunk holes 84 are provided on the surface of the first mounting plate 81 facing the third mounting plate 83, a plurality of structural countersunk holes 84 are also provided on the surface of the third mounting plate 83 facing the first mounting plate 81, and a plurality of structural countersunk holes 84 are also provided on the surface of the second mounting plate 82 facing away from the shoulder joint housing 70, so as to reduce the mass of the fourth mounting member 80. Optionally, the second mounting plate 82 is provided with a third wiring hole 821, and in the orthographic projection on the fifth axis L5, the contour shape of the third wiring hole 821 is circular, and the fifth axis L5 passes through the center line of the third wiring hole 821.

[0063] Optionally, a first limit block 77 is provided on the sixth end plate 73, a first limit groove 811 extending in the circumferential direction is provided on the surface of the first mounting plate 81 facing the third mounting plate 83, and at least a portion of the first limit block 77 is received in the first limit groove 811 to limit the rotation angle of the fourth mounting member 80 relative to the shoulder joint housing 70. Optionally, a second limit block 67 is provided on the inner side wall of the fifth mounting hole 651, and a third limit block 85 is provided on the surface of the second mounting plate 82 facing away from the shoulder joint housing 70, and the second limit block 67 is used to abut against the third limit block 85 to limit the rotation angle of the upper arm housing 60 relative to the fourth mounting member 80.

[0064] By setting the fourth mounting member 80 including the first mounting plate 81, the second mounting plate 82 and the third mounting plate 83 which are connected in sequence on the seventh axis L7, the first mounting plate 81 and the third mounting plate 83 are arranged relatively spaced apart, the first mounting plate 81 is connected to the rotor of the fifth driving member 71, and the third mounting plate 83 is rotatably connected to the shoulder joint housing 70, so that the connection between the fourth mounting member 80 and the shoulder joint housing 70 is more stable, thereby improving the connection stability between the upper arm housing 60 and the shoulder joint housing 70, so that the upper arm housing 60 is not prone to shaking when rotating relative to the shoulder joint housing 70, and it is beneficial to reduce the assembly difficulty of the fourth mounting member 80. At the same time, the first mounting plate 81 and the second mounting plate 82 are symmetrical relative to the ninth symmetry plane, and the ninth symmetry plane passes through the fifth axis L5 and the seventh axis L7. The second mounting plate 82 is also symmetrical relative to the eighth symmetry plane, so that the first mounting plate 81 and the second mounting plate 82 are both symmetrical components, which reduces the manufacturing difficulty of the first mounting plate 81 and the second mounting plate 82.

[0065] Please refer to Figures 1 to 4 The fourth mounting member 80 also includes a reinforcing plate 86, which connects the first mounting plate 81 and the third mounting plate 83, and is disposed between the second mounting plate 82 and the shoulder joint housing 70. The reinforcing plate 86 is symmetrical with respect to the eighth symmetry plane and the tenth symmetry plane, and the tenth symmetry plane is perpendicular to the eighth symmetry plane and has an acute angle with the ninth symmetry plane.

[0066] Among them, the reinforcing plate 86 is arranged obliquely relative to the second mounting plate 82, one end of the reinforcing plate 86 is connected to the first mounting plate 81 and the third mounting plate 83 near the second mounting plate 82, and the other end of the reinforcing plate 86 is connected to the middle position of the first mounting plate 81 and the third mounting plate 83. Optionally, the reinforcing plate 86 is provided with a fourth wiring hole 861, and the eighth symmetry plane and the tenth symmetry plane both pass through the center line of the fourth wiring hole 861. Optionally, the reinforcing plate 86 and the first mounting plate 81 and the third mounting plate 83 can be detachably connected by means of clamping, screwing and riveting, etc., without limitation.

[0067] By setting a reinforcing plate 86, the reinforcing plate 86 connects the first mounting plate 81 and the third mounting plate 83, and the reinforcing plate 86 is set between the second mounting plate 82 and the shoulder joint housing 70, so that the structural strength of the fourth mounting component 80 is higher, and the bearing capacity of the fourth mounting component 80 is improved, so that the upper arm housing 60 is not easy to shake when rotating relative to the shoulder joint housing 70. At the same time, the reinforcing plate 86 is set symmetrically relative to the eighth symmetry plane and the tenth symmetry plane. The tenth symmetry plane is perpendicular to the eighth symmetry plane and has an acute angle with the ninth symmetry plane, so that the reinforcing plate 86 is a symmetrical component, which reduces the difficulty of manufacturing the reinforcing plate 86.

[0068] Please refer to Figures 1 to 3 The upper limb assembly 100 also includes a connecting member 78, which includes an outer ring 781, an inner ring 782 and a plurality of connecting ribs 783. The outer ring 781 is sleeved on the inner ring 782, and the plurality of connecting ribs 783 are located between the outer ring 781 and the inner ring 782 and connect the inner ring 782 and the outer ring 781. The plurality of connecting ribs 783 are arranged at equal intervals in the circumferential direction of the inner ring 782. The outer ring 781 is connected to the shoulder joint housing 70, and the inner ring 782 is rotatably connected to the third mounting plate 83.

[0069] Exemplarily, there are three connecting ribs 783, which are evenly spaced on the inner ring 782, and the length direction of one connecting rib 783 is consistent with the connection direction of the sixth cylinder 72 and the seventh cylinder 74. Optionally, the outer ring 781, the inner ring 782 and the plurality of connecting ribs 783 are an integrated structure, and the connecting member 78 is connected to an opening at one end of the sixth cylinder 72 away from the sixth end plate 73. Optionally, the outer peripheral surface of the outer ring 781 is flush with the outer peripheral surface of the sixth cylinder 72.

[0070] By setting a connecting piece 78, the connecting piece 78 includes an outer ring 781, an inner ring 782 and a plurality of connecting ribs 783, the outer ring 781 is sleeved on the inner ring 782, the plurality of connecting ribs 783 are located between the outer ring 781 and the inner ring 782 and connect the inner ring 782 and the outer ring 781, the outer ring 781 is connected to the shoulder joint housing 70, the inner ring 782 is rotatably connected to the third mounting plate 83, so that the connection between the third mounting plate 83 and the shoulder joint housing 70 is more stable, so that the upper arm housing 60 is not prone to shaking when rotating relative to the shoulder joint housing 70, and at the same time, a plurality of connecting ribs 783 are arranged at equal intervals in the circumferential direction of the inner ring 782, so that the connection between the outer ring 781 and the inner ring 782 is more stable, and the connecting piece 78 is also made a symmetrical component, which reduces the difficulty of making the connecting piece 78.

[0071] Please refer to Figures 1 to 3The upper limb assembly 100 also includes a seventh driving member 91 and a fifth mounting member 90. The seventh driving member 91 is accommodated in the fifth mounting member 90. The stator of the seventh driving member 91 is connected to the fifth mounting member 90. The rotor of the seventh driving member 91 is connected to the shoulder joint housing 70. The fifth mounting member 90 is used to connect to the torso assembly of the humanoid robot. The seventh driving member 91 is used to drive the shoulder joint housing 70 to rotate around the eighth axis L8. The eighth axis L8 intersects and is perpendicular to the seventh axis L7. The eighth axis L8 is the left and right direction of the humanoid robot; the shoulder joint housing 70 is symmetrical with respect to the eleventh symmetrical plane, and the eleventh symmetrical plane passes through the seventh axis L7 and the eighth axis L8; the fifth mounting member 90 is symmetrical with respect to the twelfth symmetrical plane and the thirteenth symmetrical plane. The twelfth symmetrical plane passes through the eighth axis L8 and extends along the up and down direction of the humanoid robot, and the thirteenth symmetrical plane passes through the eighth axis L8 and extends along the front and back direction of the humanoid robot.

[0072] Optionally, the fifth mounting member 90 includes an eighth barrel 92, a ninth barrel 93, an eighth end plate 94 and a ninth end plate 95, the eighth barrel 92 and the ninth barrel 93 are both cylindrical structures with openings at both ends, the eighth end plate 94 and the ninth end plate 95 are respectively connected to the openings at both ends of the eighth barrel 92, and the ninth end plate 95 protrudes from the outer peripheral surface of the eighth barrel 92, the ninth end plate 95 is connected to the ninth barrel 93, the seventh driving member 91 is accommodated in the eighth barrel 92, the stator of the seventh driving member 91 is connected to the eighth end plate 94, the eighth end plate 94 is provided with a seventh mounting hole 941, and the rotor of the seventh driving member 91 is connected to the aforementioned seventh end plate 75 through the seventh mounting hole 941. Optionally, the outer peripheral surface of the ninth end plate 95 is flush with the outer peripheral surface of the ninth barrel 93. Optionally, the eighth barrel 92 is also provided with a plurality of heat dissipation openings 611, and the plurality of heat dissipation openings 611 are arranged at intervals from each other. Optionally, the shapes of the eighth cylinder 92 and the eighth end plate 94 are adapted to the shape of the seventh driving member 91 to improve the humanistic nature of the upper limb assembly 100 at the corresponding human shoulder.

[0073] Optionally, a fourth limit block 79 is provided on the surface of the seventh end plate 75 facing away from the sixth cylinder 72, and a fifth limit block 96 is provided on the surface of the eighth end plate 94 facing away from the ninth end plate 95. The fourth limit block 79 is used to abut against the fifth limit block 96 to limit the rotation angle of the shoulder joint housing 70 relative to the fifth mounting member 90.

[0074] By setting the seventh driving member 91 and the fifth mounting member 90, the seventh driving member 91 is accommodated in the fifth mounting member 90, the stator of the seventh driving member 91 is connected to the fifth mounting member 90, the rotor of the seventh driving member 91 is connected to the shoulder joint housing 70, the fifth mounting member 90 is used to connect with the torso assembly of the humanoid robot, and the seventh driving member 91 is used to drive the shoulder joint housing 70 to rotate around the eighth axis L8, the eighth axis L8 intersects and is perpendicular to the seventh axis L7, and the eighth axis L8 is the left and right direction of the humanoid robot, so that the shoulder joint housing 70 can rotate relative to the torso assembly, thereby realizing the rotation of the upper limb assembly 100. Humanoid movement is simulated, and the shoulder joint shell 70 is set to be symmetrical with respect to the eleventh symmetry plane, the eleventh symmetry plane passes through the seventh axis L7 and the eighth axis L8, and the fifth mounting component 90 is symmetrical with respect to the twelfth symmetry plane and the thirteenth symmetry plane, the twelfth symmetry plane passes through the eighth axis L8 and extends along the up and down direction of the humanoid robot, and the thirteenth symmetry plane passes through the eighth axis L8 and extends along the front and back direction of the humanoid robot, so that the symmetry of the shoulder joint shell 70 is higher, which further reduces the difficulty of manufacturing the shoulder joint shell 70, and makes the fifth mounting component 90 a symmetrical component, which reduces the difficulty of manufacturing the fifth mounting component 90.

[0075] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0076] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. An upper limb assembly (100), characterized in that: For humanoid robots, including: Forearm housing (10); The first mounting member (20) comprises a first cylinder (21), a first end plate (22), a first connecting arm (23) and a second connecting arm (24); the first cylinder (21) is in the shape of a cylinder with openings at both ends; the first end plate (22) is connected to an opening at one end of the first cylinder (21); the first end plate (22) is provided with a first mounting hole (221); the first connecting arm (23) and the second connecting arm (24) are connected to an end surface of the first cylinder (21) facing away from the first end plate (22) at a relative interval; the first connecting arm (23) and the second connecting arm (24) are both connected to the forearm housing (10) for rotation around a first axis (L1); A first driving member (30), wherein a portion of the first driving member (30) is accommodated in the first cylinder (21), a stator of the first driving member (30) is connected to the first end plate (22), and a rotor of the first driving member (30) is exposed from the first mounting hole (221); a second mounting member (40) connected to the rotor of the first driving member (30), the first driving member (30) being used to drive the second mounting member (40) to rotate around a second axis (L2), the second axis (L2) being perpendicular to the first axis (L1); The first mounting member (20) is symmetrical with respect to a first symmetry plane and a second symmetry plane, the first symmetry plane passes through the first axis (L1) and is parallel to the second axis (L2), and the second symmetry plane passes through the second axis (L2) and is perpendicular to the first axis (L1).

2. The upper limb assembly (100) according to claim 1, characterized in that: The first cylinder (21) and the first connecting arm (23) and the second connecting arm (24) are an integrated structure; the inner circumferential surface of the first cylinder (21) is flush with the inner surface of the first connecting arm (23); the outer circumferential surface of the first cylinder (21) is flush with the outer surface of the first connecting arm (23); in the orthographic projection of the first axis (L1), the width of the first connecting arm (23) gradually decreases from the direction approaching the first cylinder (21) to the direction away from the first cylinder (21).

3. The upper limb assembly (100) according to claim 1, characterized in that: The first mounting member (20) further comprises a first limiting portion (26) and a second limiting portion (27), wherein the first limiting portion (26) and the second limiting portion (27) are both connected to the inner wall surface of the first mounting hole (221), and the first limiting portion (26) and the second limiting portion (27) are arranged relatively spaced apart along the direction of the first axis (L1); The second mounting member (40) comprises a main body (41) and a third limiting portion (42), wherein the third limiting portion (42) is connected to the main body (41), the main body (41) is connected to the rotor of the first driving member (30), and the third limiting portion (42) is used to abut against the first limiting portion (26) or the second limiting portion (27).

4. The upper limb assembly (100) according to claim 1, characterized in that: The upper limb assembly (100) further comprises a palm member (50), wherein the palm member (50) is connected to an end of the second mounting member (40) away from the first mounting member (20), the second mounting member (40) is L-shaped and comprises a connecting end (43), the connecting end (43) is an end of the second mounting member (40) away from the first driving member (30), the connecting end (43) is located on a side of the first mounting member (20) facing away from the forearm housing (10), the connecting end (43) is in a circular ring shape, the center line of the connecting end (43) is a third axis (L3), and the length direction of the palm member (50) extends along the third axis (L3); the second mounting member (40) is symmetrical with respect to a third symmetry plane, and the third symmetry plane passes through the second axis (L2) and the third axis (L3).

5. The upper limb assembly (100) according to claim 4, characterized in that: The forearm housing (10) comprises a second cylinder (11), a third cylinder (12), a third connecting arm (13) and a fourth connecting arm (14); the second cylinder (11) and the third cylinder (12) are connected in sequence along a fourth axis (L4); the fourth axis (L4) intersects and is perpendicular to the first axis (L1); the third connecting arm (13) and the fourth connecting arm (14) are respectively connected to two ends of the second cylinder (11) on the first axis (L1); the third connecting arm (13) is rotatably connected to the first connecting arm (23); and the fourth connecting arm (14) is rotatably connected to the second connecting arm (24); The upper limb assembly (100) further comprises a second driving member (15) and a transmission assembly (16), wherein the second driving member (15) is received in the second cylinder (11), the stator of the second driving member (15) is connected to the second cylinder (11), the transmission assembly (16) is connected to the rotor of the second driving member (15) and the first cylinder (21), and the second driving member (15) is used to drive the first mounting member (20) to rotate around the first axis (L1); In the orthographic projection of the first connecting arm (23) in the direction close to the second connecting arm (24), the forearm housing (10) is symmetrical with respect to a fourth symmetry plane, and the fourth symmetry plane passes through the first axis (L1) and the fourth axis (L4); in the orthographic projection of the third cylinder (12) in the direction close to the second cylinder (11), the forearm housing (10) is symmetrical with respect to a fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis (L4) and is perpendicular to the first axis (L1).

6. The upper limb assembly (100) according to claim 5, characterized in that: The upper limb assembly (100) further comprises a large arm housing (60), wherein the large arm housing (60) comprises a fourth cylinder (61) and a fifth cylinder (62), wherein the fourth cylinder (61) and the fifth cylinder (62) are sequentially connected along a fifth axis (L5); The upper limb assembly (100) further comprises a third driving member (19), a fourth driving member (63) and a third mounting member (68), wherein the third driving member (19) is accommodated in the third cylinder (12), the stator of the third driving member (19) is connected to the third cylinder (12), at least part of the fourth driving member (63) is accommodated in the fourth cylinder (61), the stator of the fourth driving member (63) is connected to the fourth cylinder (61), one end of the third mounting member (68) is connected to the rotor of the third driving member (19), and the other end of the third mounting member (68) is connected to the rotor of the fourth driving member (63); The third driving member (19) is used to drive the forearm housing (10) to rotate around the fourth axis (L4), and the fourth driving member (63) is used to drive the third mounting member (68) to rotate around the sixth axis (L6), and the fourth axis (L4) and the fifth axis (L5) both intersect and are perpendicular to the sixth axis (L6); The third mounting member (68) is symmetrical with respect to a sixth symmetrical plane, and the sixth symmetrical plane passes through the fourth axis (L4) and the sixth axis (L6); the upper arm housing (60) is symmetrical with respect to a seventh symmetrical plane, and the seventh symmetrical plane passes through the fifth axis (L5) and the sixth axis (L6).

7. The upper limb assembly (100) according to claim 6, characterized in that: The first axis (L1) and the second axis (L2) intersect, the palm member (50) is in an initial state relative to the forearm housing (10), and the forearm housing (10) is in an initial state relative to the upper arm housing (60), and the third axis (L3), the fourth axis (L4) and the fifth axis (L5) all coincide.

8. The upper limb assembly (100) according to claim 6, characterized in that: The upper limb assembly further comprises a shoulder joint housing (70), a fifth driving member (71), a sixth driving member (66) and a fourth mounting member (80), wherein the fifth driving member (71) is accommodated in the shoulder joint housing (70), a stator of the fifth driving member (71) is connected to the shoulder joint housing (70), the sixth driving member (66) is accommodated in the fifth cylinder (62), a stator of the sixth driving member (66) is connected to the fifth cylinder (62), one end of the fourth mounting member (80) is connected to a rotor of the fifth driving member (71), and the other end of the fourth mounting member (80) is connected to a rotor of the sixth driving member (66); The fifth driving member (71) is used to drive the fourth mounting member (80) to rotate around the seventh axis (L7), and the sixth driving member (66) is used to drive the upper arm housing (60) to rotate around the fifth axis (L5), and the fifth axis (L5) intersects and is perpendicular to the seventh axis (L7); The shoulder joint housing (70) is symmetrical with respect to an eighth symmetry plane, and the eighth symmetry plane passes through the fifth axis (L5) and is perpendicular to the seventh axis (L7).

9. The upper limb assembly (100) according to claim 8, characterized in that: The fourth mounting member (80) comprises a first mounting plate (81), a second mounting plate (82) and a third mounting plate (83) which are sequentially connected on the seventh axis (L7), the first mounting plate (81) and the third mounting plate (83) being arranged with a relative spacing, the first mounting plate (81) being connected to the rotor of the fifth driving member (71), and the third mounting plate (83) being rotatably connected to the shoulder joint housing (70); The first mounting plate (81) and the second mounting plate (82) are both symmetrical relative to a ninth symmetrical plane, the ninth symmetrical plane passes through the fifth axis (L5) and the seventh axis (L7), and the second mounting plate (82) is also symmetrical relative to the eighth symmetrical plane.

10. The upper limb assembly (100) according to claim 9, characterized in that: The fourth mounting member (80) also includes a reinforcing plate (86), which connects the first mounting plate (81) and the third mounting plate (83), and the reinforcing plate (86) is arranged between the second mounting plate (82) and the shoulder joint housing (70), and the reinforcing plate (86) is symmetrical with respect to the eighth symmetry plane and the tenth symmetry plane, and the tenth symmetry plane is perpendicular to the eighth symmetry plane and has an acute angle with the ninth symmetry plane.

11. The upper limb assembly (100) according to claim 9, characterized in that: The upper limb assembly (100) also includes a connecting member (78), the connecting member (78) includes an outer ring (781), an inner ring (782) and a plurality of connecting ribs (783), the outer ring (781) is sleeved on the inner ring (782), the plurality of connecting ribs (783) are located between the outer ring (781) and the inner ring (782) and connect the inner ring (782) and the outer ring (781), and the plurality of connecting ribs (783) are arranged at equal intervals in the circumferential direction of the inner ring (782), the outer ring (781) is connected to the shoulder joint housing (70), and the inner ring (782) is rotatably connected to the third mounting plate (83).

12. The upper limb assembly (100) according to claim 8, characterized in that: The upper limb assembly (100) further comprises a seventh driving member (91) and a fifth mounting member (90), wherein the seventh driving member (91) is accommodated in the fifth mounting member (90), the stator of the seventh driving member (91) is connected to the fifth mounting member (90), the rotor of the seventh driving member (91) is connected to the shoulder joint housing (70), the fifth mounting member (90) is used to be connected to the trunk assembly of the humanoid robot, and the seventh driving member (91) is used to drive the shoulder joint housing (70) to rotate around an eighth axis (L8), the eighth axis (L8) intersects and is perpendicular to the seventh axis (L7), and the eighth axis (L8) is the left-right direction of the humanoid robot; The shoulder joint housing (70) is symmetrical with respect to the eleventh symmetry plane, and the eleventh symmetry plane passes through the seventh axis (L7) and the eighth axis (L8); the fifth mounting member (90) is symmetrical with respect to the twelfth symmetry plane and the thirteenth symmetry plane, and the twelfth symmetry plane passes through the eighth axis (L8) and extends along the up-down direction of the humanoid robot, and the thirteenth symmetry plane passes through the eighth axis (L8) and extends along the front-back direction of the humanoid robot.

13. A humanoid robot, characterized in that: It comprises an upper limb assembly (100) as described in any one of claims 1 to 12.

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