Upper limb assembly and humanoid robot

Abstract

An upper limb assembly and a humanoid robot. The upper limb assembly includes a forearm housing, a first mounting member, a first driving member, and a second mounting member. The first mounting member includes a first cylinder, a first end plate, a first connecting arm, and a second connecting arm. The first end plate is provided with a first mounting hole and is connected to an opening end of the first cylinder. The first connecting arm and the second connecting arm are relatively and spacedly connected to an end face of the first cylinder facing away from the first end plate and are both rotatably connected to the forearm housing about a first axis. A part of the first driving member is received in the first cylinder and is connected to the first end plate. The second mounting member is connected to a rotor of the first driving member. The first driving member is used to drive the second mounting member to rotate about a second axis, and the second axis is perpendicular to the first axis. The first mounting member is symmetric with respect 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, reducing the manufacturing difficulty and assembly difficulty of the first mounting member.

Description

Technical Field

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

[0002] At present, due to the good mobility of humanoid robots when facing complex terrains, the research and development of humanoid robots have received more and more attention in recent years. Among them, humanoid robots perform upper limb movements similar to those of humans through robotic arms. To ensure the structural strength of the robotic arms, the structural parts of the robotic arms are usually made of metal materials, resulting in complex manufacturing processes and assembly processes for the parts of the robotic arms. 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 problems of complex manufacturing processes and assembly processes for the parts of the robotic arms.

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

[0005] In a first aspect, the present invention provides an upper limb assembly for a humanoid robot, comprising: a forearm housing; a first mounting member including a first cylinder, a first end plate, a first connecting arm, and a second connecting arm, wherein the first cylinder is in a cylindrical shape with both ends open, the first end plate is connected to an opening at one end of the first cylinder, the first end plate is provided with a first mounting hole, the first connecting arm and the second connecting arm are relatively spaced and connected to an end face of the first cylinder facing away from the first end plate, and both the first connecting arm and the second connecting arm are rotatably connected to the forearm housing about a first axis; a first driving member, a part of the first driving member is received in the first cylinder, a stator of the first driving member is connected to the first end plate, and a rotor of the first driving member is exposed from the first mounting hole; a second mounting member connected to the rotor of the first driving member, the first driving member being configured to drive the second mounting member to rotate about a second axis, the second axis being perpendicular to the first axis; wherein, the first mounting member is symmetric with respect to a first symmetry plane and a 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. By providing that the first mounting member includes a first cylinder, a first end plate, a first connecting arm, and a second connecting arm, the first cylinder is in a cylindrical shape with both ends open, the first end plate is provided with a first mounting hole and is connected to an opening at one end of the first cylinder, the first connecting arm and the second connecting arm are relatively spaced and connected to an end face of the first cylinder facing away from the first end plate and are both rotatably connected to the forearm housing about the first axis, a part of the first driving member is received in the first cylinder and is 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 configured to drive the second mounting member to rotate about the second axis, the second axis is perpendicular to the first axis, and the first mounting member is symmetric with respect to the first symmetry plane passing through the first axis and parallel to the second axis and the second symmetry plane passing through the second axis and perpendicular to the first axis, the structure of the first mounting member is a symmetric member, so that when connecting the first mounting member to the forearm housing, there is no need to distinguish the installation direction, realizing the forward and reverse installation of the first mounting member, and at the same time being beneficial to reducing the manufacturing difficulty of the mold for forming the first mounting member, and reducing the manufacturing difficulty and assembly difficulty of the first mounting member.

[0006] In one embodiment, the first cylinder body, the first connecting arm, and the second connecting arm are of an integral structure. The inner peripheral surface of the first cylinder body is flush with the inner surface of the first connecting arm, and the outer peripheral surface of the first cylinder body is flush with the outer surface of the first connecting arm. In the orthographic projection along the first axis, from the direction close to the first cylinder body to the direction away from the first cylinder body, the width of the first connecting arm gradually decreases. By setting the first cylinder body, the first connecting arm, and the second connecting arm to be of an integral structure, with the inner peripheral surface of the first cylinder body flush with the inner surface of the first connecting arm and the outer peripheral surface of the first cylinder body flush with the outer surface of the first connecting arm, the first cylinder body, the first connecting arm, and the second connecting arm can be integrally formed, improving the structural strength of the first mounting member. At the same time, by setting that in the orthographic projection along the first axis, from the direction close to the first cylinder body to the direction away from the first cylinder body, the width of the first connecting arm gradually decreases, the weight reduction of the first mounting member is improved on the premise that the first mounting member meets the structural strength requirements.

[0007] In one embodiment, the first mounting member further includes a first limiting portion and a second limiting portion. Both the first limiting portion and the second limiting portion are connected to the inner wall surface of the first mounting hole, and the first limiting portion and the second limiting portion are spaced apart from each other along the direction of the first axis. The second mounting member includes a main body portion and a third limiting portion. The third limiting portion is connected to the main body portion, and the main body portion is connected to the rotor of the first driving member. The third limiting portion is configured to abut against the first limiting portion or the second limiting portion. By setting that the first mounting member further includes a first limiting portion and a second limiting portion, both the first limiting portion and the second limiting portion are connected to the inner wall surface of the first mounting hole, the first limiting portion and the second limiting portion are spaced apart from each other along the direction of the first axis, the second mounting member includes a main body portion and a third limiting portion, the third limiting portion is connected to the main body portion, the main body portion is connected to the rotor of the first driving member, and the third limiting portion is configured to abut against the first limiting portion or the second limiting portion, 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 rotating excessively and causing motion interference.

[0008] In one embodiment, the upper limb assembly further includes a palm member, the palm member is connected to an end of the second mounting member away from the first mounting member, the second mounting member is L-shaped and includes a connecting end, the connecting end is an end of the second mounting member away from the first driving member, the connecting end is located on a side of the first mounting member facing away from the forearm housing, the connecting end is circular, a center line of the connecting end is a third axis, and a length direction of the palm member extends along the third axis; the second mounting member is symmetric with respect to a third symmetry plane, and the third symmetry plane passes through the second axis and the third axis. By providing that the upper limb assembly further includes a palm member, the palm member is connected to an end of the second mounting member away from the first mounting member, the second mounting member is L-shaped and includes a connecting end, the connecting end is an end of the second mounting member away from the first driving member, the connecting end is located on a side of the first mounting member facing away from the forearm housing, the connecting end is circular, a center line of the connecting end is a third axis, the length direction of the palm member extends along the third axis, the second mounting member is symmetric with respect to the third symmetry plane, and the third symmetry plane passes through the second axis and the third axis, the second mounting member is a symmetric member, so that the manufacturing difficulty of the mold for forming the second mounting member is reduced, and further the manufacturing difficulty of the second mounting member is reduced.

[0009] In one implementation, 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 sequentially connected along a fourth axis, and the fourth axis intersects and is perpendicular to the first axis. The third connecting arm and the fourth connecting arm are respectively connected to 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. The upper limb assembly further includes a second driving member and a transmission assembly. The second driving member is received 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 in the direction where the first connecting arm is close to the second connecting arm, the forearm housing is symmetric with respect to a fourth symmetry plane, and the fourth symmetry plane passes through the first axis and the fourth axis. In the orthographic projection in the direction where the third cylinder is close to the second cylinder, the forearm housing is symmetric with respect to a fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis and is perpendicular to the first axis. By providing that 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 sequentially connected along the 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 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, the connection strength between the second mounting member and the forearm housing is relatively high, so that when the second mounting member rotates relative to the forearm housing, it is not likely to shake. Moreover, by providing a second driving member and a transmission assembly, the second driving member is received 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, the first mounting member can be driven to rotate by the second driving member and the transmission assembly, realizing the movement of the palm member in one degree of freedom. At the same time, by providing that in the orthographic projection in the direction where the first connecting arm is close to the second connecting arm, the forearm housing is symmetric with respect to a 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 where the third cylinder is close to the second cylinder, the forearm housing is symmetric with respect to a fifth symmetry plane, and the fifth symmetry plane passes through the fourth axis and is perpendicular to the first axis, the forearm housing is generally a symmetric member, reducing the manufacturing difficulty of the mold for forming the forearm housing, and further reducing the manufacturing difficulty of the forearm housing.

[0010] In one embodiment, the upper limb assembly further 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 sequentially connected along a fifth axis; the upper limb assembly further includes a third driving member, a fourth driving member and a third mounting member, the third driving member is received in the third cylinder, the stator of the third driving member is connected to the third cylinder, at least a part of the fourth driving member is received 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 configured to drive the small arm housing to rotate about the fourth axis, the fourth driving member is configured to drive the third mounting member to rotate about a sixth axis, the fourth axis and the fifth axis both intersect and are perpendicular to the sixth axis; the third mounting member is symmetric with respect to a sixth symmetry plane, the sixth symmetry plane passes through the fourth axis and the sixth axis; the large arm housing is symmetric with respect to a seventh symmetry plane, the seventh symmetry plane passes through the fifth axis and the sixth axis. By providing the large arm housing, the third driving member, the fourth driving member and the third mounting member, the large arm housing includes a fourth cylinder and a fifth cylinder, the fourth cylinder and the fifth cylinder are sequentially connected along a fifth axis, the third driving member is received in the third cylinder, the stator of the third driving member is connected to the third cylinder, at least a part of the fourth driving member is received 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, the other end of the third mounting member is connected to the rotor of the fourth driving member, the third driving member is configured to drive the small arm housing to rotate about the fourth axis, the fourth driving member is configured to drive the third mounting member to rotate about a sixth axis, the fourth axis and the fifth axis both intersect and are perpendicular to the sixth axis, enabling the small arm housing to rotate in two degrees of freedom, realizing the anthropomorphic movement of the small arm housing. At the same time, the third mounting member is symmetric with respect to the sixth symmetry plane, the sixth symmetry plane passes through the fourth axis and the sixth axis, and the large arm housing is symmetric with respect to the seventh symmetry plane, the seventh symmetry plane passes through the fifth axis and the sixth axis, making both the third mounting member and the large arm housing symmetric components, reducing the manufacturing difficulty of the third mounting member and the large arm housing.

[0011] In one embodiment, the first axis and the second axis intersect. When the palm member is in the initial state relative to the forearm housing, and the forearm housing is in the initial state relative to the upper arm housing, the third axis, the fourth axis, and the fifth axis coincide. By setting the first axis and the second axis to intersect, with the palm member in the initial state relative to the forearm housing and the forearm housing in the initial state relative to the upper arm housing, and the third axis, the fourth axis, and the fifth axis coinciding, the centers of gravity of the palm member, the forearm housing, and the upper arm housing are all approximately on the same straight line, enabling the first driving member, the second driving member, and the fourth driving member to achieve the straight state of the upper limb assembly without outputting torque, and preventing the palm member and the forearm housing from shifting or shaking.

[0012] In one embodiment, the upper limb assembly further includes a shoulder joint housing, a fifth driving member, a sixth driving member, and a fourth mounting member. The fifth driving member is received in the shoulder joint housing, and the stator of the fifth driving member is connected to the shoulder joint housing. The sixth driving member is received in the fifth cylinder, and 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 configured to drive the fourth mounting member to rotate about a seventh axis, and the sixth driving member is configured to drive the upper arm housing to rotate about the fifth axis. The fifth axis intersects and is perpendicular to the seventh axis. The shoulder joint housing is symmetric about an eighth symmetry plane, and the eighth symmetry plane passes through the fifth axis and is perpendicular to the seventh axis. By providing the shoulder joint housing, the fifth driving member, the sixth driving member, and the fourth mounting member, with the fifth driving member received in the shoulder joint housing, the stator of the fifth driving member connected to the shoulder joint housing, the sixth driving member received in the fifth cylinder, the stator of the sixth driving member connected to the fifth cylinder, one end of the fourth mounting member connected to the rotor of the fifth driving member, the other end of the fourth mounting member connected to the rotor of the sixth driving member, the fifth driving member driving the fourth mounting member to rotate about the seventh axis, and the sixth driving member driving the upper arm housing to rotate about the fifth axis, with the fifth axis intersecting and perpendicular to the seventh axis, the upper arm housing can rotate in two degrees of freedom, achieving the humanoid movement of the upper limb assembly. At the same time, by setting the shoulder joint housing to be symmetric about the eighth symmetry plane, with the eighth symmetry plane passing through the fifth axis and being perpendicular to the seventh axis, the shoulder joint housing is a symmetric component, enabling the shoulder joint housing to be installed without distinguishing between the front and back directions, achieving the reverse installation of the shoulder joint housing, and reducing the manufacturing difficulty of the shoulder joint housing.

[0013] In one implementation, the fourth mounting member includes a first mounting plate, a second mounting plate, and a third mounting plate that 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. Both the first mounting plate and the second mounting plate are symmetric with respect to the ninth symmetry plane, which passes through the fifth axis and the seventh axis. The second mounting plate is also symmetric with respect to the eighth symmetry plane. By providing that the fourth mounting member includes a first mounting plate, a second mounting plate, and a third mounting plate that 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 connection between the fourth mounting member and the shoulder joint housing is made 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 assembly difficulty of the fourth mounting member. At the same time, by providing that both the first mounting plate and the second mounting plate are symmetric with respect to the ninth symmetry plane, which passes through the fifth axis and the seventh axis, and the second mounting plate is also symmetric with respect to the eighth symmetry plane, the first mounting plate and the second mounting plate are both symmetric components, reducing the manufacturing difficulty of the first mounting plate and the second mounting plate.

[0014] In one implementation, the fourth mounting member further includes a reinforcing plate. The reinforcing plate connects 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 symmetric 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. By providing the reinforcing plate, the reinforcing plate connects 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 higher, improving the load-bearing capacity of the fourth mounting member, so that the upper arm housing is not prone to shaking when rotating relative to the shoulder joint housing. At the same time, by providing that the reinforcing plate is symmetric 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, the reinforcing plate is a symmetric component, reducing the manufacturing difficulty of the reinforcing plate.

[0015] In one implementation, the upper limb assembly further includes a connecting member, which includes an outer ring, an inner ring, and a plurality of connecting ribs. The outer ring is sleeved on the inner ring. The plurality of connecting ribs are located between the outer ring and the inner ring and connect the inner ring and the outer ring. The plurality of connecting ribs are equally spaced 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 providing the connecting member, which includes an outer ring, an inner ring, and a plurality of connecting ribs, the outer ring is sleeved on the inner ring, the 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, the connection between the third mounting plate and the shoulder joint housing is made more stable, so that the upper arm housing is not likely to shake when rotating relative to the shoulder joint housing. At the same time, the plurality of connecting ribs are equally spaced in the circumferential direction of the inner ring, which not only makes the connection between the outer ring and the inner ring more stable but also makes the connecting member a symmetric member, reducing the manufacturing difficulty of the connecting member.

[0016] In one embodiment, the upper limb assembly further includes a seventh driving member and a fifth mounting member. The seventh driving member is received in the fifth mounting member. The stator of the seventh driving member is connected to the fifth mounting member, and the rotor of the seventh driving member is connected to the shoulder joint housing. The fifth mounting member is used to be connected to the torso assembly of the humanoid robot. The seventh driving member is used to drive the shoulder joint housing to rotate about an eighth axis. The eighth axis intersects and is perpendicular to the seventh axis, and the eighth axis is the left-right direction of the humanoid robot. The shoulder joint housing is symmetric with respect to an eleventh symmetry plane. The eleventh symmetry plane passes through the seventh axis and the eighth axis. The fifth mounting member is symmetric with respect to a twelfth symmetry plane and a thirteenth symmetry plane. The twelfth symmetry plane passes through the eighth axis and extends along the up-down direction of the humanoid robot, and the thirteenth symmetry plane passes through the eighth axis and extends along the front-back direction of the humanoid robot. By providing the seventh driving member and the fifth mounting member, with the seventh driving member received in the fifth mounting member, the stator of the seventh driving member connected to the fifth mounting member, the rotor of the seventh driving member connected to the shoulder joint housing, the fifth mounting member used to be connected to the torso assembly of the humanoid robot, and the seventh driving member used to drive the shoulder joint housing to rotate about the eighth axis, where the eighth axis intersects and is perpendicular to the seventh axis and the eighth axis is the left-right direction of the humanoid robot, the shoulder joint housing can rotate relative to the torso assembly, realizing the humanoid movement of the upper limb assembly. At the same time, by setting the shoulder joint housing to be symmetric with respect to the eleventh symmetry plane which passes through the seventh axis and the eighth axis, and the fifth mounting member to be symmetric with respect to the twelfth symmetry plane and the thirteenth symmetry plane, where the twelfth symmetry plane passes through the eighth axis and extends along the up-down direction of the humanoid robot and the thirteenth symmetry plane passes through the eighth axis and extends along the front-back direction of the humanoid robot, the symmetry of the shoulder joint housing is higher, further reducing the manufacturing difficulty of the shoulder joint housing, and making the fifth mounting member a symmetric component, reducing the manufacturing difficulty of the fifth mounting member.

[0017] In a second aspect, the present invention further provides a humanoid robot, including the upper limb assembly according to any one of the embodiments in the first aspect. The humanoid robot provided by the present invention realizes the humanoid arm movement of the humanoid robot by adopting the upper limb assembly in the embodiments of the present invention, and the manufacturing difficulty and assembly difficulty of the parts of the upper limb assembly are relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0019] Figure 1It is a structural diagram of an upper limb assembly of an embodiment;

[0020] Figure 2 It is an exploded view of an upper limb assembly of an embodiment;

[0021] Figure 3 It is an exploded view of an upper limb assembly of another embodiment;

[0022] Figure 4 It is a structural diagram of a fourth mounting member of an embodiment.

[0023] Explanation of reference numerals:

[0024] 100 - Upper limb assembly;

[0025] 10 - Forearm 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;

[0026] 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;

[0027] 30 - First driving member;

[0028] 40 - Second mounting member, 41 - Main body portion, 411 - First connecting plate, 412 - Second connecting plate, 413 - Second boss, 42 - Third limiting portion, 43 - Connecting end, 431 - First wire routing hole;

[0029] 50 - Palm member;

[0030] 60 - Upper 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;

[0031] 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 wire routing hole, 76 - Reinforcing rib, 77 - First limiting block, 78 - Connecting member, 781 - Outer ring, 782 - Inner ring, 783 - Connecting rib, 79 - Fourth limiting block;

[0032] 80 - Fourth mounting member, 81 - First mounting plate, 811 - First limiting groove, 82 - Second mounting plate, 821 - Third wire routing hole, 83 - Third mounting plate, 84 - Structural counterbore, 85 - Third limiting block, 86 - Reinforcing plate, 861 - Fourth wire routing hole;

[0033] 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;

[0034] L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis, L5 - Fifth axis, L6 - Sixth axis, L7 - Seventh axis, L8 - Eighth axis. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0037] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the present invention in the specification 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.

[0038] Next, some embodiments of the present invention will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0039] Please refer to Figures 1 to 3, the present invention provides a humanoid robot, including the upper limb assembly 100 in the embodiments of the present invention. The humanoid robot further includes a torso assembly, a lower limb assembly, and a head and neck assembly. The upper limb assembly 100, the lower limb assembly, and the head and neck assembly in the embodiments of the present invention are all connected to the torso assembly. Among them, there are two upper limb assemblies 100 in the embodiments of the present invention, and the two upper limb assemblies 100 are respectively arranged on the left and right sides of the torso 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 embodiments of the present invention, and the manufacturing difficulty and assembly difficulty of the parts of the upper limb assembly 100 are relatively low.

[0040] Please refer to Figures 1 to 3 , the present invention also provides an upper limb assembly 100 for a humanoid robot, including a forearm housing 10, a first mounting member 20, a first driving member 30, and a second mounting member 40. 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 both ends open. The first end plate 22 is connected to one open 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 relatively spaced and connected to the end face of the first cylinder 21 facing away from the first end plate 22. Both the first connecting arm 23 and the second connecting arm 24 are rotatably connected to the forearm housing 10 around a first axis L1; a part of the first driving member 30 is received 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. The first driving member 30 is used to drive the second mounting member 40 to rotate around a second axis L2, and the second axis L2 is perpendicular to the first axis L1; among them, the first mounting member 20 is symmetric 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.

[0041] Optionally, a first boss 231 is provided on the surface of the first connecting arm 23 away from the first cylinder 21 and facing away from the second connecting arm 24. The first boss 231 is provided with a threaded hole penetrating through to the surface of the first connecting arm 23 facing the second connecting arm 24. A bearing is sleeved outside the first boss 231, and the inner ring of the bearing is fixed on the first boss 231 by a bolt. The outer ring of the bearing is fixedly connected to the forearm housing 10. The second connecting arm 24 is symmetrically arranged with the first connecting arm 23 to realize the rotational connection between the first connecting arm 23, the second connecting arm 24, and the forearm housing 10. And there is a gap between the first connecting arm 23 and the second connecting arm 24 and the forearm housing 10 in the direction of the first axis L1 to prevent movement interference between the first connecting arm 23, the second connecting arm 24, and the forearm housing 10.

[0042] Optionally, the first cylinder body 21 and the first end plate 22 are of an integral structure to improve the connection stability between the first cylinder body 21 and the first end plate 22 and the structural strength of the first mounting member 20. Optionally, the first cylinder body 21 and the first end plate 22 can also be detachably connected by means such as snap connection, screw connection and riveting, without limitation. Optionally, the first driving member 30 is a motor, and the first driving member 30 is detachably connected to the end plate by screw connection. Optionally, the outer peripheral surface of the first driving member 30 contacts the inner peripheral surface of the first cylinder body 21 to limit the position of the first driving member 30 in the radial direction. Optionally, the shapes of the first cylinder body 21 and the first end plate 22 are both adapted to the shape of the first driving member 30 to improve the humanoid nature of the upper limb assembly 100 at the corresponding human wrist. Optionally, the first axis L1 can intersect or not, without limitation.

[0043] By providing that the first mounting member 20 includes a first cylinder body 21, a first end plate 22, a first connecting arm 23 and a second connecting arm 24, the first cylinder body 21 is in the shape of a cylinder with both ends open, the first end plate 22 is provided with a first mounting hole 221 and is connected to one open end of the first cylinder body 21, the first connecting arm 23 and the second connecting arm 24 are oppositely and spacedly connected to the end face of the first cylinder body 21 facing away from the first end plate 22 and are both rotatably connected to the forearm housing 10 around the first axis L1, a part of the first driving member 30 is received in the first cylinder body 21 and is connected to the first end plate 22, the second mounting member 40 is connected to the rotor of the first driving member 30, the first driving member 30 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, and the first mounting member 20 is symmetric 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 symmetric member, so that when connecting the first mounting member 20 to the forearm housing 10, there is no need to distinguish the installation direction, realizing the forward and reverse installation of the first mounting member 20, and at the same time being beneficial to reducing the manufacturing difficulty of the mold for forming the first mounting member 20, reducing the manufacturing difficulty and assembly difficulty of the first mounting member 20.

[0044] Please refer to Figures 1 to 3 , the first cylinder body 21 and the first connecting arm 23, the second connecting arm 24 are of an integral structure, the inner peripheral surface of the first cylinder body 21 is flush with the inner surface of the first connecting arm 23, and the outer peripheral surface of the first cylinder body 21 is flush with the outer surface of the first connecting arm 23; in the orthographic projection of the first axis L1, from the direction close to the first cylinder body 21 to the direction away from the first cylinder body 21, the width of the first connecting arm 23 gradually decreases.

[0045] Optionally, the first connecting arm 23, the second connecting arm 24 and the surface of the first cylinder 21 away from the bottom end plate are all smoothly connected. Optionally, in the orthographic projection on the first axis L1, the contour shapes of the end faces of the first connecting arm 23 and the second connecting arm 24 away from the first cylinder 21 are both 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 semi-circle, etc., without limitation.

[0046] 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 part 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 peripheral surface contour and the outer peripheral surface contour of the first cylinder 21 are both circular. Optionally, in the orthographic projection on the second axis L2, the inner peripheral surface contour and the outer peripheral surface contour of the first cylinder 21 can also be a rectangle, a triangle, an ellipse, etc., without limitation.

[0047] By setting the first cylinder 21, the first connecting arm 23 and the second connecting arm 24 as an integral structure, the inner surface of the first cylinder 21 is flush with the inner surface of the first connecting arm 23, and the outer 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 integrally formed, improving the structural strength of the first mounting member 20. At the same time, in the orthographic projection on the first axis L1, from the direction close to the first cylinder 21 to the direction away from the first cylinder 21, the width of the first connecting arm 23 gradually decreases, so that on the premise that the first mounting member 20 meets the structural strength requirements, the light weight degree of the first mounting member 20 is improved.

[0048] Please refer to Figures 1 to 3 , the first mounting member 20 further includes 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 along the direction of the first axis L1; the second mounting member 40 includes a main body portion 41 and a third limiting portion 42. The third limiting portion 42 is connected to the main body portion 41. The main body portion 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.

[0049] Optionally, the main body portion 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 extending 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 with the palm member 50.

[0050] Optionally, in the orthographic projection on the second axis L2, the contour shape of the first mounting hole 221 is circular, and the outer peripheral surface contour 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 arc surfaces, and the surface of the third limiting portion 42 facing away from the second boss 413 is an arc surface 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 of an integral structure. Optionally, the third limiting portion 42 and the main body portion 41 are of an integral structure.

[0051] By providing that the first mounting member 20 further includes 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. The first limiting portion 26 and the second limiting portion 27 are spaced apart relative to each other along the direction of the first axis L1. The second mounting member 40 includes a main body portion 41 and a third limiting portion 42. The third limiting portion 42 is connected to the main body portion 41. The main body portion 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, preventing the second mounting member 40 from rotating excessively and causing motion interference.

[0052] Please refer to Figures 1 to 3 , the upper limb assembly 100 further includes a palm member 50. The palm member 50 is connected to one 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 the 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 facing away from the forearm housing 10. The connecting end 43 is circular ring-shaped. 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 symmetric with respect to the third symmetry plane. The third symmetry plane passes through the second axis L2 and the third axis L3.

[0053] Among them, the connecting end 43 is connected to the aforementioned second connecting plate 412. Optionally, a first wire routing hole 431 is formed around the connecting end 43, and the first wire routing hole 431 also penetrates through the second connecting plate 412. The first wire routing hole 431 is used for wires to pass through. In the orthographic projection on the third axis L3, the contour shape of the first wire routing hole 431 is circular, and the third axis L3 passes through the center line of the first wire routing hole 431.

[0054] By setting that the upper limb assembly 100 further includes a palm member 50, the palm member 50 is connected to one 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 the 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 facing away from the forearm housing 10. The connecting end 43 is annular, 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 symmetric 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 member 40 is a symmetric member, thereby reducing the manufacturing difficulty of the mold for forming the second mounting member 40, and further reducing the manufacturing difficulty of the second mounting member 40.

[0055] 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 the 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 both 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 includes a second driving member 15 and a transmission assembly 16. 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 connects the rotor of the second driving 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; in the orthographic projection in the direction of the first connecting arm 23 approaching the second connecting arm 24, the forearm housing 10 is symmetric with respect to the fourth symmetry plane. The fourth symmetry plane passes through the first axis L1 and the fourth axis L4; in the orthographic projection in the direction of the third cylinder 12 approaching the second cylinder 11, the forearm housing 10 is symmetric with respect to the fifth symmetry plane. The fifth symmetry plane passes through the fourth axis L4 and is perpendicular to the first axis L1.

[0056] Among them, the upper limb assembly 100 further includes a rotating shaft 28. The rotating shaft 28 is connected to one end of the first cylinder 21 close to 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 both cylindrical structures with openings at both ends. The forearm 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 at one end of the second cylinder 11 close to the fourth connecting arm 14. The second driving member 15 is connected to the second end plate 17, and the rotor of the second driving member 15 is exposed from the second mounting hole 171. The third end plate 18 is connected to the opening at one end of the third cylinder 12 away from the second cylinder 11. Optionally, the shapes of the second cylinder 11 and the second end plate 17 are both adapted to the shape of the second driving member 15 to improve the humanoid nature of the upper limb assembly 100 at the corresponding human forearm.

[0057] Optionally, the minimum distance 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 the first mounting member 20 will not have movement interference when rotating between the third connecting arm 13 and the fourth connecting arm 14, and the structural compactness of the upper limb assembly 100 is ensured.

[0058] Optionally, the second cylinder 11, the third connecting arm 13 and the fourth connecting arm 14 also enclose a U-shaped groove 25, and part of the first driving member 30 and part of the first mounting member 20 are received in the U-shaped groove 25. Optionally, the second cylinder 11, the third cylinder 12, the third connecting arm 13 and the fourth connecting arm 14 are of an integral structure.

[0059] Optionally, the bottom wall surface of the U-shaped groove 25 formed by enclosing 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 part of the first cylinder 21 for extending into the U-shaped groove 25 is a corresponding arc surface. The maximum distance between the bottom wall surface of the U-shaped groove 25 and the first axis L1 in the extending direction of the fourth axis L4 is D3, and the maximum 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 extending 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 have movement interference with the bottom wall surface of the U-shaped groove 25, and the structural compactness of the upper limb assembly 100 is ensured at the same time.

[0060] By setting that 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 both 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 connection strength between the second mounting member 40 and the forearm housing 10 is relatively high, so that when the second mounting member 40 rotates relative to the forearm housing 10, it is not easy to shake. And a second driving member 15 and a transmission assembly 16 are provided. 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 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, so that the first mounting member 20 can rotate driven by the second driving member 15 and the transmission assembly 16, realizing the movement of the palm member 50 in one degree of freedom. At the same time, 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 symmetric with respect to a fourth symmetry plane, the fourth symmetry plane passes through the first axis L1 and the fourth axis L4, and in the orthographic projection of the third cylinder 12 in the direction close to the second cylinder 11, the forearm housing 10 is symmetric with respect to a fifth symmetry plane, the fifth symmetry plane passes through the fourth axis L4 and is perpendicular to the first axis L1, making the forearm housing 10 generally a symmetric member, so as to reduce the manufacturing difficulty of the mold for forming the forearm housing 10, and further reduce the manufacturing difficulty of the forearm housing 10.

[0061] Please refer to Figures 1 to 3 , the upper limb assembly 100 further includes a big arm housing 60. The big 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 a fifth axis L5; the upper limb assembly 100 further includes a third driving member 19, a fourth driving member 63 and a third mounting member 68. The third driving member 19 is received 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 received 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, the fourth driving member 63 is used to drive the third mounting member 68 to rotate around a sixth axis L6, and both the fourth axis L4 and the fifth axis L5 intersect and are perpendicular to the sixth axis L6; the third mounting member 68 is symmetric with respect to a sixth symmetry plane, and the sixth symmetry plane passes through the fourth axis L4 and the sixth axis L6; the big arm housing 60 is symmetric with respect to a seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis L5 and the sixth axis L6.

[0062] Optionally, in the direction of the fifth cylinder 62 approaching the fourth cylinder 61, the radial dimension of the fifth cylinder 62 gradually decreases. 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 outwardly protruding arc, 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 inwardly concave arc, so that the shape of the large arm housing 60 is similar to that of the human large arm, improving the anthropomorphic effect of the large arm housing 60 and reducing the weight of the large arm housing 60 without affecting its structural strength.

[0063] Optionally, the shapes of the third cylinder 12 and the third end plate 18 are both adapted to the shape of the third driving member 19 to improve the anthropomorphism of the upper limb assembly 100 at the corresponding human forearm.

[0064] Optionally, the stator of the third driving member 19 is fixedly connected 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 openings at both ends. Optionally, a heat dissipation port 611 is provided at the end of the fourth cylinder 61 away from the fifth cylinder 62, and a part of the fourth driving member 63 is exposed through the heat dissipation port 611. Optionally, the fourth cylinder 61 and the fifth cylinder 62 are of an integral structure.

[0065] Optionally, the large arm housing 60 further 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, and the fifth end plate 65 is provided with a fifth mounting hole 651. The fourth end plate 64 is connected to the opening at one end of the fourth cylinder 61, and the fifth end plate 65 is connected to the opening at the end of the fifth cylinder 62 away from the fourth cylinder 61. The stator of the fourth driving member 63 is fixedly connected to the fourth end plate 64, and the rotor of the fourth driving member 63 is exposed through the fourth mounting hole 641.

[0066] Optionally, the shapes of the fourth cylinder 61 and the fourth end plate 64 are adapted to the shape of the fourth driving member 63 to improve the anthropomorphism of the upper limb assembly 100 at the corresponding human elbow joint.

[0067] By providing the boom housing 60, the third driving member 19, the fourth driving member 63 and the third mounting member 68, the boom housing 60 includes a fourth cylinder 61 and a fifth cylinder 62. The fourth cylinder 61 and the fifth cylinder 62 are sequentially connected along the fifth axis L5. The third driving member 19 is received in the third cylinder 12, and the stator of the third driving member 19 is connected to the third cylinder 12. At least a part of the fourth driving member 63 is received in the fourth cylinder 61, and 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 configured to drive the forearm housing 10 to rotate about the fourth axis L4, and the fourth driving member 63 is configured to drive the third mounting member 68 to rotate about the sixth axis L6. The fourth axis L4 and the fifth axis L5 both intersect and are perpendicular to the sixth axis L6, enabling the forearm housing 10 to rotate in two degrees of freedom, realizing the anthropomorphic movement of the forearm housing 10. At the same time, the third mounting member 68 is symmetric with respect to the sixth symmetry plane, and the sixth symmetry plane passes through the fourth axis L4 and the sixth axis L6. The boom housing 60 is symmetric with respect to the seventh symmetry plane, and the seventh symmetry plane passes through the fifth axis L5 and the sixth axis L6, making both the third mounting member 68 and the boom housing 60 symmetric members, reducing the manufacturing difficulty of the third mounting member 68 and the boom housing 60.

[0068] Please refer to Figures 1 to 3 , the first axis L1 and the second axis L2 intersect. When 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 boom housing 60, 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 the straight state, that is, the palm member 50, the forearm housing 10 and the boom housing 60 are sequentially arranged in the extending direction of the same straight line.

[0069] By providing that the first axis L1 and the second axis L2 intersect, when 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 boom housing 60, the third axis L3, the fourth axis L4 and the fifth axis L5 all coincide, so that the centers of gravity of the palm member 50, the forearm housing 10 and the boom housing 60 are all approximately located on the same straight line, enabling the first driving member 30, the second driving member 15 and the fourth driving member 63 to achieve the straight state of the upper limb assembly 100 without outputting torque, and preventing the palm member 50 and the forearm housing 10 from shifting and shaking.

[0070] Please refer to Figures 1 to 3, the upper limb assembly further 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 received within 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 received within 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 configured to drive the fourth mounting member 80 to rotate about a seventh axis L7, and the sixth driving member 66 is configured to drive the upper arm housing 60 to rotate about a fifth axis L5. The fifth axis L5 intersects and is perpendicular to the seventh axis L7. The shoulder joint housing 70 is symmetric with respect to an eighth symmetry plane that passes through the fifth axis L5 and is perpendicular to the seventh axis L7.

[0071] Optionally, the stator of the sixth driving member 66 is fixedly connected to the fifth end plate 65, and the rotor of the sixth driving member 66 is exposed through a 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 humanoid nature of the upper limb assembly 100 at the corresponding human upper arm.

[0072] 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 cylindrical structures with openings at both ends. The sixth end plate 73 is connected to one open end of the sixth cylinder 72 and is fixedly connected to the stator of the fifth driving member 71. The sixth end plate 73 is provided with a sixth mounting hole 731, and the rotor of the fifth driving member 71 is exposed from the sixth mounting hole 731. The seventh end plate 75 is connected to the open end of the seventh cylinder 74 remote 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 wire passing hole 751 for wires to pass through.

[0073] 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 humanoid nature of the upper limb assembly 100 at the corresponding human shoulder.

[0074] Optionally, the shoulder joint housing 70 further includes a plurality of reinforcing ribs 76. The plurality of reinforcing ribs 76 are equally spaced in the circumferential direction of the seventh cylinder 74 and are fixedly connected 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 of an integral structure to simplify the installation and disassembly of the shoulder joint housing 70.

[0075] By providing 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 received within 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 received within 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 configured to drive the fourth mounting member 80 to rotate about the seventh axis L7, and the sixth driving member 66 is configured to drive the upper arm housing 60 to rotate about the fifth axis L5. The fifth axis L5 intersects and is perpendicular to the seventh axis L7, enabling the upper arm housing 60 to rotate in two degrees of freedom, achieving the humanoid motion of the upper limb assembly 100. At the same time, the shoulder joint housing 70 is provided to be symmetric with respect to the eighth symmetry plane, which passes through the fifth axis L5 and is perpendicular to the seventh axis L7, making the shoulder joint housing 70 a symmetric component. This allows for the installation of the shoulder joint housing 70 without the need to distinguish between the front and rear directions, enabling the front-to-back installation of the shoulder joint housing 70 and reducing the manufacturing difficulty of the shoulder joint housing 70.

[0076] 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 that are sequentially connected along the seventh axis L7. The first mounting plate 81 and the third mounting plate 83 are spaced apart from each other. 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. Both the first mounting plate 81 and the second mounting plate 82 are symmetric with respect to the ninth symmetry plane, which passes through the fifth axis L5 and the seventh axis L7, and the second mounting plate 82 is also symmetric with respect to the eighth symmetry plane.

[0077] Optionally, the first mounting plate 81, the second mounting plate 82, and the third mounting plate 83 are detachably connected, and can be specifically connected and fixed by means such as snap connection, screw connection, and riveting, without limitation. The surface of the first mounting plate 81 facing the third mounting plate 83 is provided with a plurality of structural counterbores 84, and the surface of the third mounting plate 83 facing the first mounting plate 81 is also provided with a plurality of structural counterbores 84. The surface of the second mounting plate 82 facing away from the shoulder joint housing 70 is also provided with a plurality of structural counterbores 84 to reduce the mass of the fourth mounting member 80. Optionally, the second mounting plate 82 is provided with a third wire passing hole 821. In the orthographic projection on the fifth axis L5, the contour shape of the third wire passing hole 821 is circular, and the fifth axis L5 passes through the center line of the third wire passing hole 821.

[0078] Optionally, a first limiting block 77 is provided on the sixth end plate 73. A first limiting groove 811 extending circumferentially is formed on the surface of the first mounting plate 81 facing the third mounting plate 83. At least a part of the first limiting block 77 is received in the first limiting groove 811 to limit the rotation angle of the fourth mounting member 80 relative to the shoulder joint housing 70. Optionally, a second limiting block 67 is provided on the inner side wall of the aforementioned fifth mounting hole 651, and a third limiting block 85 is provided on the surface of the second mounting plate 82 facing away from the shoulder joint housing 70. The second limiting block 67 is used to abut against the third limiting block 85 to limit the rotation angle of the upper arm housing 60 relative to the fourth mounting member 80.

[0079] By providing that the fourth mounting member 80 includes a first mounting plate 81, a second mounting plate 82, and a third mounting plate 83 sequentially connected on the seventh axis L7, the first mounting plate 81 and the third mounting plate 83 are spaced apart relatively, 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 connection between the fourth mounting member 80 and the shoulder joint housing 70 is made 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, it is provided that both the first mounting plate 81 and the second mounting plate 82 are symmetric with respect to the ninth symmetry plane, the ninth symmetry plane passes through the fifth axis L5 and the seventh axis L7, and the second mounting plate 82 is also symmetric with respect to the eighth symmetry plane, so that both the first mounting plate 81 and the second mounting plate 82 are symmetric members, reducing the manufacturing difficulty of the first mounting plate 81 and the second mounting plate 82.

[0080] Please refer to Figures 1 to 4 , the fourth mounting member 80 further includes 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 disposed between the second mounting plate 82 and the shoulder joint housing 70. The reinforcing plate 86 is symmetric 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.

[0081] Wherein, the reinforcing plate 86 is inclined relative to the second mounting plate 82. One end of the reinforcing plate 86 is connected to the ends of the first mounting plate 81 and the third mounting plate 83 close to the second mounting plate 82, and the other end of the reinforcing plate 86 is connected to the middle positions of the first mounting plate 81 and the third mounting plate 83. Optionally, the reinforcing plate 86 is provided with a fourth wire passing hole 861, and the eighth symmetry plane and the tenth symmetry plane both pass through the center line of the fourth wire passing 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 such as clamping, screwing, and riveting, without limitation.

[0082] By providing 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 structural strength of the fourth mounting member 80 is increased, enhancing the load-bearing capacity of the fourth mounting member 80, such that the upper arm housing 60 is less likely to wobble when rotating relative to the shoulder joint housing 70. Meanwhile, the reinforcing plate 86 is symmetric with respect to the eighth symmetry plane and the tenth symmetry plane, where the tenth symmetry plane is perpendicular to the eighth symmetry plane and forms an acute angle with the ninth symmetry plane, making the reinforcing plate 86 a symmetric member and reducing the manufacturing difficulty of the reinforcing plate 86.

[0083] Please refer to Figures 1 to 3 , the upper limb assembly 100 further 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. The plurality of connecting ribs 783 are equally spaced 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.

[0084] Exemplarily, there are three connecting ribs 783 which are equally spaced on the inner ring 782, and the length direction of one of the connecting ribs 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 of an integral structure, and the connecting member 78 is connected to the 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.

[0085] By providing the connecting member 78 which includes an outer ring 781, an inner ring 782, and a plurality of connecting ribs 783, with the outer ring 781 sleeved on the inner ring 782, the plurality of connecting ribs 783 located between the outer ring 781 and the inner ring 782 and connecting the inner ring 782 and the outer ring 781, the outer ring 781 connected to the shoulder joint housing 70, and the inner ring 782 rotatably connected to the third mounting plate 83, the connection between the third mounting plate 83 and the shoulder joint housing 70 is made more stable, such that the upper arm housing 60 is less likely to wobble when rotating relative to the shoulder joint housing 70. Meanwhile, the plurality of connecting ribs 783 being equally spaced in the circumferential direction of the inner ring 782 not only makes the connection between the outer ring 781 and the inner ring 782 more stable but also makes the connecting member 78 a symmetric member, reducing the manufacturing difficulty of the connecting member 78.

[0086] Please refer to Figures 1 to 3, the upper limb assembly 100 further includes a seventh driving member 91 and a fifth mounting member 90. The seventh driving member 91 is received in the fifth mounting member 90. The stator of the seventh driving member 91 is connected to the fifth mounting member 90, and 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 about the eighth axis L8. The eighth axis L8 intersects and is perpendicular to the seventh axis L7, and the eighth axis L8 is in the left - right direction of the humanoid robot; the shoulder joint housing 70 is symmetric with respect to the eleventh symmetry plane. The eleventh symmetry plane passes through the seventh axis L7 and the eighth axis L8; the fifth mounting member 90 is symmetric with respect to the twelfth symmetry plane and the thirteenth symmetry plane. The twelfth symmetry plane passes through the eighth axis L8 and extends in the up - down direction of the humanoid robot, and the thirteenth symmetry plane passes through the eighth axis L8 and extends in the front - back direction of the humanoid robot.

[0087] Optionally, the fifth mounting member 90 includes an eighth cylinder 92, a ninth cylinder 93, an eighth end plate 94 and a ninth end plate 95. Both the eighth cylinder 92 and the ninth cylinder 93 are tubular 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 cylinder 92, and the ninth end plate 95 protrudes from the outer peripheral surface of the eighth cylinder 92. The ninth end plate 95 is connected to the ninth cylinder 93. The seventh driving member 91 is received in the eighth cylinder 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. 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 cylinder 93. Optionally, the eighth cylinder 92 is also provided with a plurality of heat dissipation openings 611, and the plurality of heat dissipation openings 611 are arranged at intervals. Optionally, the shape of the eighth cylinder 92 and the shape of the eighth end plate 94 are both adapted to the shape of the seventh driving member 91 to improve the human - like nature of the upper limb assembly 100 at the corresponding human shoulder.

[0088] Optionally, a fourth limiting block 79 is provided on the surface of the aforementioned seventh end plate 75 facing away from the sixth cylinder 72, and a fifth limiting block 96 is provided on the surface of the eighth end plate 94 facing away from the ninth end plate 95. The fourth limiting block 79 is used to abut against the fifth limiting block 96 to limit the rotation angle of the shoulder joint housing 70 relative to the fifth mounting member 90.

[0089] By providing a seventh driving member 91 and a fifth mounting member 90, the seventh driving member 91 is received within the fifth mounting member 90. The stator of the seventh driving member 91 is connected to the fifth mounting member 90, and 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 about an eighth axis L8. The eighth axis L8 intersects and is perpendicular to the seventh axis L7, and the eighth axis L8 is in the left-right direction of the humanoid robot, such that the shoulder joint housing 70 can rotate relative to the torso assembly, realizing the humanoid movement of the upper limb assembly 100. At the same time, the shoulder joint housing 70 is provided to be symmetric with respect to an eleventh symmetry plane. The eleventh symmetry plane passes through the seventh axis L7 and the eighth axis L8. The fifth mounting member 90 is symmetric with respect to a twelfth symmetry plane and a thirteenth symmetry plane. The twelfth symmetry plane passes through the eighth axis L8 and extends in the up-down direction of the humanoid robot. The thirteenth symmetry plane passes through the eighth axis L8 and extends in the front-back direction of the humanoid robot, making the symmetry of the shoulder joint housing 70 higher, further reducing the manufacturing difficulty of the shoulder joint housing 70, and making the fifth mounting member 90 a symmetric member, reducing the manufacturing difficulty of the fifth mounting member 90.

[0090] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0091] The above-disclosed is only a preferred embodiment of the present invention, and of course, it cannot be used to limit the scope of the rights of the present invention. Those of ordinary skill in the art can understand the entire or partial processes of implementing the above embodiments, and the 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: The forearm housing (10) comprises a second cylinder (11), a third connecting arm (13) and a fourth connecting arm (14), wherein 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 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) is connected to the third connecting arm (13) in rotation about the first axis (L1); the second connecting arm (24) is connected to the fourth connecting arm (14) Rotatably connected about the first axis (L1), the minimum spacing between the third connecting arm (13) and the fourth connecting arm (14) on the first axis (L1) is D1, the width of the first mounting member (20) on the first axis (L1) is D2, and the following conditions are satisfied: 1<D1 / D2≤1.2; 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 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) is an arc surface, the outer peripheral surface of the portion of the first cylinder 21 that is used to extend into the U-shaped groove (25) is a corresponding arc surface, the maximum spacing distance between the bottom wall surface of the U-shaped groove (25) and the first axis (L1) 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; 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) further comprises a third cylinder (12), the second cylinder (11) and the third cylinder (12) are sequentially connected along a fourth axis (L4), and the fourth axis (L4) intersects and is perpendicular to the first axis (L1); 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 also includes 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 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 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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