Shoulder joint assembly, arm assembly and humanoid robot

Abstract

The invention discloses a shoulder joint assembly, an arm assembly and a humanoid robot, the shoulder joint assembly comprises a shoulder joint shell, a first driving part and a second driving part, the shoulder joint shell comprises a first barrel and a second barrel, the peripheral surface of the second barrel is connected with one end of the first barrel in the axial direction, the first barrel is provided with a first axis, and the second barrel is provided with a second axis; the first cylinder comprises a first axis and a second axis, the first axis and the second axis intersect and are perpendicular, a surface which passes through the first axis and is perpendicular to the second axis is a reference surface, the second cylinder comprises a first surface and a second surface which are opposite in the axial direction, and the distance between the first surface and the reference surface is smaller than that between the second surface and the reference surface; the first driving part is coaxially connected with the first barrel to drive the shoulder joint shell to rotate around the first axis, the second driving part is connected with the second barrel and the large arm assembly to drive the large arm assembly to rotate around the second axis, the middle point of the second driving part in the axial direction is located on the first axis, and the lightweight degree of the shoulder joint assembly is improved.

Description

Technical Field

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

[0002] At present, humanoid robots have good mobility when facing complex terrains, so the research and development of humanoid robots has received more and more attention in recent years. Since the mass of the mechanical arm is large and needs to carry the mass of the load object, the structural design of the mechanical arm of the humanoid robot is particularly important. The structural design of the mechanical arm in the prior art is unreasonable, and there is a problem that the mechanical arm has a high deadweight, resulting in a large torque and volume of the motor. Summary of the invention

[0003] The purpose of the present invention is to provide a shoulder joint assembly, an arm assembly and a humanoid robot to solve the problems of unreasonable structural design of the mechanical arm in the prior art and the high weight of the mechanical arm resulting in large torque and volume of the motor.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions: In the first aspect, the present invention provides a shoulder joint assembly for a humanoid robot, comprising: a shoulder joint housing, comprising a first cylinder and a second cylinder, the outer peripheral surface of the second cylinder is connected to an axial end of the first cylinder, the first cylinder has a first axis, the second cylinder has a second axis, the first axis and the second axis intersect and are perpendicular, and the surface passing through the first axis and perpendicular to the second axis is a reference surface; the second cylinder comprises a first surface and a second surface opposite to each other in the axial direction, the distance between the first surface and the reference surface is smaller than the distance between the second surface and the reference surface; a first driving member, connected to the first cylinder and coaxial with the first cylinder, the first driving member is used to drive the shoulder joint housing to rotate around the first axis; a second driving member, penetrated through the second cylinder and coaxial with the second cylinder, the end of the second driving member extending out of the second surface is used to connect to the upper arm assembly, the axial midpoint of the second driving member is located on the first axis, and the second driving member is used to drive the upper arm assembly to rotate around the second axis. By setting the distance between the first surface and the reference surface to be smaller than the distance between the second surface and the reference surface, the second driving member is penetrated through the second cylinder and is coaxial with the second cylinder, and one end of the second driving member extending out of the second surface is used for connecting with the large arm assembly, and the axial midpoint of the second driving member is located on the first axis. Therefore, under the premise of reducing the mass of the second cylinder, the connection position between the second cylinder and the second driving member is closer to the output end of the second driving member, thereby ensuring the stability of the second driving member when driving the large arm assembly to rotate, while reducing the torque and volume of the first driving member, thereby improving the lightweight degree of the shoulder joint assembly.

[0005] In one embodiment, the first cylinder has a first groove and a second groove at two opposite ends in the extension direction of the second axis, the inner wall of the first groove is smoothly connected to the first surface, and the inner wall of the second groove is smoothly connected to the second surface; the inner wall of the first groove has a first structural hole, and the inner wall of the second groove has a second structural hole, and the first structural hole and the second structural hole are both connected to the internal space of the first cylinder. By setting the first cylinder to have a first groove and a second groove at two opposite ends in the extension direction of the second axis, the inner wall of the first groove is smoothly connected to the first surface, and the inner wall of the second groove is smoothly connected to the second surface; the inner wall of the first groove has a first structural hole, and the inner wall of the second groove has a second structural hole, and the first structural hole and the second structural hole are both connected to the internal space of the first cylinder, the mass of the first cylinder is reduced under the premise of having sufficient structural strength, and the torque and volume of the first drive member are further reduced, which is beneficial to improving the lightweight degree of the shoulder joint assembly.

[0006] In one embodiment, the shoulder joint assembly further comprises a first connecting member, the first connecting member is sleeved on one end of the first driving member away from the shoulder joint housing, and the first connecting member is used to connect to the trunk assembly; the first connecting member is provided with a plurality of third structural holes, and the plurality of third structural holes are evenly distributed in the circumferential direction of the first connecting member. By providing the first connecting member, the first connecting member is sleeved on one end of the first driving member away from the shoulder joint housing, and the first connecting member is used to connect to the trunk assembly, so that the first driving member can be stably connected to the trunk assembly, and at the same time, the first connecting member is provided with a plurality of third structural holes, and the plurality of third structural holes are evenly distributed in the circumferential direction of the first connecting member, so that the mass of the first connecting member is small, the lightweight degree of the shoulder joint assembly is improved, and the heat dissipation performance of the first driving member is improved.

[0007] In one embodiment, the shoulder joint assembly further includes a first limiter and a second limiter, wherein the first limiter is connected to an end of the housing of the first driving member close to the shoulder joint housing, the second limiter is connected to an end of the first cylinder away from the second cylinder, and the second limiter is also connected to the output end of the first driving member; the first limiter and the second limiter are used to abut against each other in the circumferential direction of the first cylinder to limit the rotation angle of the shoulder joint housing. By setting the first limiter and the second limiter, the first limiter is connected to an end of the housing of the first driving member close to the shoulder joint housing, the second limiter is connected to an end of the first cylinder away from the second cylinder, and the second limiter is also connected to the output end of the first driving member, and the first limiter and the second limiter are used to abut against each other in the circumferential direction of the first cylinder to limit the rotation angle of the shoulder joint housing, so that when the first driving member drives the shoulder joint housing to rotate around the first axis, it will not rotate excessively, thereby preventing motion interference.

[0008] In a second aspect, the present invention further provides an arm assembly for a humanoid robot, comprising a large arm assembly and a shoulder joint assembly according to any one of the embodiments of the first aspect, wherein the large arm assembly is connected to the second driving member. The arm assembly provided by the present invention improves the lightness of the arm assembly by adopting the large arm assembly and the shoulder joint assembly in the embodiment of the present invention, wherein the large arm assembly is connected to the second driving member.

[0009] In one embodiment, the boom assembly includes a boom housing, a second connecting member and a third driving member, the boom housing has a third axis, the third axis is perpendicular to the second axis and is located in the same plane as the first axis, the boom housing is provided with a plurality of fourth structural holes, and the plurality of fourth structural holes are evenly distributed in the circumferential direction of the boom housing; the third driving member is installed in the boom housing and is coaxial with the boom housing, the second connecting member connects the third driving member and the second driving member, and the third driving member is used to drive the boom housing to rotate around the third axis. By setting the boom housing to have a third axis, the third axis is perpendicular to the second axis and is located in the same plane as the first axis, the boom housing is provided with a plurality of fourth structural holes, and the plurality of fourth structural holes are evenly distributed in the circumferential direction of the boom housing, so that the mass of the boom housing is smaller, the torque and volume of the first drive member, the second drive member and the third drive member are reduced, and the lightweight degree of the arm assembly is improved. At the same time, a third drive member is installed in the boom housing and is coaxial with the boom housing, a second connecting member connects the third drive member and the second drive member, and the third drive member is used to drive the boom housing to rotate around the third axis, thereby realizing human-like movement of the boom assembly, and the stability of the boom housing when rotating around the third axis is higher.

[0010] In one embodiment, the upper arm shell is further provided with a fifth structural hole, and the fifth structural hole is spaced apart from the plurality of fourth structural holes; the fourth structural hole is a hexagonal hole, and the fifth structural hole is a triangular hole. By providing the upper arm shell with a fifth structural hole, and the fifth structural hole is spaced apart from the plurality of fourth structural holes, the fourth structural hole is a hexagonal hole, and the fifth structural hole is a triangular hole, the upper arm shell meets the structural strength requirements while further reducing the mass, so that the torque and volume of the first drive member, the second drive member, and the third drive member are further reduced, which is beneficial to improving the lightweight degree of the arm assembly.

[0011] In one embodiment, the second connecting member includes a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, the first connecting portion and the third connecting portion are perpendicular to each other, the first connecting portion is connected to the output end of the second driving member, and the third connecting portion is connected to the output end of the third driving member; the first connecting portion is provided with a plurality of sixth structural holes on the surface facing the second driving member, and the plurality of the sixth structural holes are arranged at intervals. By setting the second connecting member to include a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, the first connecting portion and the third connecting portion are perpendicular to each other, the first connecting portion is connected to the output end of the second driving member, and the third connecting portion is connected to the output end of the third driving member, the large arm housing is located on the outer side of the circumference of the second cylinder, so that the size of the arm assembly on the second axis is small, which is beneficial to improving the human-like degree of the arm assembly, and at the same time, the first connecting portion is provided with a plurality of sixth structural holes on the surface facing the second driving member, and the plurality of sixth structural holes are arranged at intervals, so that the mass of the second connecting member is small, and the torque and volume of the first driving member and the second driving member are further reduced, which is beneficial to improving the lightweight degree of the arm assembly.

[0012] In one embodiment, the boom assembly further includes a third limiter, the third limiter is connected to the housing of the second drive member, the second connection member further includes a limiter, the limiter is connected to the surface of the first connection member facing the second drive member, the limiter and the third limiter are used to abut against each other in the circumferential direction of the second drive member to limit the rotation angle of the boom assembly. By setting the boom assembly to further include a third limiter, the third limiter is connected to the housing of the second drive member, the second connection member further includes a limiter, the limiter is connected to the surface of the first connection member facing the second drive member, the limiter and the third limiter are used to abut against each other in the circumferential direction of the second drive member to limit the rotation angle of the boom assembly, so that when the second drive member drives the boom assembly to rotate around the second axis, it will not rotate excessively, thereby preventing motion interference.

[0013] In one embodiment, the arm assembly also includes an elbow joint assembly and a forearm assembly, and the elbow joint assembly includes: an elbow joint shell, including a third cylinder and a fourth cylinder, the outer peripheral surface of the fourth cylinder is connected to an axial end of the third cylinder, the third cylinder is connected to an end of the upper arm shell away from the shoulder joint assembly and is coaxial with the upper arm shell, the fourth cylinder has a fourth axis, the fourth axis intersects and is perpendicular to the third axis, the fourth cylinder includes a third surface and a fourth surface opposite to each other in the axial direction, and the spacing distance between the third surface and the fourth surface gradually decreases from the direction in which the third cylinder approaches the fourth cylinder; a fourth driving member is inserted into the fourth cylinder and is coaxial with the fourth cylinder, the end of the fourth driving member extending out of the third surface is connected to the forearm assembly, the axial midpoint of the fourth driving member is located on the third axis, and the fourth driving member is used to drive the forearm assembly to rotate around the fourth axis. The elbow joint housing includes a third cylinder and a fourth cylinder, the outer peripheral surface of the fourth cylinder is connected to an axial end of the third cylinder, the third cylinder is connected to an end of the upper arm housing away from the shoulder joint assembly and is coaxial with the upper arm housing, the fourth cylinder has a fourth axis, the fourth axis intersects and is perpendicular to the third axis, the fourth cylinder includes a third surface and a fourth surface opposite to each other in the axial direction, and the spacing distance between the third surface and the fourth surface gradually decreases from the direction of the third cylinder approaching the fourth cylinder. The fourth drive member is penetrated by the fourth cylinder and is coaxial with the fourth cylinder, one end of the fourth drive member extending out of the third surface is connected to the small arm assembly, the axial midpoint of the fourth drive member is located on the third axis, and the fourth drive member is used to drive the small arm assembly to rotate around the fourth axis, so that under the premise of reducing the mass of the fourth cylinder, the connection position of the fourth cylinder and the fourth drive member is closer to the output end of the fourth drive member, which ensures the stability of the fourth drive member when driving the small arm assembly to rotate around the fourth axis, and also improves the heat dissipation performance of the fourth drive member, while further reducing the torque and volume of the first drive member, the second drive member and the third drive member, which is beneficial to improving the lightweight degree of the arm assembly.

[0014] In one embodiment, the forearm assembly includes a forearm housing, a fifth driving member and a third connecting member, the forearm housing includes a fifth cylinder and a sixth cylinder, the fifth cylinder has a fifth axis, the fifth axis intersects and is perpendicular to the fourth axis, the sixth cylinder is connected to the fifth cylinder and is coaxial with the fifth cylinder, the fifth cylinder is provided with a plurality of seventh structural holes, and the plurality of seventh structural holes are evenly arranged in the circumferential direction of the fifth cylinder; the fifth driving member is installed in the fifth cylinder and is coaxial with the fifth cylinder, the third connecting member connects the fourth driving member and the fifth driving member, and the fifth driving member is used to drive the forearm housing to rotate around the fifth axis. The forearm housing includes a fifth cylinder and a sixth cylinder, the fifth cylinder has a fifth axis, the fifth axis intersects and is perpendicular to the fourth axis, the sixth cylinder is connected to the fifth cylinder and is coaxial with the fifth cylinder, the fifth cylinder is provided with a plurality of seventh structural holes, the plurality of seventh structural holes are evenly arranged in the circumferential direction of the fifth cylinder, the fifth driving member is installed in the fifth cylinder and is coaxial with the fifth cylinder, the third connecting member connects the fourth driving member and the fifth driving member, and the fifth driving member is used to drive the forearm housing to rotate around the fifth axis, so that the mass of the forearm housing is smaller, the torque and volume of the fifth driving member are reduced, and the torque and volume of the first driving member, the second driving member, the third driving member and the fourth driving member are further reduced, which is beneficial to improving the lightweight degree of the arm assembly.

[0015] In a third aspect, the present invention further provides a humanoid robot, comprising a trunk assembly and an arm assembly as described in any one of the embodiments of the second aspect, wherein the shoulder joint assembly is connected to the trunk assembly. The humanoid robot provided by the present invention realizes humanoid arm motion of the humanoid robot by adopting a trunk assembly and an arm assembly in an embodiment of the present invention, wherein the shoulder joint assembly is connected to the trunk assembly, and the arm assembly is highly lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a structural diagram of an arm assembly of an embodiment; Figure 2 is a schematic plan view of an arm assembly of an embodiment; Figure 3 A partial explosion of an arm assembly of an embodiment Figure Ⅰ ; Figure 4A partial explosion of an arm assembly of an embodiment Figure II ; Figure 5 A partial explosion of an arm assembly of an embodiment Figure III ; Figure 6 A partial explosion of an arm assembly of an embodiment Figure IV .

[0018] Description of reference numerals: 100-arm assembly; 10-shoulder joint assembly, 11-shoulder joint housing, 111-first cylinder, 1111-first groove, 1112-second groove, 1113-first structural hole, 1114-second structural hole, 112-second cylinder, 1121-first surface, 1122-second surface, 113-first end plate, 114-connecting block, 12-first driving member, 13-second driving member, 14-first connecting member, 141-third structural hole, 142-first bottom plate, 143-seventh cylinder, 144-connecting plate, 15-first limiting member, 151-second bottom plate, 152-first limiting block, 153-first calibration portion, 16-second limiting member, 161-third bottom plate, 162-eighth cylinder, 163-second limiting block, 164-eighth structural hole, 165-second calibration portion; 20-big arm assembly, 21-big arm housing, 211-fourth structural hole, 212-fifth structural hole, 22-second connecting member, 221-third marking portion, 222-first connecting portion, 223-second connecting portion, 224-third connecting portion, 225-sixth structural hole, 226-limiting portion, 23-third driving member, 24-first mounting member, 241-fourth marking portion, 25-third limiting member, 251-fourth bottom plate, 252-third limiting block, 253-fourth limiting block; 30-elbow joint assembly, 31-elbow joint housing, 311-third cylinder, 3111-third groove, 3112-fourth groove, 312-fourth cylinder, 3121-third surface, 3122-fourth surface, 313-second end plate, 314-mounting plate, 32-fourth driving member; 40-small arm assembly, 41-small arm housing, 411-fifth cylinder, 4111-seventh structural hole, 412-sixth cylinder, 42-fifth driving member, 43-third connecting member, 44-second mounting member; 50-palm piece; 60- driving mechanism; M-reference plane, L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0021] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0022] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0023] Please refer to Figures 1 to 4 The present invention provides a shoulder joint assembly 10 for a humanoid robot, comprising a shoulder joint housing 11, a first driving member 12 and a second driving member 13, the shoulder joint housing 11 comprising a first cylinder 111 and a second cylinder 112, the outer peripheral surface of the second cylinder 112 being connected to an axial end of the first cylinder 111, the first cylinder 111 having a first axis L1, the second cylinder 112 having a second axis L2, the first axis L1 and the second axis L2 intersecting and being perpendicular, a surface passing through the first axis L1 and being perpendicular to the second axis L2 being a reference surface M; the second cylinder 112 comprising a first surface 1121 and a second surface 1122 which are opposite in the axial direction Surface 1122, the distance between the first surface 1121 and the reference surface M is smaller than the distance between the second surface 1122 and the reference surface M; the first driving member 12 is connected to the first cylinder 111 and is coaxial with the first cylinder 111, and the first driving member 12 is used to drive the shoulder joint housing 11 to rotate around the first axis L1; the second driving member 13 is passed through the second cylinder 112 and is coaxial with the second cylinder 112, and one end of the second driving member 13 extending out of the second surface 1122 is used to connect with the upper arm assembly 20, and the axial midpoint of the second driving member 13 is located on the first axis L1, and the second driving member 13 is used to drive the upper arm assembly 20 to rotate around the second axis L2.

[0024] Optionally, the second drive member 13 is connected and fixed to the second surface 1122. Optionally, in the orthographic projection of the first axis L1, the contour shape of the first cylinder 111 is a circular ring, and in the orthographic projection of the second axis L2, the inner wall surface contour of the second cylinder 112 is a circular ring. Optionally, the outer circumferential surface of the first cylinder 111 is smoothly connected to the outer circumferential surface of the second cylinder 112. Optionally, the outer shell of the first drive member 12 is used to connect with the trunk assembly, and the output end of the first drive member 12 is connected to the first cylinder 111. Optionally, the outer shell of the second drive member 13 is penetrated through the second cylinder 112 and connected to the second cylinder 112, and the output end of the second drive member 13 extends from the second surface 1122 for connection with the upper arm assembly 20. Optionally, the shoulder joint housing 11 also includes a first end plate 113, the first end plate 113 is connected to one end of the second cylinder 112 in the axial direction and forms the first surface 1121, and the outer shell of the first drive member 12 is connected to the first end plate 113. Optionally, the first end plate 113 and the first driving member 12 may be detachably connected by means of snap connection, screw connection, riveting, etc., without limitation.

[0025] Optionally, the distance between the first surface 1121 and the reference surface M is D1, and the distance between the second surface 1122 and the reference surface M is D2, satisfying 0.2≤D1 / D2<1, so that the second drive member 13 has higher stability when driving the upper arm assembly 20 to rotate, reducing the risk of shaking or swaying of the second drive member 13 and the second cylinder 112. Since the second drive member 13 has a certain length in the extension direction of the second axis L2, when 1<D1 / D2, a part of the second drive member 13 will protrude from the first cylinder 111, resulting in poor anthropomorphism of the shoulder joint assembly 10. Since the first cylinder 111 is a cylindrical structure, when D1 / D2<0.2, the connection area between the second cylinder 112 and the first cylinder 111 is too small, resulting in a decrease in the structural strength of the shoulder joint housing 11, which is not conducive to improving the stability of the shoulder joint assembly 10.

[0026] By setting the distance between the first surface 1121 and the reference plane M to be smaller than the distance between the second surface 1122 and the reference plane M, the second driving member 13 is penetrated through the second cylinder 112 and is coaxial with the second cylinder 112, and the end of the second driving member 13 extending out of the second surface 1122 is used for connecting with the upper arm assembly 20, and the axial midpoint of the second driving member 13 is located on the first axis L1, so that under the premise of reducing the mass of the second cylinder 112, the connection position between the second cylinder 112 and the second driving member 13 is closer to the output end of the second driving member 13, thereby ensuring the stability of the second driving member 13 when driving the upper arm assembly 20 to rotate, while reducing the torque and volume of the first driving member 12, thereby improving the lightweight degree of the shoulder joint assembly 10.

[0027] Please refer to Figures 1 to 4The first cylinder 111 is provided with a first groove 1111 and a second groove 1112 at two opposite ends in the extension direction of the second axis L2, the inner wall of the first groove 1111 is smoothly connected to the first surface 1121, and the inner wall of the second groove 1112 is smoothly connected to the second surface 1122; the inner wall of the first groove 1111 is provided with a first structural hole 1113, and the inner wall of the second groove 1112 is provided with a second structural hole 1114, and both the first structural hole 1113 and the second structural hole 1114 are connected to the internal space of the first cylinder 111.

[0028] Optionally, the bottom wall surface of the first groove 1111 and the bottom wall surface of the second groove 1112 are both arc surfaces. In the axial direction of the second cylinder 112, the depth of the first groove 1111 is greater than the depth of the second groove 1112, so that the area of ​​the bottom wall surface of the first groove 1111 is greater than the area of ​​the bottom wall surface of the second groove 1112. Correspondingly, the equivalent aperture of the first structural hole 1113 is greater than the equivalent aperture of the first structural hole 1113, so that the first cylinder 111 meets the structural strength requirements while minimizing the mass of the first cylinder 111. Optionally, the side wall of the first structural hole 1113 close to the second cylinder 112 is a plane, and the remaining side walls of the first structural hole 1113 are composed of an arc surface, so that the bottom wall surface of the first groove 1111 forms an arc-shaped plate-like structure with equal width at one end, so that the stress distribution of the first cylinder 111 at the first structural hole 1113 is uniform, and it is not easy to cause deformation and damage to the first cylinder 111. Optionally, the structure of the second structural hole 1114 is similar to that of the first structural hole 1113 , and reference may be made thereto without further elaboration.

[0029] By arranging the first cylinder 111 at two opposite ends in the extension direction of the second axis L2, the first groove 1111 and the second groove 1112 are respectively provided, the inner wall of the first groove 1111 is smoothly connected to the first surface 1121, and the inner wall of the second groove 1112 is smoothly connected to the second surface 1122; the inner wall of the first groove 1111 is provided with a first structural hole 1113, and the inner wall of the second groove 1112 is provided with a second structural hole 1114, and the first structural hole 1113 and the second structural hole 1114 are both connected to the internal space of the first cylinder 111, so that the mass of the first cylinder 111 is reduced while having sufficient structural strength, and the torque and volume of the first driving member 12 are further reduced, which is beneficial to improving the lightweight degree of the shoulder joint assembly 10.

[0030] Please refer to Figures 1 to 4 The shoulder joint assembly 10 also includes a first connecting member 14, which is sleeved on the end of the first driving member 12 away from the shoulder joint housing 11, and is used to connect with the torso assembly; the first connecting member 14 is provided with a plurality of third structural holes 141, and the plurality of third structural holes 141 are evenly distributed in the circumferential direction of the first connecting member 14.

[0031] Optionally, the first connecting member 14 includes a first bottom plate 142, a seventh cylinder 143 and a plurality of connecting plates 144, the seventh cylinder 143 is a cylindrical structure with openings at both ends, the first bottom plate 142 is connected to one axial end of the seventh cylinder 143 and extends circumferentially along the first cylinder 111, a plurality of connecting plates 144 are connected to the outer circumferential surface of the seventh cylinder 143 and connected to the first bottom plate 142, the first bottom plate 142 and the seventh cylinder 143 are sleeved on the first driving member 12, the outer shell of the first driving member 12 is connected and fixed to the first bottom plate 142, a plurality of third structural holes 141 are opened in the seventh cylinder 143, and a plurality of connecting plates 144 are used to be connected and fixed to the torso assembly.

[0032] By setting a first connecting member 14, the first connecting member 14 is sleeved on one end of the first driving member 12 away from the shoulder joint housing 11. The first connecting member 14 is used to connect with the trunk assembly, so that the first driving member 12 can be stably connected to the trunk assembly. At the same time, the first connecting member 14 is provided with a plurality of third structural holes 141, and the plurality of third structural holes 141 are evenly distributed in the circumferential direction of the first connecting member 14, so that the mass of the first connecting member 14 is small, the lightweight degree of the shoulder joint assembly 10 is improved, and the heat dissipation performance of the first driving member 12 is improved.

[0033] Please refer to Figures 1 to 4 The shoulder joint assembly 10 also includes a first limit member 15 and a second limit member 16. The first limit member 15 is connected to one end of the outer shell of the first driving member 12 close to the shoulder joint outer shell 11, and the second limit member 16 is connected to one end of the first cylinder 111 away from the second cylinder 112. The second limit member 16 is also connected to the output end of the first driving member 12; the first limit member 15 and the second limit member 16 are used to abut against each other in the circumferential direction of the first cylinder 111 to limit the rotation angle of the shoulder joint outer shell 11.

[0034] Optionally, the shoulder joint housing 11 further comprises a plurality of connection blocks 114, which are spaced apart on the inner wall surface of the first cylinder 111 along the circumferential direction of the first cylinder 111, and a portion of the second stopper 16 extends into the first cylinder 111 and is connected and fixed to the plurality of connection blocks 114. Optionally, the first stopper 15 comprises a second bottom plate 151 and a first stopper 152, the second bottom plate 151 is an annular structure, the first stopper 152 is connected to one end of the second bottom plate 151 in the axial direction, and the second bottom plate 151 is annularly arranged on the outer periphery of the output end of the first driving member 12 and is connected to the housing of the first driving member 12.

[0035] Optionally, the second limiting member 16 includes a third bottom plate 161, an eighth cylinder 162 and a second limiting block 163, the eighth cylinder 162 is a cylindrical structure with openings at both ends, the third bottom plate 161 is connected to one axial end of the eighth cylinder 162 and closes the opening at one end of the eighth cylinder 162, the second limiting block 163 is connected to the outer peripheral surface of the eighth cylinder 162 and connected to the third bottom plate 161, the eighth cylinder 162 is connected to the output end of the first driving member 12, the third bottom plate 161 is accommodated in the first cylinder 111 and is connected and fixed to a plurality of connecting blocks 114, the first limiting block 152 and the second limiting block 163 abut to limit the rotation angle of the shoulder joint housing 11. Optionally, a plurality of eighth structural holes 164 are provided on the end surface of the eighth cylinder 162 facing away from the third bottom plate 161, and the plurality of eighth structural holes 164 are evenly distributed along the axial direction of the eighth cylinder 162.

[0036] Optionally, a first calibration portion 153 is provided on the outer peripheral surface of the second base plate 151, and a second calibration portion 165 is provided on the second limit block 163. When the first calibration portion 153 is facing the second calibration portion 165, the shoulder joint housing 11 is in an initial state, and the relative rotation angle between the first calibration portion 153 and the second calibration portion 165 is the angle at which the first driving member 12 drives the shoulder joint housing 11 to rotate.

[0037] By setting the first limit member 15 and the second limit member 16, the first limit member 15 is connected to one end of the outer shell of the first driving member 12 close to the shoulder joint outer shell 11, and the second limit member 16 is connected to one end of the first cylinder 111 away from the second cylinder 112. The second limit member 16 is also connected to the output end of the first driving member 12. The first limit member 15 and the second limit member 16 are used to abut against each other in the circumferential direction of the first cylinder 111 to limit the rotation angle of the shoulder joint outer shell 11, so that when the first driving member 12 drives the shoulder joint outer shell 11 to rotate around the first axis L1, it will not rotate excessively to prevent motion interference.

[0038] Please refer to Figure 1 The present invention also provides an arm assembly 100 for a humanoid robot, including a large arm component 20 and a shoulder joint component 10 in an embodiment of the present invention, and the large arm component 20 is connected to the second driving member 13. Specifically, the large arm component 20 is connected to the output end of the second driving member 13. The arm assembly 100 provided by the present invention improves the lightweight degree of the arm assembly 100 by adopting the large arm component 20 and the shoulder joint component 10 in an embodiment of the present invention, and the large arm component 20 is connected to the second driving member 13.

[0039] Please refer to Figures 1 to 4The boom assembly 20 includes a boom housing 21, a second connecting member 22 and a third driving member 23. The boom housing 21 has a third axis L3, which is perpendicular to the second axis L2 and located in the same plane as the first axis L1. The boom housing 21 is provided with a plurality of fourth structural holes 211, which are evenly distributed in the circumferential direction of the boom housing 21. The third driving member 23 is installed in the boom housing 21 and is coaxial with the boom housing 21. The second connecting member 22 connects the third driving member 23 and the second driving member 13. The third driving member 23 is used to drive the boom housing 21 to rotate around the third axis L3.

[0040] Optionally, the second connecting member 22 connects the output end of the second driving member 13 and the output end of the third driving member 23. Optionally, the upper arm housing 21 is a cylindrical structure with openings at both ends, and in the orthographic projection of the third axis L3, the contour shape of the upper arm housing 21 is a circular ring. Optionally, the upper arm assembly 20 also includes a first mounting member 24, which is connected to one end of the upper arm housing 21 close to the shoulder joint assembly 10 and is connected to the housing of the third driving member 23, so that the third driving member 23 is fixed in the upper arm housing 21. Optionally, a third calibration portion 221 is provided on the second connecting member 22, and a fourth calibration portion 241 is provided on the first mounting member 24. When the third calibration portion 221 is directly opposite to the fourth calibration portion 241, the upper arm housing 21 is in an initial state, and the relative rotation angle of the third calibration portion 221 and the fourth calibration portion 241 is the angle at which the third driving member 23 drives the upper arm housing 21 to rotate. Optionally, the plurality of fourth structural holes 211 may be distributed in an array or honeycomb pattern on the upper arm housing 21 without limitation.

[0041] By setting the upper arm housing 21 to have a third axis L3, the third axis L3 is perpendicular to the second axis L2 and is located in the same plane as the first axis L1, the upper arm housing 21 is provided with a plurality of fourth structural holes 211, and the plurality of fourth structural holes 211 are evenly distributed in the circumferential direction of the upper arm housing 21, so that the mass of the upper arm housing 21 is small, the torque and volume of the first drive member 12, the second drive member 13 and the third drive member 23 are reduced, and the lightweight degree of the arm assembly 100 is improved. At the same time, the third drive member 23 is installed in the upper arm housing 21 and is coaxial with the upper arm housing 21, the second connecting member 22 connects the third drive member 23 and the second drive member 13, and the third drive member 23 is used to drive the upper arm housing 21 to rotate around the third axis L3, thereby realizing the human-like movement of the upper arm assembly 20, and the stability of the upper arm housing 21 when rotating around the third axis L3 is relatively high.

[0042] Please refer to Figures 1 to 4 The upper arm housing 21 is further provided with a fifth structural hole 212, and the fifth structural hole 212 is spaced apart from the plurality of fourth structural holes 211; the fourth structural holes 211 are hexagonal holes, and the fifth structural hole 212 is a triangular hole.

[0043] Optionally, the fourth structure hole 211 may also be a circular hole, a rectangular hole, a triangular hole, an elliptical hole, etc., without limitation. Optionally, the fifth structure hole 212 may also be a circular hole, a rectangular hole, a hexagonal hole, an elliptical hole, etc., without limitation.

[0044] Optionally, two adjacent side walls of the fourth structural hole 211 are smoothly connected so that the stress distribution on the inner wall surface of the fourth structural hole 211 is uniform and not prone to deformation and damage. Optionally, two adjacent side walls of the fifth structural hole 212 are smoothly connected so that the stress distribution on the inner wall surface of the fifth structural hole 212 is uniform and not prone to deformation and damage. Optionally, the fifth structural hole 212 is an axisymmetric structure, one of the symmetry axes of the fifth structural hole 212 is parallel to the third axis L3, and the plane formed by the symmetry axis and the third axis L3 passes through the aforementioned fourth calibration portion 241.

[0045] By setting up the upper arm shell 21, a fifth structural hole 212 is also opened. The fifth structural hole 212 and multiple fourth structural holes 211 are spaced apart from each other. The fourth structural hole 211 is a hexagonal hole, and the fifth structural hole 212 is a triangular hole. The upper arm shell 21 meets the structural strength requirements while further reducing the mass, so that the torque and volume of the first driving member 12, the second driving member 13 and the third driving member 23 are further reduced, which is beneficial to improving the lightweight degree of the arm assembly 100.

[0046] Please refer to Figures 1 to 4 The second connecting member 22 includes a first connecting portion 222, a second connecting portion 223 and a third connecting portion 224 which are connected in sequence. The first connecting portion 222 and the third connecting portion 224 are perpendicular to each other. The first connecting portion 222 is connected to the output end of the second driving member 13, and the third connecting portion 224 is connected to the output end of the third driving member 23. A plurality of sixth structural holes 225 are provided on the surface of the first connecting portion 222 facing the second driving member 13, and the plurality of sixth structural holes 225 are spaced apart from each other.

[0047] Optionally, the second connection portion 223 is an arc-shaped member, so that the first connection portion 222 and the second connection portion 223 are perpendicular to each other, and the outer surface of the second connection portion 223 is smoothly connected to the outer surface of the first connection portion 222 and the outer surface of the third connection portion 224. Optionally, the third connection portion 224 is an annular member, and the third axis L3 passes through the center line of the third connection portion 224. Optionally, part of the first connection portion 222 is located on the radially outer side of the third connection portion 224 to increase the rotation angle when the upper arm assembly 20 and the shoulder joint assembly 10 rotate relative to each other.

[0048] By setting the second connecting member 22 including the first connecting part 222, the second connecting part 223 and the third connecting part 224 connected in sequence, the first connecting part 222 and the third connecting part 224 are perpendicular to each other, the first connecting part 222 is connected to the output end of the second driving member 13, and the third connecting part 224 is connected to the output end of the third driving member 23, so that the upper arm housing 21 is located on the circumferential outside of the second cylinder 112, so that the size of the arm assembly 100 on the second axis L2 is smaller, which is beneficial to improving the humanization degree of the arm assembly 100, and at the same time, a plurality of sixth structural holes 225 are opened on the surface of the first connecting part 222 facing the second driving member 13, and the plurality of sixth structural holes 225 are arranged at intervals from each other, so that the mass of the second connecting member 22 is smaller, which further reduces the torque and volume of the first driving member 12 and the second driving member 13, which is beneficial to improving the lightweight degree of the arm assembly 100.

[0049] Please refer to Figures 1 to 4 The arm assembly 20 also includes a third limit member 25, which is connected to the outer shell of the second driving member 13. The second connecting member 22 also includes a limit portion 226, which is connected to the surface of the first connecting portion 222 facing the second driving member 13. The limit portion 226 and the third limit member 25 are used to abut against each other in the circumferential direction of the second driving member 13 to limit the rotation angle of the arm assembly 20.

[0050] The third limiting member 25 includes a fourth bottom plate 251, a third limiting block 252 and a fourth limiting block 253. The fourth bottom plate 251 is an annular component and is arranged around the outer periphery of the second driving member 13. The third limiting block 252 and the fourth limiting block 253 are arranged at intervals with each other at one end of the fourth bottom plate 251 facing away from the second cylinder 112. The limiting portion 226 is used to abut against the third limiting block 252 or the fourth limiting block 253 to limit the rotation angle of the upper arm assembly 20.

[0051] By setting the upper arm assembly 20 also including a third limit member 25, the third limit member 25 is connected to the outer shell of the second driving member 13, and the second connecting member 22 also includes a limit portion 226, and the limit portion 226 is connected to the surface of the first connecting portion 222 facing the second driving member 13. The limit portion 226 and the third limit member 25 are used to abut against each other in the circumferential direction of the second driving member 13 to limit the rotation angle of the upper arm assembly 20, so that when the second driving member 13 drives the upper arm assembly 20 to rotate around the second axis L2, it will not rotate excessively to prevent motion interference.

[0052] Please refer to Figure 1 , Figure 5 and Figure 6The arm assembly 100 also includes an elbow joint component 30 and a forearm component 40. The elbow joint component 30 includes: an elbow joint housing 31, including a third cylinder 311 and a fourth cylinder 312. The outer peripheral surface of the fourth cylinder 312 is connected to an axial end of the third cylinder 311. The third cylinder 311 is connected to an end of the upper arm housing 21 away from the shoulder joint assembly 10 and is coaxial with the upper arm housing 21. The fourth cylinder 312 has a fourth axis L4, and the fourth axis L4 intersects and is perpendicular to the third axis L3. The fourth cylinder 312 includes an axially opposite The third surface 3121 and the fourth surface 3122 on the back, the distance between the third surface 3121 and the fourth surface 3122 gradually decreases from the direction of the third cylinder 311 approaching the fourth cylinder 312; the fourth driving member 32 is penetrated by the fourth cylinder 312 and is coaxial with the fourth cylinder 312, and the end of the fourth driving member 32 extending out of the third surface 3121 is connected to the small arm assembly 40, and the axial midpoint of the fourth driving member 32 is located on the third axis L3, and the fourth driving member 32 is used to drive the small arm assembly 40 to rotate around the fourth axis L4.

[0053] Optionally, the elbow joint housing 31 further includes a second end plate 313, which is an annular member, and the second end plate 313 is connected to one end of the fourth cylinder 312 in the axial direction and forms a fourth surface 3122, and the fourth driving member 32 is connected and fixed to the second end plate 313. Optionally, the elbow joint housing 31 further includes a mounting plate 314, which is an annular member, and the mounting plate 314 is connected to one end of the third cylinder 311 away from the fourth cylinder 312, and the mounting plate 314 is connected and fixed to the upper arm housing 21 and closes one end opening of the upper arm housing 21. Optionally, the third cylinder 311, the fourth cylinder 312, the mounting plate 314 and the second end plate 313 are an integrated structure. Optionally, the fourth surface 3122 is an arc surface. Optionally, in the orthographic projection on the third axis L3, the contour shape of the third cylinder 311 is circular, and in the orthographic projection on the fourth axis L4, the contour shape of the fourth cylinder 312 is circular.

[0054] Optionally, the outer surface of the third cylinder 311 is provided with a third groove 3111 and a fourth groove 3112 which are arranged back to back, and the third groove 3111 and the fourth groove 3112 are symmetrically arranged in a direction perpendicular to the third axis L3 and the fourth axis L4, and the bottom wall surface and the side wall surface of the third groove 3111 are both flat, so as to facilitate the installation and positioning of the elbow joint housing 31.

[0055] By setting the elbow joint housing 31 to include a third cylinder 311 and a fourth cylinder 312, the outer peripheral surface of the fourth cylinder 312 is connected to an axial end of the third cylinder 311, the third cylinder 311 is connected to an end of the upper arm housing 21 away from the shoulder joint assembly 10 and is coaxial with the upper arm housing 21, the fourth cylinder 312 has a fourth axis L4, the fourth axis L4 intersects and is perpendicular to the third axis L3, the fourth cylinder 312 includes a third surface 3121 and a fourth surface 3122 that are opposite to each other in the axial direction, and the spacing distance between the third surface 3121 and the fourth surface 3122 gradually decreases from the direction of the third cylinder 311 approaching the fourth cylinder 312, and the fourth driving member 32 is penetrated by the fourth cylinder 312 and is coaxial with the fourth cylinder 312 One end of the fourth driving member 32 extending out of the third surface 3121 is connected to the forearm assembly 40, and the axial midpoint of the fourth driving member 32 is located on the third axis L3. The fourth driving member 32 is used to drive the forearm assembly 40 to rotate around the fourth axis L4, so that under the premise that the mass of the fourth cylinder 312 is reduced, the connection position between the fourth cylinder 312 and the fourth driving member 32 is closer to the output end of the fourth driving member 32, which ensures the stability of the fourth driving member 32 when driving the forearm assembly 40 to rotate around the fourth axis L4, and also improves the heat dissipation performance of the fourth driving member 32, while further reducing the torque and volume of the first driving member 12, the second driving member 13 and the third driving member 23, which is beneficial to improving the lightweight degree of the arm assembly 100.

[0056] Please refer to Figure 1 , Figure 5 and Figure 6 The forearm assembly 40 includes a forearm housing 41, a fifth driving member 42 and a third connecting member 43. The forearm housing 41 includes a fifth cylinder 411 and a sixth cylinder 412. The fifth cylinder 411 has a fifth axis L5, which intersects and is perpendicular to the fourth axis L4. The sixth cylinder 412 is connected to the fifth cylinder 411 and is coaxial with the fifth cylinder 411. The fifth cylinder 411 is provided with a plurality of seventh structural holes 4111, and the plurality of seventh structural holes 4111 are uniformly arranged in the circumferential direction of the fifth cylinder 411. The fifth driving member 42 is installed in the fifth cylinder 411 and is coaxial with the fifth cylinder 411. The third connecting member 43 connects the fourth driving member 32 and the fifth driving member 42. The fifth driving member 42 is used to drive the forearm housing 41 to rotate around the fifth axis L5.

[0057] Optionally, the arm assembly 40 further includes a second mounting member 44, which is connected to one end of the fifth cylinder 411 away from the sixth cylinder 412 and is fixedly connected to the housing of the fifth driving member 42, so that the fifth driving member 42 is fixed in the arm housing 41. Optionally, the structure of the seventh structural hole 4111 is similar to the structure of the fourth structural hole 211, which can be used as a reference and will not be described in detail. Optionally, the fifth cylinder 411, the sixth cylinder 412 and the second mounting member 44 are an integrated structure.

[0058] Optionally, the arm assembly 100 also includes a palm piece 50 and a driving mechanism 60, the palm piece 50 is rotatably connected to one end of the forearm housing 41 away from the elbow joint assembly 30, a portion of the driving mechanism 60 is accommodated in the sixth cylinder 412, and another portion of the driving mechanism 60 extends out of the sixth cylinder 412 and is rotatably connected to the palm piece 50 to drive the palm piece 50 to rotate relative to the forearm housing 41.

[0059] The forearm housing 41 includes a fifth cylinder 411 and a sixth cylinder 412, the fifth cylinder 411 has a fifth axis L5, the fifth axis L5 intersects and is perpendicular to the fourth axis L4, the sixth cylinder 412 is connected to the fifth cylinder 411 and is coaxial with the fifth cylinder 411, the fifth cylinder 411 is provided with a plurality of seventh structural holes 4111, and the plurality of seventh structural holes 4111 are uniformly arranged in the circumferential direction of the fifth cylinder 411, the fifth driving member 42 is installed in the fifth cylinder 411 and is coaxial with the fifth cylinder 411, the third connecting member 43 connects the fourth driving member 32 and the fifth driving member 42, and the fifth driving member 42 is used to drive the forearm housing 41 to rotate around the fifth axis L5, so that the mass of the forearm housing 41 is smaller, the torque and volume of the fifth driving member 42 are reduced, and the torque and volume of the first driving member 12, the second driving member 13, the third driving member 23 and the fourth driving member 32 are further reduced, which is beneficial to improving the lightweight degree of the arm assembly 100.

[0060] Please refer to Figure 1 The present invention also provides a humanoid robot, including a trunk assembly and an arm assembly 100 in an embodiment of the present invention, and a shoulder joint assembly 10 is connected to the trunk assembly. Optionally, the humanoid robot also includes a lower limb assembly and a head and neck assembly, and both the lower limb assembly and the head and neck assembly are connected to the trunk assembly. Among them, there are two lower limb assemblies and two arm assemblies 100 in the embodiment of the present invention, and the two arm assemblies 100 and the two lower limb assemblies are respectively arranged on the left and right sides of the trunk assembly. The humanoid robot provided by the present invention realizes the humanoid arm movement of the humanoid robot by adopting the trunk assembly and the arm assembly 100 in the embodiment of the present invention, and the shoulder joint assembly 10 is connected to the trunk assembly, and the arm assembly 100 is highly lightweight.

[0061] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A shoulder joint assembly (10) for a humanoid robot, characterized in that: include: A shoulder joint housing (11), comprising a first cylinder (111) and a second cylinder (112), wherein the outer peripheral surface of the second cylinder (112) is connected to an axial end of the first cylinder (111), the first cylinder (111) has a first axis (L1), the second cylinder (112) has a second axis (L2), the first axis (L1) and the second axis (L2) intersect and are perpendicular to each other, and a surface passing through the first axis (L1) and perpendicular to the second axis (L2) is a reference surface (M); the second cylinder (112) comprises a first surface (1121) and a second surface (1122) which are opposite to each other in the axial direction, and the distance between the first surface (1121) and the reference surface (M) is smaller than the distance between the second surface (1122) and the reference surface (M); a first driving member (12), connected to the first cylinder (111) and coaxial with the first cylinder (111), the first driving member (12) being used for driving the shoulder joint housing (11) to rotate around the first axis (L1); A second driving member (13) is inserted into the second cylinder (112) and is coaxial with the second cylinder (112); one end of the second driving member (13) extending out of the second surface (1122) is used for connecting with the boom assembly (20); the axial midpoint of the second driving member (13) is located on the first axis (L1); and the second driving member (13) is used for driving the boom assembly (20) to rotate around the second axis (L2).

2. The shoulder joint assembly (10) according to claim 1, characterized in that: The first cylinder (111) is provided with a first groove (1111) and a second groove (1112) at two opposite ends in the extension direction of the second axis (L2), respectively; the inner wall of the first groove (1111) is smoothly connected to the first surface (1121), and the inner wall of the second groove (1112) is smoothly connected to the second surface (1122); A first structural hole (1113) is formed on the inner wall of the first groove (1111), and a second structural hole (1114) is formed on the inner wall of the second groove (1112). Both the first structural hole (1113) and the second structural hole (1114) are connected to the internal space of the first cylinder (111).

3. The shoulder joint assembly (10) according to claim 1, characterized in that: The shoulder joint assembly (10) further comprises a first connecting member (14), wherein the first connecting member (14) is sleeved on an end of the first driving member (12) away from the shoulder joint housing (11), and the first connecting member (14) is used to be connected to the trunk assembly; The first connecting member (14) is provided with a plurality of third structural holes (141), and the plurality of third structural holes (141) are evenly distributed in the circumferential direction of the first connecting member (14).

4. The shoulder joint assembly (10) according to claim 1, characterized in that: The shoulder joint assembly (10) further comprises a first limiting member (15) and a second limiting member (16), wherein the first limiting member (15) is connected to an end of the housing of the first driving member (12) close to the shoulder joint housing (11), and the second limiting member (16) is connected to an end of the first cylinder (111) away from the second cylinder (112), and the second limiting member (16) is also connected to an output end of the first driving member (12); The first limiting member (15) and the second limiting member (16) are used to abut against each other in the circumferential direction of the first cylinder (111) to limit the rotation angle of the shoulder joint housing (11).

5. An arm assembly (100) for a humanoid robot, characterized in that: It comprises a large arm assembly (20) and a shoulder joint assembly (10) according to any one of claims 1 to 4, wherein the large arm assembly (20) is connected to the second driving member (13).

6. The arm assembly (100) according to claim 5, characterized in that: The boom assembly (20) comprises a boom housing (21), a second connecting member (22) and a third driving member (23); the boom housing (21) has a third axis (L3), the third axis (L3) is perpendicular to the second axis (L2) and is located in the same plane as the first axis (L1); the boom housing (21) is provided with a plurality of fourth structural holes (211), and the plurality of fourth structural holes (211) are evenly distributed in the circumferential direction of the boom housing (21); The third driving member (23) is installed in the upper arm housing (21) and is coaxial with the upper arm housing (21); the second connecting member (22) connects the third driving member (23) and the second driving member (13); the third driving member (23) is used to drive the upper arm housing (21) to rotate around the third axis (L3).

7. The arm assembly (100) according to claim 6, characterized in that: The upper arm housing (21) is further provided with a fifth structural hole (212), and the fifth structural hole (212) and the plurality of fourth structural holes (211) are arranged at intervals from each other; the fourth structural holes (211) are hexagonal holes, and the fifth structural holes (212) are triangular holes.

8. The arm assembly (100) according to claim 6, characterized in that: The second connecting member (22) comprises a first connecting portion (222), a second connecting portion (223) and a third connecting portion (224) which are connected in sequence, the first connecting portion (222) and the third connecting portion (224) are perpendicular to each other, the first connecting portion (222) is connected to the output end of the second driving member (13), and the third connecting portion (224) is connected to the output end of the third driving member (23); A plurality of sixth structural holes (225) are formed on the surface of the first connecting portion (222) facing the second driving member (13), and the plurality of sixth structural holes (225) are arranged at intervals from each other.

9. The arm assembly (100) according to claim 8, characterized in that: The upper arm assembly (20) further comprises a third limiting member (25), wherein the third limiting member (25) is connected to the outer shell of the second driving member (13); the second connecting member (22) further comprises a limiting portion (226), wherein the limiting portion (226) is connected to the surface of the first connecting portion (222) facing the second driving member (13); the limiting portion (226) and the third limiting member (25) are used to abut against each other in the circumferential direction of the second driving member (13) to limit the rotation angle of the upper arm assembly (20).

10. The arm assembly (100) according to claim 6, characterized in that: The arm assembly (100) further comprises an elbow joint assembly (30) and a forearm assembly (40), wherein the elbow joint assembly (30) comprises: An elbow joint housing (31) comprises a third cylinder (311) and a fourth cylinder (312), wherein the outer peripheral surface of the fourth cylinder (312) is connected to an axial end of the third cylinder (311), the third cylinder (311) is connected to an end of the upper arm housing (21) away from the shoulder joint assembly (10) and is coaxial with the upper arm housing (21), the fourth cylinder (312) has a fourth axis (L4), the fourth axis (L4) intersects and is perpendicular to the third axis (L3), the fourth cylinder (312) comprises a third surface (3121) and a fourth surface (3122) which are opposite to each other in the axial direction, and the spacing distance between the third surface (3121) and the fourth surface (3122) gradually decreases from the direction where the third cylinder (311) approaches the fourth cylinder (312); A fourth driving member (32) is passed through the fourth cylinder (312) and is coaxial with the fourth cylinder (312). One end of the fourth driving member (32) extending out of the third surface (3121) is connected to the small arm assembly (40). The axial midpoint of the fourth driving member (32) is located on the third axis (L3). The fourth driving member (32) is used to drive the small arm assembly (40) to rotate around the fourth axis (L4).

11. The arm assembly (100) according to claim 10, characterized in that: The forearm assembly (40) comprises a forearm housing (41), a fifth driving member (42) and a third connecting member (43); the forearm housing (41) comprises a fifth cylinder (411) and a sixth cylinder (412); the fifth cylinder (411) has a fifth axis (L5); the fifth axis (L5) intersects and is perpendicular to the fourth axis (L4); the sixth cylinder (412) is connected to the fifth cylinder (411) and is coaxial with the fifth cylinder (411); the fifth cylinder (411) is provided with a plurality of seventh structural holes (4111); the plurality of seventh structural holes (4111) are evenly arranged in the circumferential direction of the fifth cylinder (411); The fifth driving member (42) is installed in the fifth cylinder (411) and is coaxial with the fifth cylinder (411). The third connecting member (43) connects the fourth driving member (32) and the fifth driving member (42). The fifth driving member (42) is used to drive the forearm housing (41) to rotate around the fifth axis (L5).

12. A humanoid robot, characterized in that: It comprises a trunk assembly and an arm assembly (100) as claimed in any one of claims 5 to 11, wherein the shoulder joint assembly (10) is connected to the trunk assembly.

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