Shoulder joint assembly, arm assembly and humanoid robot

Abstract

A shoulder joint assembly, an arm assembly, and a humanoid robot. The shoulder joint assembly includes a shoulder joint housing, a first driving member, and a second driving member. The shoulder joint housing includes a first cylinder and a second cylinder. The outer peripheral surface of the second cylinder is connected to one axial end of the first cylinder. The first cylinder has a first axis, and the second cylinder has a second axis. The first axis and the second axis intersect and are perpendicular to each other. The surface passing through the first axis and perpendicular to the second axis is a reference surface. The second cylinder includes a first surface and a second surface that face away from each other in the axial direction. The distance between the first surface and the reference surface is less than the distance between the second surface and the reference surface. The first driving member is coaxially connected to the first cylinder to drive the shoulder joint housing to rotate around the first axis. The second driving member connects the second cylinder and the upper arm assembly to drive the upper arm assembly to rotate around the second axis. The midpoint of the second driving member in the axial direction is located on the first axis, which improves the lightweight degree of the shoulder joint assembly.

Description

Technical Field

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

[0002] At present, humanoid robots have received more and more attention in recent years because they still have good mobility when facing complex terrains. Since the mass of the robotic arm is relatively large and it needs to carry the mass of an object, the structural design of the robotic arm of a humanoid robot is particularly important. The structural design of the robotic arm in the prior art is unreasonable, and there is a problem that the self-weight of the robotic arm is relatively high, resulting in a relatively 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, so as to solve the problem that the structural design of the robotic arm in the prior art is unreasonable, and there is a problem that the self-weight of the robotic arm is relatively high, resulting in a relatively large torque and volume of the motor.

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

[0005] In a first aspect, the present invention provides a shoulder joint assembly for a humanoid robot, including: a shoulder joint housing, including a first cylinder and a second cylinder, an 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 a surface passing through the first axis and perpendicular to the second axis is a reference surface; the second cylinder includes a first surface and a second surface that are axially opposite, a distance between the first surface and the reference surface is less than a 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 configured to drive the shoulder joint housing to rotate around the first axis; a second driving member, passing through the second cylinder and coaxial with the second cylinder, an end of the second driving member extending out of the second surface is configured to be connected to a large arm assembly, a midpoint of the second driving member in the axial direction is located on the first axis, and the second driving member is configured to drive the large arm assembly to rotate around the second axis. By setting the distance between the first surface and the reference surface to be less than the distance between the second surface and the reference surface, the second driving member passes through the second cylinder and is coaxial with the second cylinder, the end of the second driving member extending out of the second surface is configured to be connected to the large arm assembly, and the midpoint of the second driving member in the axial direction is located on the first axis, on 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, ensuring the stability when the second driving member drives the large arm assembly to rotate, and at the same time reducing the torque and volume of the first driving member, and improving the lightweight degree of the shoulder joint assembly.

[0006] In one implementation, first grooves and second grooves are respectively formed at two opposite ends of the first cylinder body in the extending 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. A first structural hole is formed in the inner wall of the first groove, and a second structural hole is formed in the inner wall of the second groove. Both the first structural hole and the second structural hole communicate with the inner space of the first cylinder body. By providing the first grooves and the second grooves at two opposite ends of the first cylinder body in the extending direction of the second axis, with the inner wall of the first groove smoothly connected to the first surface and the inner wall of the second groove smoothly connected to the second surface, and a first structural hole formed in the inner wall of the first groove and a second structural hole formed in the inner wall of the second groove, both the first structural hole and the second structural hole communicating with the inner space of the first cylinder body, the mass of the first cylinder body is reduced on the premise of sufficient structural strength, further reducing the torque and volume of the first driving member, which is beneficial to improving the lightweight degree of the shoulder joint assembly.

[0007] In one implementation, the shoulder joint assembly further includes a first connecting member sleeved on one end of the first driving member away from the shoulder joint housing. The first connecting member is used for connecting with the torso assembly. The first connecting member is provided with a plurality of third structural holes uniformly distributed in the circumferential direction of the first connecting member. By providing the first connecting member sleeved on one end of the first driving member away from the shoulder joint housing and used for connecting with the torso assembly, the first driving member can be stably connected to the torso assembly. At the same time, by providing the first connecting member with a plurality of third structural holes uniformly distributed in the circumferential direction of the first connecting member, the mass of the first connecting member is small, improving the lightweight degree of the shoulder joint assembly and the heat dissipation performance of the first driving member.

[0008] In one implementation, the shoulder joint assembly further includes a first limiting member and a second limiting member. The first limiting member is connected to one end of the housing of the first driving member close to the shoulder joint housing. The second limiting member is connected to one end of the first cylinder away from the second cylinder, and the second limiting member is further connected to the output end of the first driving member. The first limiting member and the second limiting member 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 providing the first limiting member and the second limiting member, the first limiting member is connected to one end of the housing of the first driving member close to the shoulder joint housing, the second limiting member is connected to one end of the first cylinder away from the second cylinder, the second limiting member is further connected to the output end of the first driving member, and the first limiting member and the second limiting member 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 the shoulder joint housing will not rotate excessively when the first driving member drives the shoulder joint housing to rotate around the first axis, preventing movement interference from occurring.

[0009] In a second aspect, the present invention further provides an arm assembly for a humanoid robot, including a forearm assembly and the shoulder joint assembly according to any one of the various implementations of the first aspect. The forearm assembly is connected to the second driving member. The arm assembly provided by the present invention, by adopting the forearm assembly and the shoulder joint assembly in the embodiments of the present invention, and the forearm assembly is connected to the second driving member, improves the lightweight degree of the arm assembly.

[0010] In one implementation, the forearm assembly includes a forearm housing, a second connecting member, and a third driving member. The forearm housing has a third axis, the third axis is perpendicular to the second axis and lies in the same plane as the first axis. The forearm 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 forearm housing. The third driving member is installed inside the forearm housing and is coaxial with the forearm housing. The second connecting member connects the third driving member and the second driving member. The third driving member is used to drive the forearm housing to rotate around the third axis. By providing that the forearm housing has a third axis, the third axis is perpendicular to the second axis and lies in the same plane as the first axis, the forearm 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 forearm housing, the mass of the forearm housing is reduced, the torques and volumes of the first driving member, the second driving member, and the third driving member are reduced, and the lightweight degree of the arm assembly is improved. At the same time, the third driving member is installed inside the forearm housing and is coaxial with the forearm 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 forearm housing to rotate around the third axis, realizing the humanoid movement of the forearm assembly, and the stability of the forearm housing rotating around the third axis is relatively high.

[0011] In one implementation, the outer shell of the upper arm further has a fifth structural hole, and the fifth structural hole is arranged at intervals from a plurality of the fourth structural holes; the fourth structural hole is a hexagonal hole, and the fifth structural hole is a triangular hole. By providing that the outer shell of the upper arm further has a fifth structural hole, the fifth structural hole is arranged at intervals from a plurality of the fourth structural holes, the fourth structural hole is a hexagonal hole, and the fifth structural hole is a triangular hole, the outer shell of the upper arm meets the structural strength requirements while further reducing the mass, so that the torques and volumes of the first driving member, the second driving member, and the third driving member are further reduced, which is beneficial to improving the lightweight degree of the arm assembly.

[0012] In one implementation, the second connecting member includes a first connecting portion, a second connecting portion, and a third connecting portion that are sequentially connected. The first connecting portion is perpendicular to the third connecting portion. 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; a plurality of sixth structural holes are provided on the surface of the first connecting portion facing the second driving member, and the plurality of sixth structural holes are arranged at intervals from each other. By providing that the second connecting member includes a first connecting portion, a second connecting portion, and a third connecting portion that are sequentially connected, the first connecting portion is perpendicular to the third connecting portion, 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 outer shell of the upper arm is located on the outer side in the circumferential direction of the second cylinder, so that the size of the arm assembly in the second axis direction is smaller, which is beneficial to improving the humanoid degree of the arm assembly. At the same time, a plurality of sixth structural holes are provided on the surface of the first connecting portion facing the second driving member, and the plurality of sixth structural holes are arranged at intervals from each other, so that the mass of the second connecting member is smaller, and the torques and volumes 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.

[0013] In one implementation, the upper arm assembly further includes a third limiting member, the third limiting member is connected to the outer shell of the second driving member, the second connecting member further includes a limiting portion, the limiting portion is connected to the surface of the first connecting portion facing the second driving member, and the limiting portion and the third limiting member are used to abut against each other in the circumferential direction of the second driving member to limit the rotation angle of the upper arm assembly. By providing that the upper arm assembly further includes a third limiting member, the third limiting member is connected to the outer shell of the second driving member, the second connecting member further includes a limiting portion, the limiting portion is connected to the surface of the first connecting portion facing the second driving member, and the limiting portion and the third limiting member are used to abut against each other in the circumferential direction of the second driving member to limit the rotation angle of the upper arm assembly, when the second driving member drives the upper arm assembly to rotate around the second axis, the upper arm assembly will not rotate excessively, preventing motion interference.

[0014] In one embodiment, the arm assembly further includes an elbow joint assembly and a forearm assembly. The elbow joint assembly includes: an elbow joint housing, including a third cylinder and a fourth cylinder. The outer peripheral surface of the fourth cylinder is connected to one axial end of the third cylinder. The third cylinder is connected to and coaxial with the end of the upper arm housing away from the shoulder joint assembly. The fourth cylinder has a fourth axis, and the fourth axis intersects and is perpendicular to the third axis. The fourth cylinder includes a third surface and a fourth surface that face away from each other axially. In the direction from the third cylinder towards the fourth cylinder, the distance between the third surface and the fourth surface gradually decreases. A fourth driving member is disposed through the fourth cylinder and is coaxial with the fourth cylinder. One end of the fourth driving member extending out of the third surface is connected to the forearm assembly. The midpoint of the fourth driving member in the axial direction is located on the third axis. The fourth driving member is used to drive the forearm assembly to rotate around the fourth axis. By providing that the elbow joint housing includes a third cylinder and a fourth cylinder, the outer peripheral surface of the fourth cylinder is connected to one axial end of the third cylinder, the third cylinder is connected to and coaxial with the end of the upper arm housing away from the shoulder joint assembly, 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 that face away from each other axially, in the direction from the third cylinder towards the fourth cylinder, the distance between the third surface and the fourth surface gradually decreases, the fourth driving member is disposed through the fourth cylinder and is coaxial with the fourth cylinder, one end of the fourth driving member extending out of the third surface is connected to the forearm assembly, the midpoint of the fourth driving member in the axial direction is located on the third axis, and the fourth driving member is used to drive the forearm assembly to rotate around the fourth axis, on the premise of reducing the mass of the fourth cylinder, the connection position between the fourth cylinder and the fourth driving member is closer to the output end of the fourth driving member, ensuring the stability when the fourth driving member drives the forearm assembly to rotate around the fourth axis, improving the heat dissipation performance of the fourth driving member, and further reducing the torque and volume of the first driving member, the second driving member, and the third driving member, which is beneficial to improving the lightweight degree of the arm assembly.

[0015] 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, and 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. The fifth driving member is used to drive the forearm housing to rotate around the fifth axis. By providing that 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, the mass of the forearm housing is reduced, while reducing the torque and volume of the fifth driving member, it further reduces the torque and volume of the first driving member, the second driving member, the third driving member, and the fourth driving member, which is beneficial to improving the lightweight degree of the arm assembly.

[0016] In a third aspect, the present invention further provides a humanoid robot, including a torso assembly and the arm assembly according to any one of the embodiments in the second aspect, and the shoulder joint assembly is connected to the torso assembly. The humanoid robot provided by the present invention realizes the humanoid arm movement of the humanoid robot by adopting the torso assembly and the arm assembly in the embodiments of the present invention, and the shoulder joint assembly is connected to the torso assembly, and the lightweight degree of the arm assembly is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a structural diagram of an arm assembly of an embodiment;

[0019] Figure 2 is a plan view of an arm assembly of an embodiment;

[0020] Figure 3 is a partial explosion of an arm assembly of an embodiment Figure Ⅰ;

[0021] Figure 4 is a partial explosion of the arm assembly of an embodiment Figure Ⅱ ;

[0022] Figure 5 is a partial explosion of the arm assembly of an embodiment Figure Ⅲ ;

[0023] Figure 6 is a partial explosion of the arm assembly of an embodiment Figure Ⅳ .

[0024] Explanation of reference numerals:

[0025] 100 - Arm assembly;

[0026] 10 - Shoulder joint assembly, 11 - Shoulder joint housing, 111 - First cylinder, 1111 - First groove, 1112 - Second groove, 1113 - First structure hole, 1114 - Second structure 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 structure 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 structure hole, 165 - Second calibration portion;

[0027] 20 - Upper arm assembly, 21 - Upper arm housing, 211 - Fourth structure hole, 212 - Fifth structure hole, 22 - Second connecting member, 221 - Third calibration portion, 222 - First connecting portion, 223 - Second connecting portion, 224 - Third connecting portion, 225 - Sixth structure hole, 226 - Limiting portion, 23 - Third driving member, 24 - First mounting member, 241 - Fourth calibration portion, 25 - Third limiting member, 251 - Fourth bottom plate, 252 - Third limiting block, 253 - Fourth limiting block;

[0028] 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;

[0029] 40 - Forearm assembly, 41 - Forearm housing, 411 - Fifth cylinder, 4111 - Seventh structure hole, 412 - Sixth cylinder, 42 - Fifth driving member, 43 - Third connecting member, 44 - Second mounting member;

[0030] 50 - Palm part;

[0031] 60 - Driving mechanism;

[0032] M - Reference plane, L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis, L5 - Fifth axis. Detailed implementation manner

[0033] 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 in 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.

[0034] 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 may 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.

[0035] 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.

[0036] Next, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0037] Please refer to Figures 1 to 4, the present invention provides a shoulder joint assembly 10 for a humanoid robot, which includes a shoulder joint housing 11, a first driving member 12 and a second driving member 13. The shoulder joint housing 11 includes a first cylinder 111 and a second cylinder 112. The outer peripheral surface of the second cylinder 112 is connected to one axial end of the first cylinder 111. The first cylinder 111 has a first axis L1, and 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. The surface passing through the first axis L1 and perpendicular to the second axis L2 is the reference plane M. The second cylinder 112 includes a first surface 1121 and a second surface 1122 that are axially opposite to each other. The distance between the first surface 1121 and the reference plane M is less than the distance between the second surface 1122 and the reference plane M. The first driving member 12 is connected to the first cylinder 111 and is coaxial with the first cylinder 111. 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 disposed through 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 to connect to the upper arm assembly 20. The midpoint of the second driving member 13 in the axial direction is located on the first axis L1. The second driving member 13 is used to drive the upper arm assembly 20 to rotate around the second axis L2.

[0038] Optionally, the second driving member 13 is fixedly connected to the second surface 1122. Optionally, in the orthographic projection of the first axis L1, the contour shape of the first cylinder 111 is an annular shape. In the orthographic projection of the second axis L2, the inner wall surface contour of the second cylinder 112 is an annular shape. Optionally, the outer peripheral surface of the first cylinder 111 is smoothly connected to the outer peripheral surface of the second cylinder 112. Optionally, the housing of the first driving member 12 is used to connect to the torso assembly, and the output end of the first driving member 12 is connected to the first cylinder 111. Optionally, the housing of the second driving member 13 is disposed through the second cylinder 112 and is connected to the second cylinder 112. The output end of the second driving member 13 extends out from the second surface 1122 for connecting to the upper arm assembly 20. Optionally, the shoulder joint housing 11 further includes a first end plate 113. The first end plate 113 is connected to one axial end of the second cylinder 112 and forms the first surface 1121. The housing of the first driving member 12 is connected to the first end plate 113. Optionally, the first end plate 113 and the first driving member 12 can be detachably connected by means such as snap connection, screw connection and riveting, without limitation.

[0039] 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.

[0040] 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.

[0041] Please refer to Figures 1 to 4 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, 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.

[0042] Optionally, the bottom wall surfaces of the first groove 1111 and 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 that of the second groove 1112, so that the area of the bottom wall surface of the first groove 1111 is greater than that of the bottom wall surface of the second groove 1112. Correspondingly, the equivalent aperture of the first structural hole 1113 is greater than that of the first structural hole 1113, so as to minimize the mass of the first cylinder 111 while meeting the structural strength requirements. 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 formed by an arc surface, so that the bottom wall surface of the first groove 1111 forms an arc-shaped plate-like structure with equal widths at both ends, making the stress distribution on the first cylinder 111 at the first structural hole 1113 uniform and not easily causing 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, for reference only and will not be elaborated here.

[0043] By providing that the first cylinder 111 is respectively provided with a first groove 1111 and a second groove 1112 at opposite ends in the extending 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; a first structural hole 1113 is provided on the inner wall of the first groove 1111, and a second structural hole 1114 is provided on the inner wall of the second groove 1112. Both the first structural hole 1113 and the second structural hole 1114 are communicated with the inner space of the first cylinder 111, so that the mass of the first cylinder 111 is reduced on the premise of sufficient structural strength, further reducing the torque and volume of the first driving member 12, which is beneficial to improving the lightweight degree of the shoulder joint assembly 10.

[0044] Please refer to Figures 1 to 4 The shoulder joint assembly 10 further includes a first connecting member 14. The first connecting member 14 is sleeved on the end of the first driving member 12 away from the shoulder joint housing 11. The first connecting member 14 is used for connecting 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 uniformly distributed in the circumferential direction of the first connecting member 14.

[0045] 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 end of the seventh cylinder 143 in the axial direction and extends along the circumference of the first cylinder 111. The plurality of connecting plates 144 are connected to the outer peripheral 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 fixedly connected to the first bottom plate 142. A plurality of third structure holes 141 are formed in the seventh cylinder 143. The plurality of connecting plates 144 are used for fixedly connecting with the torso assembly.

[0046] By providing the first connecting member 14, the first connecting member 14 is sleeved on the end of the first driving member 12 away from the shoulder joint housing 11. The first connecting member 14 is used for connecting with the torso assembly, so that the first driving member 12 can be stably connected to the torso assembly. At the same time, the first connecting member 14 is provided with a plurality of third structure holes 141, and the plurality of third structure 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 smaller, the lightweight degree of the shoulder joint assembly 10 is improved, and the heat dissipation performance of the first driving member 12 is improved.

[0047] Please refer to Figures 1 to 4 , the shoulder joint assembly 10 further includes a first limiting member 15 and a second limiting member 16. The first limiting member 15 is connected to the end of the outer shell of the first driving member 12 close to the shoulder joint housing 11. The second limiting member 16 is connected to the end of the first cylinder 111 away from the second cylinder 112. The second limiting member 16 is also connected to the 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.

[0048] Optionally, the shoulder joint housing 11 further includes a plurality of connecting blocks 114. The plurality of connecting blocks 114 are spaced apart from each other in the circumferential direction on the inner wall surface of the first cylinder 111. A part of the second limiting member 16 extends into the first cylinder 111 and is fixedly connected to the plurality of connecting blocks 114. Optionally, the first limiting member 15 includes a second bottom plate 151 and a first limiting block 152. The second bottom plate 151 is an annular structure. The first limiting block 152 is connected to one end of the second bottom plate 151 in the axial direction. The second bottom plate 151 is sleeved on the outer periphery of the output end of the first driving member 12 and connected to the outer shell of the first driving member 12.

[0049] 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 end of the eighth cylinder 162 in the axial direction and closes one opening of the eighth cylinder 162. The second limiting block 163 is connected to the outer peripheral surface of the eighth cylinder 162 and is 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 received in the first cylinder 111 and is fixedly connected to a plurality of connecting blocks 114. The first limiting block 152 and the second limiting block 163 are in contact with each other to limit the rotation angle of the shoulder joint housing 11. Optionally, a plurality of eighth structure holes 164 are formed in the end surface of the eighth cylinder 162 facing away from the third bottom plate 161, and the plurality of eighth structure holes 164 are uniformly distributed along the axial direction of the eighth cylinder 162.

[0050] Optionally, a first calibration portion 153 is provided on the outer peripheral surface of the second bottom plate 151, and a second calibration portion 165 is provided on the second limiting block 163. When the first calibration portion 153 is directly opposite to the second calibration portion 165, the shoulder joint housing 11 is in an initial state, and the rotation angle between the first calibration portion 153 and the second calibration portion 165 is the rotation angle of the shoulder joint housing 11 driven by the first driving member 12.

[0051] By providing the first limiting member 15 and the second limiting member 16, the first limiting member 15 is connected to one end of the housing of the first driving member 12 close to the shoulder joint housing 11, the second limiting member 16 is connected to one end of the first cylinder 111 away from the second cylinder 112, and the second limiting member 16 is further connected to the 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, so that the shoulder joint housing 11 will not rotate excessively when the first driving member 12 drives the shoulder joint housing 11 to rotate around the first axis L1, preventing movement interference.

[0052] Please refer to Figure 1 , the present invention further provides an arm assembly 100 for a humanoid robot, including a large arm assembly 20 and the shoulder joint assembly 10 in the embodiment of the present invention. The large arm assembly 20 is connected to a second driving member 13. Specifically, the large arm assembly 20 is connected to the output end of the second driving member 13. By adopting the large arm assembly 20 and the shoulder joint assembly 10 in the embodiment of the present invention, and connecting the large arm assembly 20 to the second driving member 13, the light weight degree of the arm assembly 100 is improved.

[0053] Please refer to Figures 1 to 4, the upper arm assembly 20 includes an upper arm housing 21, a second connecting member 22, and a third driving member 23. The upper arm housing 21 has a third axis L3. The third axis L3 is perpendicular to the second axis L2 and lies 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. The third driving member 23 is installed inside 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, and the third driving member 23 is used to drive the upper arm housing 21 to rotate around the third axis L3.

[0054] 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. In the orthographic projection of the third axis L3, the contour shape of the upper arm housing 21 is an annular shape. Optionally, the upper arm assembly 20 further includes a first mounting member 24. The first mounting member 24 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 to fix the third driving member 23 inside 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 and the fourth calibration portion 241 are facing each other, the upper arm housing 21 is in an initial state, and the angle of relative rotation between the third calibration portion 221 and the fourth calibration portion 241 is the angle by which the third driving member 23 drives the upper arm housing 21 to rotate. Optionally, the plurality of fourth structural holes 211 can be arranged in an array or in a honeycomb shape on the upper arm housing 21, without limitation.

[0055] By setting that the upper arm housing 21 has a third axis L3, the third axis L3 is perpendicular to the second axis L2 and lies in the same plane as the first axis L1, and 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, the mass of the upper arm housing 21 is reduced, the torques and volumes of the first driving member 12, the second driving member 13, and the third driving member 23 are reduced, and the lightweight degree of the arm assembly 100 is improved. At the same time, the third driving member 23 is installed inside 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, and the third driving member 23 is used to drive the upper arm housing 21 to rotate around the third axis L3, realizing the anthropomorphic 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.

[0056] 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 arranged at intervals from the plurality of fourth structural holes 211. The fourth structural hole 211 is a hexagonal hole, and the fifth structural hole 212 is a triangular hole.

[0057] Optionally, the fourth structural hole 211 may also be a circular hole, a rectangular hole, a triangular hole, an oval hole, etc., without limitation. Optionally, the fifth structural hole 212 may also be a circular hole, a rectangular hole, a hexagonal hole, an oval hole, etc., without limitation.

[0058] Optionally, the 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 deformation and damage are not likely to occur. Optionally, the 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 deformation and damage are not likely to occur. Optionally, the fifth structural hole 212 is an axisymmetric structure, and 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.

[0059] By providing that the boom housing 21 is further provided with a fifth structural hole 212, the fifth structural hole 212 and the plurality of fourth structural holes 211 are arranged at intervals from each other, the fourth structural hole 211 is a hexagonal hole, and the fifth structural hole 212 is a triangular hole, the boom housing 21 meets the structural strength requirements while further reducing the mass, so that the torques and volumes 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.

[0060] 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 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 arranged at intervals from each other.

[0061] Optionally, the second connecting portion 223 is an arc-shaped member, so that the first connecting portion 222 and the second connecting portion 223 are perpendicular to each other, and the outer surface of the second connecting portion 223 is smoothly connected to the outer surfaces of the first connecting portion 222 and the third connecting portion 224. Optionally, the third connecting portion 224 is an annular member, and the third axis L3 passes through the center line of the third connecting portion 224. Optionally, a part of the first connecting portion 222 is located outside the third connecting portion 224 in the radial direction, so as to increase the rotation angle when the boom assembly 20 rotates relative to the shoulder joint assembly 10.

[0062] By setting that 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, the large arm housing 21 is located on the outer side in the circumferential direction of the second cylinder 112, so that the dimension of the arm assembly 100 on the second axis L2 is smaller, which is beneficial to improving the humanoid degree of the arm assembly 100. At the same time, 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 arranged at intervals, so that the mass of the second connecting member 22 is smaller, further reducing 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.

[0063] Please refer to Figures 1 to 4 , the large arm assembly 20 further includes a third limiting member 25, the third limiting member 25 is connected to the housing of the second driving member 13, the second connecting member 22 further includes a limiting portion 226, the limiting portion 226 is connected to the surface of the first connecting portion 222 facing the second driving member 13, and 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 large arm assembly 20.

[0064] 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 member and is disposed 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 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 large arm assembly 20.

[0065] By setting that the large arm assembly 20 further includes a third limiting member 25, the third limiting member 25 is connected to the housing of the second driving member 13, the second connecting member 22 further includes a limiting portion 226, the limiting portion 226 is connected to the surface of the first connecting portion 222 facing the second driving member 13, and 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 large arm assembly 20, when the second driving member 13 drives the large arm assembly 20 to rotate around the second axis L2, it will not rotate excessively, preventing movement interference.

[0066] Please refer to Figure 1 , Figure 5 and Figure 6, the arm assembly 100 further includes an elbow joint assembly 30 and a forearm assembly 40. The elbow joint assembly 30 includes: an elbow joint housing 31, which includes a third cylinder 311 and a fourth cylinder 312. The outer peripheral surface of the fourth cylinder 312 is connected to one axial end of the third cylinder 311. The third cylinder 311 is connected to the 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 a third surface 3121 and a fourth surface 3122 that face away from each other in the axial direction. From the direction of the third cylinder 311 approaching the fourth cylinder 312, the distance between the third surface 3121 and the fourth surface 3122 gradually decreases; a fourth driving member 32, which is disposed 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 forearm assembly 40. The midpoint of the fourth driving member 32 in the axial direction 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.

[0067] Optionally, the elbow joint housing 31 further includes a second end plate 313. The second end plate 313 is an annular member. The second end plate 313 is connected to one axial end of the fourth cylinder 312 and forms the fourth surface 3122. The fourth driving member 32 is fixedly connected to the second end plate 313. Optionally, the elbow joint housing 31 further includes a mounting plate 314. The mounting plate 314 is an annular member. The mounting plate 314 is connected to the end of the third cylinder 311 away from the fourth cylinder 312. The mounting plate 314 is fixedly connected 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 of an integral 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. In the orthographic projection on the fourth axis L4, the contour shape of the fourth cylinder 312 is circular.

[0068] Optionally, the outer peripheral surface of the third cylinder 311 is provided with a third groove 3111 and a fourth groove 3112 that are arranged in opposite directions. 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. The bottom wall surface and the side wall surface of the third groove 3111 are both flat surfaces, so as to facilitate the installation and positioning of the elbow joint housing 31.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] Optionally, the arm assembly 100 further includes a palm member 50 and a driving mechanism 60. The palm member 50 is rotatably connected to one end of the forearm housing 41 away from the elbow joint assembly 30. A part of the driving mechanism 60 is received in the sixth cylinder 412, and another part of the driving mechanism 60 extends out of the sixth cylinder 412 and is rotatably connected to the palm member 50 to drive the palm member 50 to rotate relative to the forearm housing 41.

[0073] By providing that 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. 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. While reducing the torque and volume of the fifth driving member 42, it further reduces 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, which is beneficial to improving the lightweight degree of the arm assembly 100.

[0074] Please refer to Figure 1 , the present invention further provides a humanoid robot, which includes a torso assembly and the arm assembly 100 in the embodiment of the present invention, and the shoulder joint assembly 10 is connected to the torso assembly. Optionally, the humanoid robot further 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 torso 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 torso assembly. The humanoid robot provided by the present invention realizes the humanoid arm movement of the humanoid robot by adopting the torso assembly and the arm assembly 100 in the embodiment of the present invention, and the shoulder joint assembly 10 is connected to the torso assembly, and the lightweight degree of the arm assembly 100 is relatively high.

[0075] 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", "inside", "outside", 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0076] The above-disclosed is only a preferred embodiment of the present invention. 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 all or part of the 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. 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 passed through the second cylinder (112) and is coaxial with the second cylinder (112). The second driving member (13) is connected to the second surface (1122). One axial end of the second driving member (13) extends out of the first surface (1121), and the other end extends out of the second surface (1122). The length of the second driving member (13) extending out of the first surface (1121) is greater than the length of the second driving member (13) extending out of the second surface (1122). One end of the second driving member (13) extending out of the second surface (1122) is used to be connected to the boom assembly (20). The axial midpoint of the second driving member (13) is located on the first axis (L1). The second driving member (13) is used to drive 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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