A waterproof and dustproof humanoid robot actuator

Abstract

The present invention provides a waterproof and dustproof humanoid robot actuator, which relates to the technical field of humanoid robots and comprises a support arm, wherein the support arm comprises a support base, a rotating base is longitudinally and rotatably installed on the top of the support base, a driving assembly is fixedly installed between the support base and the rotating base, a hollow dustproof tube is fixedly installed on the bottom of the rotating base, the hollow dustproof tube is nested in the outer wall of the support base and rotatably cooperates with the support base, a fine tube filter screen formed by arranging fine tubes is fixedly installed on the bottom of the hollow dustproof tube, and drainage holes are arranged on the fine tube filter screen. The fine tube filter screen and the fine tube filter screen frame of the present invention can effectively block dust and water flow in a smaller occupied space through the filter screen composed of fine tubes, thereby improving the waterproof and dustproof effect of the actuator; the present invention can prevent the movable arm from getting out of control during operation and reduce operation accidents through the auxiliary driving slider and the driving screw.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a waterproof and dustproof humanoid robot actuator. Background Art

[0002] In order to simulate human movements, humanoid robots need a more precise and stable structure, and therefore need to have better waterproof and dustproof effects so that they can work in water or harsh environments.

[0003] The waterproof and dustproof structures of existing humanoid robot actuators are usually more obvious, and the waterproof and dustproof effects are average, making it difficult to continue working in harsh environments.

[0004] Based on this, the present invention provides a waterproof and dustproof humanoid robot actuator. Summary of the invention

[0005] The cam is provided with a plurality of movable members, each of which is provided with a plurality of movable members, and the movable members are provided with a plurality of movable members, each of which is provided with a plurality of movable members.

[0006] Furthermore, a positioning cylinder is fixedly installed on the bottom of the rotating base, and an annular rotating groove is provided on the top of the supporting base. The positioning cylinder and the rotating groove on the top of the supporting base are rotatably matched. A pair of limit transmission rings are longitudinally rotatably installed in the rotating groove on the top of the supporting base. The inner ring of the limit transmission ring is provided with a gear pattern, and a limit rod is fixedly installed on the outer wall of the limit transmission ring. A pair of limit motors are fixedly installed on the top of the supporting base, and a gear is fixedly installed on the limit motor. The gear on the limit motor is meshed with the gear pattern of the inner ring of the limit transmission ring. A limit rotating groove is provided on the inner wall of the positioning cylinder, and the limit rotating groove is a fan-shaped columnar slide groove. The limit rod on the limit transmission ring slides with the arc-shaped inner wall of the limit rotating groove.

[0007] Furthermore, a slide groove is provided on the top of the rotating base, and a secondary driving slider is longitudinally slidably installed in the slide groove on the top of the rotating base, a tension spring is fixedly installed between the bottom of the secondary driving slider and the rotating base, and racks are symmetrically fixedly installed on the left and right sides of the secondary driving slider, and a driving screw is transversely rotatably installed on the top of the secondary driving slider, and a gear is fixedly installed at one end of the driving screw, and a secondary driving motor is fixedly installed at the bottom of the secondary driving slider, and a gear is fixedly installed on the secondary driving motor, and the gear on the secondary driving motor is meshed with the gear on the driving screw, and a pair of step transmission wheels are transversely rotatably installed on the top of the rotating base, the step transmission wheels are located on both sides of the secondary driving slider, and the step transmission wheels are rollingly matched with the bottom of the movable support arm, and a plurality of radial slide grooves are provided at the front end of the step transmission wheel, and transmission teeth are slidably installed in the slide grooves, and a tension spring is fixedly installed between the bottom of the transmission teeth and the step transmission wheel.

[0008] Furthermore, a gear pattern is provided at the bottom of the movable support arm, and the gear pattern at the bottom of the movable support arm cooperates with the driving screw and worm.

[0009] Furthermore, the auxiliary driving slider is fixedly installed with limit triangular keys at both ends, and a first limit triangular slider is installed in the slide groove on the top of the rotating base for horizontal sliding. A compression spring is fixedly installed between the first limit triangular slider and the rotating base, and the limit triangular key is in contact and cooperate with the first limit triangular slider.

[0010] Furthermore, a plurality of annular slide grooves are provided on the top of the movable support arm, a capillary filter rack is rotatably installed in the slide groove, the capillary filter rack is fixedly connected to the movable forearm, a filter formed by arranging capillary tubes is fixedly installed on the bottom of the capillary filter rack, and drainage holes are provided on the capillary tubes, a liquid storage tank is fixedly installed on the movable forearm, an infusion pipeline is fixedly installed on the capillary filter rack, the infusion pipeline on the capillary filter rack is fixedly connected to the liquid storage tank, and the infusion pipeline on the capillary filter rack is connected to the filter.

[0011] Furthermore, a storage tank is fixedly installed in the movable support arm, the top of the storage tank is connected to the annular slide groove at the top of the movable support arm through a pipeline, and the side of the storage tank is connected to an external air pump through a pipeline.

[0012] Furthermore, the driving assembly includes a positioning base, a frameless torque motor is fixedly installed on the top of the positioning base, a friction body is fixedly installed on the top of the frameless torque motor, a rotating cover plate is rotatably installed on the top of the positioning base, a permanent magnet brake is fixedly installed on the bottom of the rotating cover plate, the permanent magnet brake is fixedly connected to the outer ring of the frameless torque motor, a pressure plate is fixedly installed on the top of the permanent magnet brake, the pressure plate is in contact with the friction body, a torque sensor is fixedly installed on the top of the rotating cover plate, and a central support rod is fixedly installed at the center of the positioning base.

[0013] Furthermore, a movable wrist base is fixedly installed on the top of the movable forearm, a movable wrist rotating seat is installed on the top of the movable wrist base for transverse rotation, a second adjusting motor is fixedly installed in the movable wrist base, the transmission shaft of the second adjusting motor is fixedly connected to the movable wrist rotating seat, an arc-shaped support plate is fixedly installed on the top of the movable wrist rotating seat, the movable wrist is slidably installed in the arc-shaped support plate, the inner wall of the arc-shaped support plate is provided with gear patterns, a first adjusting motor is fixedly installed on the bottom of the movable wrist, a gear is fixedly installed on the first adjusting motor, the gear on the first adjusting motor is meshed with the gear pattern on the inner wall of the arc-shaped support plate, and a second dustproof sleeve is fixedly installed between the outer wall of the movable wrist and the top of the movable forearm.

[0014] Furthermore, a liquid storage sponge is fixedly installed inside the hollow dustproof tube, the capillary filter is connected to the inside of the hollow dustproof tube through a pipe, and a liquid injection port is fixedly installed on the outer wall of the hollow dustproof tube, and the liquid injection port is connected to an external liquid supply pump through a pipe.

[0015] Furthermore, a first dustproof sleeve is fixedly mounted on the middle outer wall of the rotating base, and the other end of the first dustproof sleeve is fixedly connected to the middle outer wall of the movable supporting arm.

[0016] Compared with the prior art, the present invention has the following advantages: (1) The fine tube filter and fine tube filter frame of the present invention can effectively block dust and water flow in a smaller occupied space through the filter composed of fine tubes, thereby improving the waterproof and dustproof effect of the actuator; (2) The present invention can prevent the movable arm from losing control during operation through the auxiliary driving slider and the driving screw, thereby reducing operational accidents; (3) The present invention limits the rotation angle of the rotating base through the limit transmission ring, controls the movable range of the rotating base, and reduces the damage caused by the rotating base in the event of a failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the front structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the overall half-section structure of the present invention.

[0020] Figure 4 It is a schematic diagram of the partial cutaway structure of the present invention.

[0021] Figure 5 It is a schematic diagram of the half-section structure of the present invention.

[0022] Figure 6 It is a schematic diagram of the half-section structure of the rotating base of the present invention.

[0023] Figure 7 It is a schematic diagram of the half-section structure of the drive assembly of the present invention.

[0024] Figure 8 It is a schematic diagram of the half-section structure of the stepped rotating wheel of the present invention.

[0025] Fig. 9 It is a schematic diagram of the bottom structure of the rotating base of the present invention.

[0026] Fig.10 It is a schematic diagram of the half-section structure of the auxiliary driving slider of the present invention.

[0027] Fig.11 It is a schematic diagram of the semi-section structure of the movable forearm of the present invention.

[0028] Fig.12 It is a schematic diagram of the half-section structure of the hollow dustproof tube of the present invention.

[0029] Figure numerals: 1-support arm; 2-movable arm; 3-drive assembly; 101-support base; 102-hollow dustproof tube; 103-rotating base; 104-first dustproof sleeve; 105-liquid injection port; 106-liquid storage sponge; 107-limit transmission ring; 108-limit motor; 109-secondary drive slider; 110-drive screw; 111-first limit triangle slider; 112-step transmission wheel; 113-thin tube filter; 114-limit rotation groove; 115-transmission tooth; 116-secondary drive motor; 117-limit triangle key; 118-fixed Position cylinder; 201- movable support arm; 202- storage tank; 203- capillary filter rack; 204- movable forearm; 205- movable wrist base; 206- movable wrist rotating seat; 207- movable wrist; 208- liquid storage tank; 209- first regulating motor; 210- arc support plate; 211- second regulating motor; 212- second dustproof sleeve; 301- rotating cover plate; 302- pressure plate; 303- permanent magnet brake; 304- frameless torque motor; 305- torque sensor; 306- center support rod; 307- positioning base; 308- friction body. DETAILED DESCRIPTION

[0030] The technical solution provided by the present invention is further described below in conjunction with the accompanying drawings and according to specific implementation methods.

[0031] like Figures 1 to 11As shown, a waterproof and dustproof humanoid robot actuator comprises a support arm 1, the support arm 1 comprises a support base 101, a rotating base 103 is longitudinally rotatably installed on the top of the support base 101, a driving assembly 3 is fixedly installed between the support base 101 and the rotating base 103, a movable arm 2 is transversely rotatably installed on the top of the rotating base 103, the movable arm 2 comprises a movable support arm 201, the movable support arm 201 is rotatably installed on the top of the rotating base 103, a driving assembly 3 is fixedly installed between the movable support arm 201 and the rotating base 103, a hollow dustproof tube 102 is fixedly installed at the bottom of the rotating base 103, the hollow dustproof tube 102 is nested in the outer wall of the support base 101 and rotates with the support base 101, a fine tube filter 113 formed by arranging fine tubes is fixedly installed at the bottom of the hollow dustproof tube 102, the fine tube filter 113 is provided with a drainage hole, and the inside of the hollow dustproof tube 102 A liquid storage sponge 106 is fixedly installed, and the liquid storage sponge 106 is used to store waterproof oil. The capillary filter 113 is connected to the inside of the hollow dustproof tube 102 through a pipeline, and is used to transfer the oil inside the hollow dustproof tube 102 to the capillary used to form the capillary filter 113, and the oil is attached to the outer wall of the tube through the drainage holes on the capillary tube to form an oil film, and the surface tension of the water is used to prevent water flow and dust from passing through. When the actuator is working in water or being splashed with water, it can effectively prevent the actuator from being immersed in water and causing damage to internal parts. A liquid injection port 105 is fixedly installed on the outer wall of the hollow dustproof tube 102, and the liquid injection port 105 is connected to an external liquid supply pump through a pipeline. The outer wall of the support base 101 is provided with an annular groove, and the capillary filter 113 is rotatably installed in the annular groove on the outer wall of the support base 101, forming a maze-like structure with the annular groove, and the maze-like structure can prevent larger impurities from entering the device.

[0032] like Figures 1 to 11As shown, a positioning cylinder 118 is fixedly installed at the bottom of the rotating base 103, and an annular rotating groove is provided at the top of the supporting base 101. The positioning cylinder 118 rotates with the rotating groove at the top of the supporting base 101. A pair of limit transmission rings 107 are longitudinally rotatably installed in the rotating groove at the top of the supporting base 101. The inner ring of the limit transmission ring 107 is provided with a gear pattern. A limit rod is fixedly installed on the outer wall of the limit transmission ring 107. A pair of limit motors 108 are fixedly installed on the top of the supporting base 101. A gear is fixedly installed on the limit motor 108. The gear on the limit motor 108 meshes with the gear pattern of the inner ring of the limit transmission ring 107. A limit rotation groove 114 is provided on the inner wall of the positioning cylinder 118. The limit rotation groove 114 is a fan-shaped columnar slide groove. The limit rod on the limit transmission ring 107 slides with the limit rotation groove 114 and contacts with the plane part of the limit rotation groove 114 to limit the rotation of the rotating base 103 The range is to prevent the rotating base 103 from being unable to lock and stop rotating when the actuator fails. By starting the two limit motors 108 and rotating in opposite or same directions at the same time, the two limit transmission rings 107 are driven to rotate in the support base 101, and the distance between the limit rods on the two limit transmission rings 107 and the rotation angle on the support base 101 are adjusted. When the limit rods on the two limit transmission rings 107 are farther apart, the limit rods on the two limit transmission rings 107 are closer to the plane parts on both sides of the limit rotation groove 114, so as to adjust the rotatable angle of the rotating base 103 on the support base 101. When the two limit transmission rings 107 rotate synchronously, the limit rods on the limit transmission ring 107 are closer to the plane part on one side of the limit rotation groove 114, and farther from the plane part on the other side of the limit rotation groove 114, so as to adjust the rotation range of the rotating base 103 on the support base 101.

[0033] like Figures 1 to 11As shown, a slide groove is provided on the top of the rotating base 103, and a secondary driving slider 109 is longitudinally slidably installed in the slide groove on the top of the rotating base 103, a tension spring is fixedly installed between the secondary driving slider 109 and the rotating base 103, and racks are symmetrically fixedly installed on the left and right sides of the secondary driving slider 109. A driving screw 110 is horizontally rotatably installed on the top of the secondary driving slider 109. The driving screw 110 is used to temporarily control the movable arm 2 when the driving component 3 fails and loses control of the movable arm 2, so as to prevent the movable arm 2 from falling out of control and causing danger. A gear is fixedly installed on one end of the driving screw 110, and a secondary driving slider 109 is fixedly installed on the bottom. The motor 116 is fixedly mounted with a gear on the auxiliary drive motor 116, and the gear on the auxiliary drive motor 116 meshes with the gear on the drive screw 110. A pair of step transmission wheels 112 are installed on the top of the rotating base 103 for horizontal rotation. The step transmission wheels 112 are located on both sides of the auxiliary drive slider 109. The step transmission wheels 112 are rollingly matched with the bottom of the movable support arm 201. The bottom of the movable support arm 201 is provided with a gear pattern. The gear pattern at the bottom of the movable support arm 201 cooperates with the worm of the drive screw 110. A plurality of radial grooves are provided at the front end of the step transmission wheel 112. A transmission tooth 115 is slidably installed in the groove. The bottom of the transmission tooth 115 is matched with the step transmission wheel A tension spring is fixedly installed between 112, and a limited triangular key 117 is fixedly installed at the front and rear ends of the auxiliary driving slider 109. A first limited triangular slider 111 is installed in the slide groove on the top of the rotating base 103 for horizontal sliding sliding. A compression spring is fixedly installed between the first limited triangular slider 111 and the rotating base 103. The limited triangular key 117 contacts and cooperates with the first limited triangular slider 111 to lock the position of the auxiliary driving slider 109. When the movable arm 2 loses control during operation and falls down quickly, the step transmission wheel 112 is driven to rotate rapidly through the contact between the bottom of the movable support arm 201 and the step transmission wheel 112, and the centrifugal force drives The transmission tooth 115 slides out of the slide groove, so that the transmission tooth 115 meshes with the racks on both sides of the auxiliary driving slider 109, and drives the auxiliary driving slider 109 to slide to the top of the rotating base 103, so that the driving screw 110 meshes with the gear pattern at the bottom of the movable support arm 201, and at the same time, through the cooperation of the first limiting triangular slider 111 and the limiting triangular key 117, the auxiliary driving slider 109 is fixed to the top of the rotating base 103, and then the auxiliary driving motor 116 is started to drive the driving screw 110 to rotate, and the movable support arm 201 is driven to rotate on the rotating base 103 by the driving screw 110, so as to temporarily control the movable arm 2 to prevent danger.

[0034] like Figures 1 to 11 As shown, a first dustproof sleeve 104 is fixedly installed on the middle outer wall of the rotating base 103, and the other end of the first dustproof sleeve 104 is fixedly connected to the middle outer wall of the movable support arm 201, which is used to prevent dust and liquid from entering the connection between the rotating base 103 and the movable support arm 201 and affecting the service life of the actuator.

[0035] like Figures 1 to 11 As shown, a movable forearm 204 is longitudinally rotatably installed on the top of the movable support arm 201, a driving assembly 3 is fixedly installed between the movable support arm 201 and the movable forearm 204, a plurality of annular slide grooves are provided on the top of the movable support arm 201, a fine tube filter frame 203 is rotatably installed in the slide groove, the fine tube filter frame 203 is fixedly connected to the movable forearm 204, a filter formed by arranging fine tubes is fixedly installed on the bottom of the fine tube filter frame 203, and the fine tubes are provided with drainage holes, a liquid storage tank 208 is fixedly installed on the movable forearm 204, the liquid storage tank 208 is connected to an external liquid pump through a pipeline, an infusion pipeline is fixedly installed on the fine tube filter frame 203, the infusion pipeline on the fine tube filter frame 203 is fixedly connected to the liquid storage tank 208, and the infusion pipeline on the fine tube filter frame 203 is connected to the filter, and is used for Waterproof oil is transported into the capillary filter 113 on the capillary filter frame 203, and the oil is discharged to the surface of the capillary through the drainage holes on the capillary tubes to form an oil film, thereby improving the waterproof and dustproof performance of the actuator. A storage tank 202 is fixedly installed in the movable support arm 201, and the top of the storage tank 202 is connected to the annular slide groove on the top of the movable support arm 201 through a pipeline. The storage tank 202 is used to collect waste oil dripping from the capillary filter frame 203. The side of the storage tank 202 is connected to an external vacuum pump through a pipeline. The air in the storage tank 202 is extracted by starting the external vacuum pump to form a negative pressure inside the storage tank 202, and the waste oil at the bottom of the capillary filter frame 203 is sucked away through the pipeline on the top of the storage tank 202 to prevent impurities in the waste oil from affecting the smoothness of the rotation of the movable forearm 204.

[0036] like Figures 1 to 11 As shown, the drive assembly 3 includes a positioning base 307, which is fixedly connected to the base component, a frameless torque motor 304 is fixedly installed on the top of the positioning base 307, a friction body 308 is fixedly installed on the top of the frameless torque motor 304, a rotating cover plate 301 is rotatably installed on the top of the positioning base 307, and the rotating cover plate 301 is used to be fixedly connected to the driven component and drive it to rotate, a permanent magnet brake 303 is fixedly installed on the bottom of the rotating cover plate 301, and the permanent magnet brake 303 is fixedly connected to the outer ring of the frameless torque motor 304, a pressure plate 302 is fixedly installed on the top of the permanent magnet brake 303, and the pressure plate 302 is in contact with the friction body 308 to control the actuator to rotate and stop smoothly, a torque sensor 305 is fixedly installed on the top of the rotating cover plate 301, which is used to monitor the rotation speed and torque of the actuator, and a central support rod 306 is fixedly installed at the center of the positioning base 307.

[0037] like Figures 1 to 11As shown, a movable wrist base 205 is fixedly installed on the top of the movable forearm 204, and a movable wrist rotating seat 206 is installed on the top of the movable wrist base 205 for horizontal rotation. A second adjusting motor 211 is fixedly installed in the movable wrist base 205, and the transmission shaft of the second adjusting motor 211 is fixedly connected to the movable wrist rotating seat 206 to drive the movable wrist rotating seat 206 to rotate on the movable wrist base 205. An arc-shaped supporting plate 210 is fixedly installed on the top of the movable wrist rotating seat 206, and a movable wrist 207 is slidably installed in the arc-shaped supporting plate 210. Different working components can be installed on the top of the movable wrist 207 to complete different work contents. The inner wall of the support plate 210 is provided with a gear pattern, and a first adjusting motor 209 is fixedly installed at the bottom of the movable wrist 207. A gear is fixedly installed on the first adjusting motor 209. The gear on the first adjusting motor 209 is meshed with the gear pattern on the inner wall of the arc-shaped support plate 210. By starting the first adjusting motor 209, the movable wrist 207 can be driven to slide on the arc-shaped support plate 210 to assist the movement of the working components at the top of the movable wrist 207. A second dustproof sleeve 212 is fixedly installed between the outer wall of the movable wrist 207 and the top of the movable forearm 204 to prevent dust and liquid from entering the interior of the movable wrist base 205 and affecting the normal operation of the actuator.

Claims

1. A waterproof and dustproof humanoid robot actuator, comprising a support arm (1), the support arm (1) comprising a support base (101), a rotating base (103) being longitudinally rotatably mounted on the top of the support base (101), a driving assembly (3) being fixedly mounted between the support base (101) and the rotating base (103), a movable arm (2) being transversely rotatably mounted on the top of the rotating base (103), the movable arm (2) comprising a movable support arm (201), the movable support arm (201) being rotatably mounted on the top of the rotating base (103), a driving assembly (3) being fixedly mounted between the movable support arm (201) and the rotating base (103), a movable forearm (204) being longitudinally rotatably mounted on the top of the movable support arm (201), and a driving assembly (3) being fixedly mounted between the movable support arm (201) and the movable forearm (204), wherein: A hollow dustproof tube (102) is fixedly mounted on the bottom of the rotating base (103); the hollow dustproof tube (102) is nested in the outer wall of the supporting base (101) and rotatably cooperates with the supporting base (101); a fine tube filter (113) formed by arranging fine tubes is fixedly mounted on the bottom of the hollow dustproof tube (102); a liquid drainage hole is provided on the fine tube filter (113); an annular groove is provided on the outer wall of the supporting base (101); the fine tube filter (113) is rotatably mounted in the annular groove on the outer wall of the supporting base (101), and forms a maze-like structure with the annular groove; A positioning cylinder (118) is fixedly mounted on the bottom of the rotating base (103); an annular rotating groove is provided on the top of the supporting base (101); the positioning cylinder (118) is rotatably matched with the rotating groove on the top of the supporting base (101); a pair of limit transmission rings (107) are longitudinally rotatably mounted in the rotating groove on the top of the supporting base (101); the inner rings of the limit transmission rings (107) are provided with gear patterns; a limit rod is fixedly mounted on the outer wall of the limit transmission ring (107); a pair of limit motors (108) are fixedly mounted on the top of the supporting base (101); a gear is fixedly mounted on the limit motor (108); the gear on the limit motor (108) meshes with the gear pattern on the inner ring of the limit transmission ring (107); a limit rotating groove (114) is provided on the inner wall of the positioning cylinder (118); the limit rotating groove (114) is a fan-shaped columnar sliding groove; the limit rod on the limit transmission ring (107) is slidably matched with the arc-shaped inner wall of the limit rotating groove (114).

2. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: The top of the rotating base (103) is provided with a slide groove, a secondary driving slider (109) is longitudinally slidably installed in the slide groove at the top of the rotating base (103), a tension spring is fixedly installed between the bottom of the secondary driving slider (109) and the rotating base (103), racks are symmetrically fixedly installed on the left and right sides of the secondary driving slider (109), a driving screw (110) is transversely rotatably installed on the top of the secondary driving slider (109), a gear is fixedly installed at one end of the driving screw (110), a secondary driving motor (116) is fixedly installed at the bottom of the secondary driving slider (109), and the secondary driving motor (116) is fixedly installed on the top of the secondary driving slider (109). A gear is fixedly installed, and the gear on the auxiliary drive motor (116) meshes with the gear on the drive screw (110). A pair of step transmission wheels (112) are installed on the top of the rotating base (103) for transverse rotation. The step transmission wheels (112) are located on both sides of the auxiliary drive slider (109). The step transmission wheels (112) are rollingly matched with the bottom of the movable support arm (201). The front end of the step transmission wheel (112) is provided with a plurality of radial sliding grooves, and a transmission tooth (115) is slidably installed in the sliding groove. A tension spring is fixedly installed between the bottom of the transmission tooth (115) and the step transmission wheel (112).

3. The waterproof and dustproof humanoid robot actuator according to claim 2, characterized in that: The bottom of the movable support arm (201) is provided with a gear pattern, and the gear pattern at the bottom of the movable support arm (201) cooperates with the worm of the driving screw (110).

4. The waterproof and dustproof humanoid robot actuator according to claim 2, characterized in that: The auxiliary driving slider (109) is fixedly provided with limit triangular keys (117) at both ends thereof, and a first limit triangular slider (111) is laterally slidably provided in a slide groove at the top of the rotating base (103). A compression spring is fixedly provided between the first limit triangular slider (111) and the rotating base (103), and the limit triangular key (117) is in contact with and fits the first limit triangular slider (111).

5. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: The top of the movable support arm (201) is provided with a plurality of annular slide grooves, a thin tube filter frame (203) is rotatably mounted in the slide grooves, the thin tube filter frame (203) is fixedly connected to the movable front arm (204), a filter formed by arranging thin tubes is fixedly mounted at the bottom of the thin tube filter frame (203), and the thin tubes are provided with drainage holes, a liquid storage tank (208) is fixedly mounted on the movable front arm (204), a liquid infusion pipeline is fixedly mounted on the thin tube filter frame (203), the liquid infusion pipeline on the thin tube filter frame (203) is fixedly connected to the liquid storage tank (208), and the liquid infusion pipeline on the thin tube filter frame (203) is connected to the filter.

6. The waterproof and dustproof humanoid robot actuator according to claim 5, characterized in that: A storage tank (202) is fixedly installed in the movable support arm (201); the top of the storage tank (202) is connected to the annular slide groove at the top of the movable support arm (201) via a pipeline; and the side of the storage tank (202) is connected to an external air pump via a pipeline.

7. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: The driving assembly (3) comprises a positioning base (307), a frameless torque motor (304) is fixedly mounted on the top of the positioning base (307), a friction body (308) is fixedly mounted on the top of the frameless torque motor (304), a rotating cover plate (301) is rotatably mounted on the top of the positioning base (307), a permanent magnet brake (303) is fixedly mounted on the bottom of the rotating cover plate (301), the permanent magnet brake (303) is fixedly connected to the outer ring of the frameless torque motor (304), a pressure plate (302) is fixedly mounted on the top of the permanent magnet brake (303), the pressure plate (302) is in contact with the friction body (308), a torque sensor (305) is fixedly mounted on the top of the rotating cover plate (301), and a central support rod (306) is fixedly mounted at the center of the positioning base (307).

8. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: A movable wrist base (205) is fixedly mounted on the top of the movable forearm (204); a movable wrist rotating seat (206) is laterally rotatably mounted on the top of the movable wrist base (205); a second adjusting motor (211) is fixedly mounted inside the movable wrist base (205); a transmission shaft of the second adjusting motor (211) is fixedly connected to the movable wrist rotating seat (206); an arc-shaped support plate (210) is fixedly mounted on the top of the movable wrist rotating seat (206); a movable wrist (207) is slidably mounted inside the arc-shaped support plate (210); a gear pattern is provided on the inner wall of the arc-shaped support plate (210); a first adjusting motor (209) is fixedly mounted on the bottom of the movable wrist (207); a gear is fixedly mounted on the first adjusting motor (209); the gear on the first adjusting motor (209) is meshed with the gear pattern on the inner wall of the arc-shaped support plate (210); and a second dustproof sleeve (212) is fixedly mounted between the outer wall of the movable wrist (207) and the top of the movable forearm (204).

9. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: A liquid storage sponge (106) is fixedly installed inside the hollow dustproof tube (102), and the fine tube filter (113) is connected to the inside of the hollow dustproof tube (102) through a pipeline. A liquid injection port (105) is fixedly installed on the outer wall of the hollow dustproof tube (102), and the liquid injection port (105) is connected to an external liquid supply pump through a pipeline.

10. The waterproof and dustproof humanoid robot actuator according to claim 1, characterized in that: A first dustproof sleeve (104) is fixedly mounted on the middle outer wall of the rotating base (103), and the other end of the first dustproof sleeve (104) is fixedly connected to the middle outer wall of the movable support arm (201).

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