Novel humanoid robot

Abstract

The invention provides a novel humanoid robot which comprises a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a shank mechanism and a foot mechanism. A second swing mechanism is arranged between the forearm mechanism and the upper arm mechanism, a third swing mechanism is arranged between the hand mechanism and the forearm mechanism, a fourth swing mechanism and a second plane rotating mechanism 70 are arranged between the waist mechanism and the upper limb mechanism, and the hip mechanism is fixedly connected with the lower end of the waist mechanism; a fifth swing mechanism and a third plane rotating mechanism are arranged between the thigh mechanism and the hip mechanism, a sixth swing mechanism is arranged between the thigh mechanism and the shank mechanism, and a seventh swing mechanism is arranged between the shank mechanism and the foot mechanism. According to the robot, complex actions of the robot are completed through cooperation of the swing mechanism and the plane rotating mechanism.

Description

Technical Field

[0001] The present invention relates to the field of robot equipment, in particular to a novel humanoid robot. Background Art

[0002] At present, the development of humanoid robot products is very rapid, and the market prospects are broad. The main uses of humanoid robots are: (1) in daily life, cleaning and doing housework at home, guarding the house, supervising household appliances, taking care of the elderly and children; replacing nursing staff to deliver food and medicine to patients, taking care of the daily life of the disabled; providing interactive consulting services, display publicity and performance activities in exhibitions, exhibition halls, tourist areas and public places, etc. This type of robot almost always provides services directly to people, and directly communicates and contacts with people face to face; (2) used in logistics and workshop assembly lines. This type of humanoid robot can communicate with people with appropriate expressions and language while completing assembly line work, making people feel that they are not just facing a cold machine, but a "person" with life and emotions. This will enable robots to communicate with people better and provide more considerate and friendly services to humans. In some areas, they can even completely replace humans to work independently to alleviate the pressure of aging in human society. However, existing humanoid robots generally have problems such as complex body structure and complex schemes for motor-driven joint movement, which are not convenient for the production and promotion of humanoid robots. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a new type of humanoid robot with a simple body structure. A swing mechanism and a plane rotation mechanism are used between the main mechanisms, and the action superposition of the swing mechanism and the plane rotation mechanism between the components is utilized to enable the humanoid robot to complete complex movements.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A novel humanoid robot comprises a control system and a body, wherein the body comprises a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a calf mechanism and a foot mechanism, wherein the head mechanism is arranged at the upper part of the upper limb mechanism, two upper arm mechanisms are provided, and the two upper arm mechanisms are respectively arranged at both sides of the upper limb mechanism, and a forearm mechanism is respectively provided at the lower end of each upper arm mechanism, and the lower end of the forearm mechanism is connected to the hand mechanism, the waist mechanism and the hip mechanism are arranged at the lower part of the upper limb mechanism in sequence from top to bottom, two thigh mechanisms are provided, and the two thigh mechanisms are arranged at intervals at the lower part of the hip mechanism, and a calf mechanism is respectively provided at the lower end of each thigh mechanism, and the lower end of the calf mechanism is connected to the foot mechanism, and the length direction of the upper limb mechanism is assumed to be the Y-axis direction, and the width direction of the upper limb mechanism is assumed to be the X-axis direction;

[0006] A first swing mechanism and a first plane rotation mechanism are provided between the upper arm mechanism and the upper limb mechanism, so that the upper arm mechanism can move in three directions of XYZ relative to the upper limb mechanism;

[0007] A second swing mechanism is provided between the forearm mechanism and the upper arm mechanism, so that the forearm mechanism can move in two directions of X and Z relative to the upper arm mechanism;

[0008] A third swing mechanism is provided between the hand mechanism and the forearm mechanism, so that the hand mechanism can move in two directions of X and Z relative to the forearm mechanism;

[0009] The waist mechanism includes a waist support and a waist swing chassis, the waist swing chassis is rotatably connected to the waist support along an axis parallel to the y-axis direction, the waist support can swing relative to the front and rear ends of the waist swing chassis, the waist swing chassis can be rotatably connected to the lower end of the upper limb mechanism around a vertical axis, and the waist swing chassis can axially rotate relative to the lower end of the upper limb mechanism;

[0010] A fourth swing mechanism and a second plane rotation mechanism 70 are provided between the waist support and the upper limb mechanism. The fourth swing mechanism and the second plane rotation mechanism 70 respectively drive the waist support and the waist swing chassis to rotate, so that the upper limb mechanism can move in three directions of XYZ relative to the waist support;

[0011] The hip mechanism is fixedly connected to the lower end of the waist support;

[0012] A fifth swing mechanism and a third plane rotation mechanism are provided between the thigh mechanism and the hip mechanism, so that the thigh mechanism can move in three directions of XYZ relative to the hip mechanism;

[0013] A sixth swing mechanism is provided between the thigh mechanism and the calf mechanism, so that the calf mechanism can move in two directions of X and Z relative to the thigh mechanism;

[0014] A seventh swing mechanism is provided between the calf mechanism and the foot mechanism, so that the foot mechanism can move in two directions of X and Z relative to the calf mechanism.

[0015] Compared with the prior art, the novel humanoid robot of the present invention has the following beneficial effects:

[0016] (1) The humanoid robot of the present invention is similar in structure to humans, and has a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a calf mechanism, and a foot mechanism, so that it is convenient for third-party personnel to perform secondary shape design on the robot based on the framework, making it closer to human form, reducing product development costs, and humanoid robots with the same framework can achieve compatibility of parts, thereby reducing product maintenance costs;

[0017] (2) In this scheme, a swing mechanism and / or a plane rotation mechanism are arranged between the upper limb mechanism, waist mechanism, upper arm mechanism, forearm mechanism, hand mechanism, hip mechanism, thigh mechanism, calf mechanism and foot mechanism, so that the connecting joints of each component can realize movement in two directions of XZ or movement in three directions of XYZ. The design is simple, and by utilizing the motion superposition of the swing mechanism and the plane rotation mechanism between the components, the humanoid robot can complete complex movements. The design is ingenious, the scheme for driving joint movement is simple, efficient and reliable, and can better imitate the various degrees of freedom that humans want to achieve in expressing movements;

[0018] (3) In this scheme, the seven swing mechanisms are all designed to achieve relative forward and backward swinging between two components, so that the seven swing mechanisms can be designed to have the same structure (only the power output is different), and the three plane rotation mechanisms are all designed to achieve relative axial rotation between two components. The three plane rotation mechanisms are also designed to have the same structure (only the power output is different), thereby improving the versatility of components and simplifying the body structure.

[0019] (4) In this solution, the seven forward and backward swinging machines and the three plane rotating mechanisms are all hidden in the components, which is convenient for reducing the space occupied by the humanoid robot, improving the appearance of the humanoid robot, ensuring that the humanoid robot meets the requirements of humanoid simulation, is compact and low-cost to meet industrial-grade industrial applications;

[0020] (5) The humanoid robot of this scheme completely solves the technical defects and problems of existing humanoid robots, such as numerous driving motors, non-compact structure, large joint volume, small load, high production cost, inconvenient maintenance and short maintenance cycle.

[0021] Furthermore, the hip mechanism is provided with a hip support, and the hip support is fixedly connected to the lower end of the waist support;

[0022] The fifth swing mechanism and the third plane rotation mechanism are arranged on the hip support and are transmission-connected with the thigh mechanism.

[0023] Furthermore, the hip mechanism is provided with a hip support, and the hip support is fixedly connected to the lower end of the waist support;

[0024] The thigh mechanism includes a thigh swing chassis, a thigh bracket and a thigh rotation joint, the thigh rotation joint is arranged at the lower end of the thigh bracket, the thigh swing chassis can be rotatably connected to the thigh bracket around an axis parallel to the y-axis direction, the thigh bracket can swing relative to the front and rear ends of the thigh swing chassis, the thigh swing chassis can be rotatably connected to the hip bracket around a vertical axis, and the thigh swing chassis can rotate axially relative to the hip bracket;

[0025] The fifth swing mechanism and the third plane rotation mechanism are arranged on the buttocks support and are respectively connected to the thigh swing chassis and the thigh support in transmission.

[0026] Further, the calf mechanism includes a knee swing chassis, a knee bracket and a calf rotation joint, the calf rotation joint is arranged at the lower end of the knee bracket, the knee swing chassis is fixedly connected to the thigh mechanism, the knee bracket can be rotatably connected to the knee swing chassis around an axis parallel to the y-axis direction, and the knee bracket can swing relative to the front and rear ends of the knee swing chassis;

[0027] The sixth swing mechanism is arranged on the thigh mechanism and is transmission-connected with the knee support.

[0028] Further, the foot mechanism includes an ankle swing chassis, an ankle bracket and a foot component, the ankle swing chassis is fixedly connected to the calf mechanism, the ankle bracket can be rotatably connected to the ankle swing chassis around an axis parallel to the y-axis direction, the ankle bracket can swing relative to the front and rear ends of the ankle swing chassis, and the foot component is arranged at the lower end of the ankle bracket;

[0029] The seventh swing mechanism is arranged on the calf mechanism and is transmission-connected with the ankle support.

[0030] Further, the foot component includes a foot support, a floating base, and an elastic member;

[0031] The floating base is located below the foot support and is spaced apart from the foot support, and the floating base and the foot support are vertically movably connected;

[0032] The elastic member is arranged between the floating base and the foot support member.

[0033] Furthermore, an elastic support member is provided at the lower end of the floating base.

[0034] The above-mentioned arrangement of the foot component can make the foot component have a certain buffering capacity. On the one hand, due to the difference between the left and right halves of the humanoid robot, this arrangement of the foot component can achieve dynamic balance of the left and right halves of the humanoid robot and improve the stability of the humanoid robot's movement. On the other hand, since the humanoid robot needs to adapt to different ground scenes, the foot component can achieve the humanoid robot's self-adaptation to different ground scenes. At the same time, since the humanoid robot needs to achieve dynamic balance when the body moves, the foot component can ensure that the lower part of the body is in a good stable state during the movement.

[0035] Furthermore, an upper arm connection base is provided on the side of the upper limb mechanism;

[0036] The upper arm mechanism includes a shoulder swing chassis, a shoulder bracket, a shoulder joint and an upper arm rotation joint, wherein the shoulder joint is connected to the upper end of the upper arm rotation joint, and the shoulder joint is arranged at the lower end of the shoulder bracket; the shoulder swing chassis can be rotatably connected to the shoulder bracket around an axis parallel to the x-axis direction, the shoulder bracket can be axially rotated relative to the shoulder swing chassis, the shoulder swing chassis can be rotatably connected to the upper arm connection base around an axis parallel to the y-axis direction, and the shoulder swing chassis can be axially rotated relative to the upper arm connection base;

[0037] The first swing mechanism and the first plane rotation mechanism are arranged on the upper arm connection base, and are respectively connected to the shoulder swing chassis and the shoulder bracket in a transmission manner.

[0038] Further, the forearm mechanism includes an elbow swing chassis, an elbow bracket and a forearm rotation joint, the forearm rotation joint is arranged at the lower end of the elbow bracket, the elbow swing chassis is fixedly connected to the upper arm mechanism, the elbow bracket can be rotatably connected to the elbow swing chassis around an axis parallel to the y-axis direction, and the elbow bracket can swing relative to the front and rear ends of the elbow swing chassis;

[0039] The second swing mechanism is arranged at the lower end of the upper arm mechanism and is transmission-connected with the elbow bracket.

[0040] Further, the hand mechanism includes a wrist swing chassis, a wrist bracket and a palm component, the palm component is arranged at the lower end of the wrist bracket, the wrist swing chassis is fixedly connected to the lower end of the forearm mechanism, the wrist bracket can be rotatably connected to the wrist swing chassis around an axis parallel to the y-axis direction, and the wrist bracket can swing relative to the front and rear ends of the wrist swing chassis;

[0041] The third swing mechanism is arranged at the lower end of the forearm mechanism and is transmission-connected with the wrist bracket.

[0042] In this solution, the connections between the components are connected by component brackets and component swing chassis along the horizontal / vertical axis. This cross structure can enable each component to have a greater degree of mobility, so that the humanoid robot has a larger range of motion to achieve complex movements. At the same time, the cross structure has a strong connection strength, thereby extending the structural strength of the connections between the components and avoiding affecting the movement of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a cross-sectional view of the robot;

[0044] Figure 2 It is a cross-sectional view of the arm;

[0045] Figure 3 is an assembly diagram of the first swing mechanism, the first plane rotation mechanism and the upper arm mechanism;

[0046] Figure 4is a first angle sectional view of the first swing mechanism, the first plane rotation mechanism and the upper arm mechanism after assembly;

[0047] Figure 5 is a second angle sectional view of the first swing mechanism, the first plane rotation mechanism and the upper arm mechanism after assembly;

[0048] Figure 6 is a third angle cross-sectional view of the first swing mechanism, the first plane rotation mechanism and the upper arm mechanism after assembly;

[0049] Figure 7 It is a schematic diagram of the assembly of the upper arm rotation joint, the elbow swing chassis and the elbow bracket;

[0050] Figure 8 It is a cross-sectional view of the waist mechanism;

[0051] Fig. 9 It is a cross-sectional view of the waist mechanism from another angle;

[0052] Fig.10 is a schematic diagram of the hip mechanism;

[0053] Fig.11 is a first angle cross-sectional view of the hip mechanism;

[0054] Fig.12 is a second angle cross-sectional view of the hip mechanism;

[0055] Fig.13 is a third angle cross-sectional view of the hip mechanism;

[0056] Fig.14 It is a cross-sectional view of the leg;

[0057] Fig.15 is a cross-sectional view of the foot assembly.

[0058] Description of labels:

[0059] Body 1, head mechanism 2, upper limb mechanism 3, waist connecting base 4, upper arm connecting base 5, waist mechanism 6, waist support 7, waist swing chassis 8, upper arm mechanism 9, shoulder swing chassis 10, shoulder support 11, shoulder joint 12, upper arm rotation joint 13, forearm mechanism 14, elbow swing chassis 15, elbow support 16, forearm rotation joint 17, hand mechanism 18, wrist swing chassis 19, wrist support 20, palm part 21, hip mechanism 22, hip support 23, thigh mechanism 24, thigh swing chassis 25, thigh support 26, thigh rotation joint 27, calf mechanism 28, knee swing chassis 29, knee support 30, calf rotation joint 31, foot mechanism 32, ankle swing chassis 33, ankle support 34, foot part 35, foot support 36, floating base 37, elastic member 38, floating connection seat 39, first motor 40, first Drive shaft 41, first swing drive gear 42, second motor 43, second drive shaft 44, third motor 46, third drive shaft 47, fourth motor 49, fourth drive shaft 50, fourth swing drive gear 51, fifth motor 52, fifth drive shaft 53, fifth swing drive gear 54, sixth motor 55, sixth drive shaft 56, seventh motor 58, seventh drive shaft 59, first swing shaft 61, second swing shaft 62, third swing shaft 63, fourth swing shaft 64, fifth swing shaft 65, sixth swing shaft 66, seventh swing shaft 67, first rotating motor 68, first rotating drive gear 69, second rotating motor 71, second rotating drive gear 72, third rotating motor 74, third rotating drive gear 75, bevel gear 76, steering gear 77, upper arm rotating motor 78, forearm rotating motor 79, elastic support 80, chest upper box 81, chest lower box 82. DETAILED DESCRIPTION

[0060] The following describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0061] See also Figures 1 to 15 A novel humanoid robot of the present embodiment includes a control system (not shown in the figure) and a body 1, wherein the body 1 includes a head mechanism 2, an upper limb mechanism 3, a waist mechanism 6, an upper arm mechanism 9, a forearm mechanism 14, a hand mechanism 18, a hip mechanism 22, a thigh mechanism 24, a calf mechanism 28 and a foot mechanism 32, wherein the head mechanism 2 is arranged at the upper part of the upper limb mechanism 3, two upper arm mechanisms 9 are provided, and the two upper arm mechanisms 9 are respectively provided on both sides of the upper limb mechanism 3, and the lower end of each upper arm mechanism 9 is respectively provided with a forearm mechanism 14, and the lower end of the forearm mechanism 14 is connected to the hand mechanism 18, the waist mechanism 6 and the hip mechanism 22 are arranged at the lower part of the upper limb mechanism 3 from top to bottom in sequence, and two thigh mechanisms 24 are provided, and the two thigh mechanisms 24 are arranged at intervals at the lower part of the hip mechanism 22, and the lower end of each thigh mechanism 24 is respectively provided with a calf mechanism 28, and the lower end of the calf mechanism 28 is connected to the foot mechanism 32.

[0062] The head mechanism 2 is a square box structure, with two cameras as "eyes" to collect environmental images for navigation, a speaker as a "mouth", a laser navigation device and a recording device.

[0063] The upper limb mechanism 3 includes an upper chest box 81 and a lower chest box 82. The upper chest box 81 is a space box between the left and right shoulder joints, in which the control system of the humanoid robot is installed. The lower chest box 82 is equipped with batteries to provide power energy for the humanoid robot.

[0064] Assume that the length direction of the upper limb mechanism 3 is the Y-axis direction, and the width direction of the upper limb mechanism 3 is the X-axis direction.

[0065] A first swing mechanism and a first plane rotation mechanism are provided between the upper arm mechanism 9 and the upper limb mechanism 3, so that the upper arm mechanism 9 can move in three directions of XYZ relative to the upper limb mechanism 3; a second swing mechanism is provided between the forearm mechanism 14 and the upper arm mechanism 9, so that the forearm mechanism 14 can move in two directions of XZ relative to the upper arm mechanism 9; a third swing mechanism is provided between the hand mechanism 18 and the forearm mechanism 14, so that the hand mechanism 18 can move in two directions of XZ relative to the forearm mechanism 14; the waist mechanism 6 includes a waist support 7 and a waist swing chassis 8, the waist swing chassis 8 is rotatably connected to the waist support 7 along an axis parallel to the y-axis direction, the waist support 7 can swing relative to the front and rear ends of the waist swing chassis 8, the waist swing chassis 8 can be rotatably connected to the lower end of the upper limb mechanism 3 around a vertical axis, and the waist swing chassis 8 can be axially relative to the lower end of the upper limb mechanism 3 Rotation; a fourth swing mechanism and a second plane rotation mechanism are provided between the waist support 7 and the upper limb mechanism 3, and the fourth swing mechanism and the second plane rotation mechanism respectively drive the waist support 7 and the waist swing chassis 8 to rotate, so that the upper limb mechanism 3 can move in three directions of XYZ relative to the waist support 7; the hip mechanism 22 is fixedly connected to the lower end of the waist support 7; a fifth swing mechanism and a third plane rotation mechanism are provided between the thigh mechanism 24 and the hip mechanism 22, so that the thigh mechanism 24 can move in three directions of XYZ relative to the hip mechanism 22; a sixth swing mechanism is provided between the thigh mechanism 24 and the calf mechanism 28, so that the calf mechanism 28 can move in two directions of XZ relative to the thigh mechanism 24; a seventh swing mechanism is provided between the calf mechanism 28 and the foot mechanism 32, so that the foot mechanism 32 can move in two directions of XZ relative to the calf mechanism 28.

[0066] A waist connection base 4 is provided at the lower end of the upper limb mechanism 3; the fourth swing mechanism and the second plane rotation mechanism are arranged on the waist connection base 4, the fourth swing mechanism is transmission connected to the waist support 7, and the second plane rotation mechanism is transmission connected to the waist swing chassis 8.

[0067] Furthermore, the hip mechanism 22 is provided with a hip support 23, and the hip support 23 is fixedly connected to the lower end of the waist support 7;

[0068] The fifth swing mechanism and the third plane rotation mechanism are arranged on the hip support 23 and are transmission-connected with the thigh mechanism 24 .

[0069] Furthermore, the hip mechanism 22 is provided with a hip support 23, and the hip support 23 is fixedly connected to the lower end of the waist support 7;

[0070] The thigh mechanism 24 includes a thigh swing chassis 25, a thigh bracket 26 and a thigh rotation joint 27. The thigh rotation joint 27 is arranged at the lower end of the thigh bracket 26. The thigh swing chassis 25 can be rotatably connected to the thigh bracket 26 around an axis parallel to the y-axis direction. The thigh bracket 26 can swing relative to the front and rear ends of the thigh swing chassis 25. The thigh swing chassis 25 can be rotatably connected to the hip bracket 23 around a vertical axis. The thigh swing chassis 25 can rotate axially relative to the hip bracket 23.

[0071] The fifth swing mechanism and the third plane rotation mechanism are arranged on the buttocks support 23, and are respectively connected to the thigh swing chassis 25 and the thigh support 26 by transmission.

[0072] Further, the calf mechanism 28 includes a knee swing chassis 29, a knee support 30 and a calf rotation joint 31, the calf rotation joint 31 is arranged at the lower end of the knee support 30, the knee swing chassis 29 is fixedly connected to the thigh mechanism 24, the knee support 30 can be rotatably connected to the knee swing chassis 29 around an axis parallel to the y-axis direction, and the knee support 30 can swing relative to the front and rear ends of the knee swing chassis 29;

[0073] The sixth swing mechanism is arranged on the thigh mechanism 24 and is transmission-connected to the knee support 30 .

[0074] Further, the foot mechanism 32 includes an ankle swing chassis 33, an ankle bracket 34 and a foot component 35, the ankle swing chassis 33 is fixedly connected to the calf mechanism 28, the ankle bracket 34 is rotatably connected to the ankle swing chassis 33 around an axis parallel to the y-axis direction, the ankle bracket 34 can swing relative to the front and rear ends of the ankle swing chassis 33, and the foot component 35 is arranged at the lower end of the ankle bracket 34;

[0075] The seventh swing mechanism is arranged on the calf mechanism 28 and is transmission-connected to the ankle support 34 .

[0076] Further, the foot component 35 includes a foot support 36, a floating base 37 and an elastic member 38;

[0077] The floating base 37 is located below the foot support 36 and is spaced apart from the foot support 36. The floating base 37 and the foot support 36 are vertically movably connected (in this embodiment, the floating base 37 and the foot support 36 are movably connected using a pin shaft);

[0078] The elastic member 38 is disposed between the floating base 37 and the foot support member 36 .

[0079] Furthermore, an elastic support member 80 is provided at the lower end of the floating base 37 .

[0080] The above-mentioned arrangement of the foot component 35 can make the foot component 35 have a certain buffering capacity. On the one hand, due to the difference between the left and right halves of the humanoid robot, this arrangement of the foot component 35 can achieve the dynamic balance of the left and right halves of the humanoid robot and improve the stability of the humanoid robot's movement. On the other hand, since the humanoid robot needs to adapt to different ground scenes, the foot component 35 can achieve the humanoid robot's self-adaptation to different ground scenes. At the same time, since the body 1 of the humanoid robot needs to achieve dynamic balance when the humanoid robot moves, the foot component 35 can ensure that the lower part of the body 1 is in a better stable state during the movement.

[0081] Furthermore, a plurality of elastic members 38 are provided; a floating connection seat 39 is provided in the middle of the lower side of the foot support member 36, the middle of the floating base 37 is hinged to the floating connection seat 39, and a plurality of elastic members 38 are arranged around the floating connection seat 39; or, a floating connection seat 39 is provided in the middle of the upper side of the floating base 37, the middle of the foot support member 36 is hinged to the floating connection seat 39, and a plurality of elastic members 38 are arranged around the floating connection seat 39.

[0082] The setting of the floating connection seat 39 enables the foot support 36 and the floating base 37 to swing back and forth around the floating connection seat 39, so that the foot component 35 can be dynamically adjusted in a predetermined posture to achieve an adaptive effect, thereby improving the supporting effect of the foot component 35 and further improving the stability of the body 1.

[0083] The foot mechanism 32 supports the weight of the entire humanoid robot, and the foot component 35 contacts the ground. Since the elastic support member 80 is made of elastic material, it can buffer the vibration of the humanoid robot when walking and the uneven terrain of the ground. When the humanoid robot moves forward, the body leans forward and the center of gravity of the body leans forward, and the foot component 35 also changes accordingly with the change of the body position.

[0084] The foot component 35 rotates and deforms around the floating connection seat 39, and the foot support member 36 generates a downward pressure, pressing against the floating base 37. The elastic member 38 is placed in the space before and after the floating connection seat 39 to absorb the pressure deformation. The floating base 37 and the foot support member 36 are vertically movably connected to adapt to the deformation of the elastic member 38 at any time to ensure that the humanoid robot walks smoothly.

[0085] Furthermore, an upper arm connection base 5 is provided on the side of the upper limb mechanism 3;

[0086] The upper arm mechanism 9 includes a shoulder swing chassis 10, a shoulder bracket 11, a shoulder joint 12 and an upper arm rotation joint 13, wherein the shoulder joint 12 is connected to the upper end of the upper arm rotation joint 13, and the shoulder joint 12 is arranged at the lower end of the shoulder bracket 11; the shoulder swing chassis 10 can be rotatably connected to the shoulder bracket 11 around an axis parallel to the x-axis direction, the shoulder bracket 11 can axially rotate relative to the shoulder swing chassis 10, the shoulder swing chassis 10 can be rotatably connected to the upper arm connection base 5 around an axis parallel to the y-axis direction, and the shoulder swing chassis 10 can axially rotate relative to the upper arm connection base 5;

[0087] The first swing mechanism and the first plane rotation mechanism are arranged on the upper arm connection base 5 and are respectively connected to the shoulder swing chassis 10 and the shoulder bracket 11 in transmission connection.

[0088] An upper arm rotating motor 78 is built into the upper part of the upper arm rotating joint 13, and the output end of the upper arm rotating motor 78 is fixedly connected to the shoulder joint 12. The upper arm rotating motor 78 is used to drive the upper arm rotating joint 13 to rotate relative to the shoulder joint 12 along the axis of the length direction of the upper arm rotating joint 13.

[0089] Further, the forearm mechanism 14 includes an elbow swing chassis 15, an elbow bracket 16 and a forearm rotation joint 17, the forearm rotation joint 17 is arranged at the lower end of the elbow bracket 16, the elbow swing chassis 15 is fixedly connected to the upper arm mechanism 9, the elbow bracket 16 can be rotatably connected to the elbow swing chassis 15 around an axis parallel to the y-axis direction, and the elbow bracket 16 can swing relative to the front and rear ends of the elbow swing chassis 15;

[0090] The second swing mechanism is arranged at the lower end of the upper arm mechanism 9 and is transmission-connected to the elbow bracket 16 .

[0091] An arm rotating motor 79 is built into the upper part of the arm rotating joint 17, and the output end of the arm rotating motor 79 is fixedly connected to the elbow bracket 16. The arm rotating motor 79 is used to drive the arm rotating joint 17 to rotate relative to the elbow bracket 16 along the axis of the length direction of the arm rotating joint 17.

[0092] Further, the hand mechanism 18 includes a wrist swing chassis 19, a wrist bracket 20 and a palm component 21, the palm component 21 is arranged at the lower end of the wrist bracket 20, the wrist swing chassis 19 is fixedly connected to the lower end of the forearm mechanism 14, the wrist bracket 20 can be rotatably connected to the wrist swing chassis 19 around an axis parallel to the y-axis direction, and the wrist bracket 20 can swing relative to the front and rear ends of the wrist swing chassis 19;

[0093] The third swing mechanism is arranged at the lower end of the forearm mechanism 14 and is transmission-connected to the wrist support 20 .

[0094] In this solution, the connections between the components are connected by component brackets and component swing chassis along the horizontal / vertical axis. This cross structure can enable each component to have a greater degree of mobility, so that the humanoid robot has a larger range of motion to achieve complex movements. At the same time, the cross structure has a strong connection strength, thereby extending the structural strength of the connections between the components and avoiding affecting the movement of the humanoid robot.

[0095] In this embodiment, the palm part 21 can be a multi-jointed movable finger, an L-shaped part, a special-shaped palm, etc., which belongs to the application of the prior art and will not be described in detail here.

[0096] The structures of the swing mechanism and the plane rotation mechanism in this embodiment are as follows:

[0097] The first swing mechanism includes a first motor 40, a first drive shaft 41 and a first swing drive gear 42. The first motor 40 is located on the side of the upper arm connecting base 5 facing the inner cavity of the upper limb mechanism 3. The output end of the first motor 40 is inserted into the inner cavity of the upper arm connecting base 5. The first drive shaft 41 is inserted into the shoulder swing chassis 10 from the inner cavity of the upper arm connecting base 5. The first swing drive gear 42 is rotatably arranged in the upper arm connecting base 5. The first swing drive gear 42 is fixedly connected to the first drive shaft 41. The first motor 40 is used to drive the first swing drive gear 42 to rotate; the shoulder bracket 11 is connected to the shoulder swing chassis 10 through the first swing shaft 61, and the first swing shaft 61 and the first drive shaft 41 are transmission connected through the bevel teeth 76 respectively arranged thereon.

[0098] The first plane rotating mechanism includes a first rotating motor 68 and a first rotating driving gear 69. The first rotating motor 68 is located on the side of the upper arm connecting base 5 facing the inner cavity of the upper limb mechanism 3. The output end of the first rotating motor 68 is inserted into the inner cavity of the upper arm connecting base 5. The first rotating driving gear 69 is rotatably arranged in the upper arm connecting base 5. The first rotating driving gear 69 is fixedly connected to the shoulder swing chassis 10. The first rotating motor 68 is used to drive the first rotating driving gear 69 to rotate.

[0099] A redirector 77 is provided at the output ends of the first motor 40 and the first rotary motor 68; the first swing drive gear 42 and the first rotary drive gear 69 are coaxially staggered.

[0100] The second swing mechanism includes a second motor 43 and a second drive shaft 44. The second motor 43 is located in the upper arm rotation joint 13. The output end of the second motor 43 is connected to the second drive shaft 44. The second drive shaft 44 is inserted into the elbow swing chassis 15. The elbow bracket 16 is connected to the elbow swing chassis 15 through the second swing shaft 62. The second swing shaft 62 and the second drive shaft 44 are connected through the bevel teeth 76 respectively arranged thereon.

[0101] The third swing mechanism includes a third motor 46 and a third drive shaft 47. The third motor 46 is located in the forearm rotation joint 17. The output end of the third motor 46 is connected to the third drive shaft 47. The third drive shaft 47 is inserted into the wrist swing chassis 19; the wrist support 20 is connected to the wrist swing chassis 19 through the third swing shaft 63, and the third swing shaft 63 and the third drive shaft 47 are connected through the bevel teeth 76 respectively arranged thereon.

[0102] The fourth swing mechanism includes a fourth motor 49, a fourth drive shaft 50 and a fourth swing drive gear 51. The fourth motor 49 is located on the side of the waist connection base 4 away from the upper limb mechanism 3. The output end of the fourth motor 49 is inserted into the inner cavity of the waist connection base 4. The fourth drive shaft 50 is inserted into the waist swing chassis 8 from the inner cavity of the waist connection base 4. The fourth swing drive gear 51 is rotatably arranged in the waist connection base 4. The fourth swing drive gear 51 is fixedly connected to the fourth drive shaft 50. The fourth motor 49 is used to drive the fourth swing drive gear 51 to rotate; the waist support 7 is connected to the waist swing chassis 8 through the fourth swing shaft 64, and the fourth swing shaft 64 and the fourth drive shaft 50 are transmission connected through the bevel teeth 76 respectively arranged thereon.

[0103] The second planar rotation mechanism includes a second rotation motor 71 and a second rotation driving gear 72. The second rotation motor 71 is located on the side of the waist connection base 4 away from the upper limb mechanism 3. The output end of the second rotation motor 71 is inserted into the inner cavity of the waist connection base 4. The second rotation driving gear 72 is rotatably arranged in the waist connection base 4. The second rotation driving gear 72 is fixedly connected to the waist swinging chassis 8. The second rotation motor 71 is used to drive the second rotation driving gear 72 to rotate.

[0104] A diverter 77 is provided at the output ends of the fourth motor 49 and the second rotary motor 71; the fourth swing drive gear 51 and the second rotary drive gear 72 are coaxially staggered.

[0105] The fifth swing mechanism includes a fifth motor 52, a fifth drive shaft 53 and a fifth swing drive gear 54. The fifth motor 52 is located at the upper part of the hip support 23, and the output end of the fifth motor 52 is inserted into the lower part of the hip support 23. The fifth drive shaft 53 is inserted into the thigh swing chassis 25 from the lower part of the hip support 23. The fifth swing drive gear 54 is rotatably arranged at the lower part of the hip support 23. The fifth swing drive gear 54 is fixedly connected to the fifth drive shaft 53. The fifth motor 52 is used to drive the fifth swing drive gear 54 to rotate; the thigh support 26 is connected to the thigh swing chassis 25 through the fifth swing shaft 65, and the fifth swing shaft 65 is connected to the fifth drive shaft 53 through the bevel teeth 76 respectively arranged thereon.

[0106] The third plane rotating mechanism includes a third rotating motor 74 and a third rotating driving gear 75. The third rotating motor 74 is located at the upper part of the hip support 23. The output end of the third rotating motor 74 is inserted into the lower part of the hip support 23. The third rotating driving gear 75 is rotatably arranged at the lower part of the hip support 23. The third rotating driving gear 75 is fixedly connected to the thigh swing chassis 25. The third rotating motor 74 is used to drive the third rotating driving gear 75 to rotate.

[0107] A redirector 77 is provided at the output ends of the fourth motor 49 and the third rotary motor 74; the fourth swing drive gear 51 and the third rotary drive gear 75 are coaxially staggered.

[0108] The sixth swing mechanism includes a sixth motor 55 and a sixth drive shaft 56. The sixth motor 55 is located in the thigh rotation joint 27. The output end of the sixth motor 55 is connected to the sixth drive shaft 56. The sixth drive shaft 56 is inserted into the knee swing chassis 29. The knee support 30 is connected to the knee swing chassis 29 through the sixth swing shaft 66. The sixth swing shaft 66 and the sixth drive shaft 56 are connected through the bevel teeth 76 respectively arranged thereon.

[0109] The seventh swing mechanism includes a seventh motor 58 and a seventh drive shaft 59. The seventh motor 58 is located in the calf rotation joint 31. The output end of the seventh motor 58 is connected to the seventh drive shaft 59. The seventh drive shaft 59 is inserted into the ankle swing chassis 33. The ankle bracket 34 is connected to the ankle swing chassis 33 through the seventh swing shaft 67. The seventh swing shaft 67 and the seventh drive shaft 59 are connected through the bevel teeth 76 respectively arranged thereon.

[0110] Compared with the prior art, the novel humanoid robot of the present invention has the following beneficial effects:

[0111] (1) The humanoid robot of the present invention is similar in structure to humans, and has a head mechanism 2, an upper limb mechanism 3, a waist mechanism 6, an upper arm mechanism 9, a forearm mechanism 14, a hand mechanism 18, a hip mechanism 22, a thigh mechanism 24, a calf mechanism 28, and a foot mechanism 32, so that it is convenient for third-party personnel to perform secondary shape design on the robot based on the framework, making it closer to human shape, reducing product development costs, and humanoid robots with the same framework can achieve compatibility of parts, thereby reducing product maintenance costs;

[0112] (2) In this solution, a swing mechanism and / or a plane rotation mechanism are arranged between the upper limb mechanism 3, the waist mechanism 6, the upper arm mechanism 9, the forearm mechanism 14, the hand mechanism 18, the hip mechanism 22, the thigh mechanism 24, the calf mechanism 28 and the foot mechanism 32, so that the connecting joints of the components can realize movement in two directions of XZ or movement in three directions of XYZ (realizing the up and down swinging of the arms / legs, the forward and backward swinging of the arms / legs, the axial rotation of the arms / legs along the length direction, the folding of the joint position, the rotation and forward and backward swinging of the waist, etc.). The design is simple, and by utilizing the action superposition of the swing mechanism and the plane rotation mechanism between the components, the humanoid robot can complete complex actions. The design is ingenious, the scheme for driving the joint movement is simple, efficient and reliable, and can better imitate the various degrees of freedom that humans want to achieve in expressing actions;

[0113] (3) In the present solution, the seven swing mechanisms are all for realizing relative forward and backward swinging between two components, so that the seven swing mechanisms can be designed to have the same structure (only the power output is different), and the three plane rotating mechanisms are all for realizing relative axial rotation between two components, and the three plane rotating mechanisms are also designed to have the same structure (only the power output is different), thereby improving the versatility of the components and simplifying the structure of the body 1.

[0114] (4) In this solution, the seven forward and backward swinging machines and the three plane rotating mechanisms are all hidden in the components, which is convenient for reducing the space occupied by the humanoid robot, improving the appearance of the humanoid robot, ensuring that the humanoid robot meets the requirements of humanoid simulation, is compact and low-cost to meet industrial-grade industrial applications;

[0115] (5) The humanoid robot of this scheme completely solves the technical defects and problems of existing humanoid robots, such as numerous driving motors, non-compact structure, large joint volume, small load, high production cost, inconvenient maintenance and short maintenance cycle.

[0116] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A novel humanoid robot, comprising a control system and a body, wherein the body comprises a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a calf mechanism and a foot mechanism, wherein the head mechanism is arranged at the upper part of the upper limb mechanism, two upper arm mechanisms are provided, and the two upper arm mechanisms are respectively arranged at both sides of the upper limb mechanism, and a forearm mechanism is respectively provided at the lower end of each upper arm mechanism, and the lower end of the forearm mechanism is connected to the hand mechanism, the waist mechanism and the hip mechanism are arranged at the lower part of the upper limb mechanism in sequence from top to bottom, two thigh mechanisms are provided, and the two thigh mechanisms are arranged at intervals at the lower part of the hip mechanism, and a calf mechanism is respectively provided at the lower end of each thigh mechanism, and the lower end of the calf mechanism is connected to the foot mechanism, wherein the robot is characterized in that: Assume that the length direction of the upper limb mechanism is the Y-axis direction, and the width direction of the upper limb mechanism is the X-axis direction; A first swing mechanism and a first plane rotation mechanism are provided between the upper arm mechanism and the upper limb mechanism, so that the upper arm mechanism can move in three directions of XYZ relative to the upper limb mechanism; A second swing mechanism is provided between the forearm mechanism and the upper arm mechanism, so that the forearm mechanism can move in two directions of X and Z relative to the upper arm mechanism; A third swing mechanism is provided between the hand mechanism and the forearm mechanism, so that the hand mechanism can move in two directions of X and Z relative to the forearm mechanism; The waist mechanism includes a waist support and a waist swing chassis, the waist swing chassis is rotatably connected to the waist support along an axis parallel to the y-axis direction, the waist support can swing relative to the front and rear ends of the waist swing chassis, the waist swing chassis can be rotatably connected to the lower end of the upper limb mechanism around a vertical axis, and the waist swing chassis can axially rotate relative to the lower end of the upper limb mechanism; A fourth swing mechanism and a second plane rotation mechanism 70 are provided between the waist support and the upper limb mechanism. The fourth swing mechanism and the second plane rotation mechanism 70 respectively drive the waist support and the waist swing chassis to rotate, so that the upper limb mechanism can move in three directions of XYZ relative to the waist support; The hip mechanism is fixedly connected to the lower end of the waist support; A fifth swing mechanism and a third plane rotation mechanism are provided between the thigh mechanism and the hip mechanism, so that the thigh mechanism can move in three directions of XYZ relative to the hip mechanism; A sixth swing mechanism is provided between the thigh mechanism and the calf mechanism, so that the calf mechanism can move in two directions of X and Z relative to the thigh mechanism; A seventh swing mechanism is provided between the calf mechanism and the foot mechanism, so that the foot mechanism can move in two directions of X and Z relative to the calf mechanism.

2. A novel humanoid robot according to claim 1, characterized in that: The hip mechanism is provided with a hip support, and the hip support is fixedly connected to the lower end of the waist support; The fifth swing mechanism and the third plane rotation mechanism are arranged on the hip support and are transmission-connected with the thigh mechanism.

3. A novel humanoid robot according to claim 1, characterized in that: The hip mechanism is provided with a hip support, and the hip support is fixedly connected to the lower end of the waist support; The thigh mechanism includes a thigh swing chassis, a thigh bracket and a thigh rotation joint, the thigh rotation joint is arranged at the lower end of the thigh bracket, the thigh swing chassis can be rotatably connected to the thigh bracket around an axis parallel to the y-axis direction, the thigh bracket can swing relative to the front and rear ends of the thigh swing chassis, the thigh swing chassis can be rotatably connected to the hip bracket around a vertical axis, and the thigh swing chassis can rotate axially relative to the hip bracket; The fifth swing mechanism and the third plane rotation mechanism are arranged on the buttocks support and are respectively connected to the thigh swing chassis and the thigh support in transmission.

4. A novel humanoid robot according to any one of claims 1 to 3, characterized in that: The calf mechanism comprises a knee swing chassis, a knee support and a calf rotation joint, wherein the calf rotation joint is arranged at the lower end of the knee support, the knee swing chassis is fixedly connected to the thigh mechanism, the knee support can be rotatably connected to the knee swing chassis around an axis parallel to the y-axis direction, and the knee support can swing relative to the front and rear ends of the knee swing chassis; The sixth swing mechanism is arranged on the thigh mechanism and is transmission-connected with the knee support.

5. The novel humanoid robot according to claim 1, characterized in that: The foot mechanism includes an ankle swing chassis, an ankle bracket and a foot component, the ankle swing chassis is fixedly connected to the calf mechanism, the ankle bracket is rotatably connected to the ankle swing chassis around an axis parallel to the y-axis direction, the ankle bracket can swing relative to the front and rear ends of the ankle swing chassis, and the foot component is arranged at the lower end of the ankle bracket; The seventh swing mechanism is arranged on the calf mechanism and is transmission-connected with the ankle support.

6. A novel humanoid robot according to claim 5, characterized in that: The foot component includes a foot support, a floating base and an elastic member; The floating base is located below the foot support and is spaced apart from the foot support, and the floating base and the foot support are vertically movably connected; The elastic member is arranged between the floating base and the foot support member.

7. A novel humanoid robot according to claim 6, characterized in that: An elastic supporting piece is arranged at the lower end of the floating base.

8. The novel humanoid robot according to claim 1, characterized in that: An upper arm connection base is provided on the side of the upper limb mechanism; The upper arm mechanism includes a shoulder swing chassis, a shoulder bracket, a shoulder joint and an upper arm rotation joint, wherein the shoulder joint is connected to the upper end of the upper arm rotation joint, and the shoulder joint is arranged at the lower end of the shoulder bracket; the shoulder swing chassis can be rotatably connected to the shoulder bracket around an axis parallel to the x-axis direction, the shoulder bracket can be axially rotated relative to the shoulder swing chassis, the shoulder swing chassis can be rotatably connected to the upper arm connection base around an axis parallel to the y-axis direction, and the shoulder swing chassis can be axially rotated relative to the upper arm connection base; The first swing mechanism and the first plane rotation mechanism are arranged on the upper arm connection base, and are respectively connected to the shoulder swing chassis and the shoulder bracket by transmission.

9. A novel humanoid robot according to claim 1 or 8, characterized in that: The forearm mechanism comprises an elbow swing chassis, an elbow bracket and a forearm rotating joint, wherein the forearm rotating joint is arranged at the lower end of the elbow bracket, the elbow swing chassis is fixedly connected to the upper arm mechanism, the elbow bracket is rotatably connected to the elbow swing chassis around an axis parallel to the y-axis direction, and the elbow bracket can swing relative to the front and rear ends of the elbow swing chassis; The second swing mechanism is arranged at the lower end of the upper arm mechanism and is transmission-connected with the elbow bracket.

10. The novel humanoid robot according to claim 1, characterized in that: The hand mechanism includes a wrist swing chassis, a wrist bracket and a palm component, the palm component is arranged at the lower end of the wrist bracket, the wrist swing chassis is fixedly connected to the lower end of the forearm mechanism, the wrist bracket can be rotatably connected to the wrist swing chassis around an axis parallel to the y-axis direction, and the wrist bracket can swing relative to the front and rear ends of the wrist swing chassis; The third swing mechanism is arranged at the lower end of the forearm mechanism and is transmission-connected with the wrist bracket.

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