Shoulder joint of hydraulic humanoid robot

Abstract

The embodiment of the invention discloses a hydraulic humanoid robot shoulder joint which comprises a pitching motion assembly, a rolling motion assembly, a yawing motion assembly, a trunk supporting plate and a connecting shaft. The pitching motion assembly and the transverse rolling motion assembly are arranged on the trunk supporting plate, and the yawing motion assembly is connected with the transverse rolling motion assembly through a connecting shaft. The pitching motion assembly comprises a pitching gear, a pitching rack, a pitching driving hydraulic cylinder and a pitching sliding block plate; the transverse rolling movement assembly comprises a second sliding block, a third sliding block, a first connecting rod, a second connecting rod, a joint connecting piece and a transverse rolling driving hydraulic cylinder; an output shaft of a transverse rolling driving hydraulic cylinder sequentially penetrates through the trunk supporting plate, a pitching gear and a second sliding block to be fixedly connected with a third sliding block, and a joint connecting piece is movably connected with a first connecting rod and a second connecting rod; the third sliding block moves relative to the second sliding block through the first sliding rail. And the shoulder joint is compact in structure.

Description

Technical Field

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

[0002] Hydraulically driven humanoid robots exhibit great application potential in many fields due to their unique advantages. Hydraulically driven humanoid robots feature high power density, high-precision control, and large torque output, enabling them to handle heavy-duty tasks, adapt to harsh conditions such as disaster relief sites, military combat environments, and complex industrial working conditions, and perform various difficult actions. However, in the field of robotics currently, the mainstream is motor robots, and there are relatively few designs of hydraulic humanoid robots, which to some extent restricts the development and innovation of hydraulic humanoid robots.

[0003] In hydraulically driven humanoid robots, the shoulder joint plays a crucial role in achieving complex movements and high flexibility. To simulate the movement ability of the human shoulder as much as possible, the shoulder joint of a humanoid robot usually needs to have multiple degrees of freedom. The coordinated operation of these degrees of freedom can enable the robot arm to achieve more natural and flexible movements, thereby enhancing the robot's working ability in different scenarios. Although current methods such as parallel coupling hydraulic drive schemes and structural optimization designs have been proposed to achieve multi-degree-of-freedom movement of the shoulder joint, they still cannot fully meet the requirements of humanoid robots for flexibility, lightweight, and high reliability.

[0004] When designing the shoulder joint of a hydraulic humanoid robot, endowing it with three degrees of freedom of pitch, roll, and yaw is crucial for achieving human-like movement functions. However, the space in the upper body of the robot is limited, and it is necessary to arrange the hydraulic components, transmission parts, and link structures required to achieve these degrees of freedom, as well as pipelines. This not only results in a bulky shoulder structure, inconsistent dimensions with the human shoulder joint, but also causes interference between the movements of each degree of freedom, increasing the difficulty of motion control. Therefore, there is room for improvement. Summary of the Invention

[0005] Based on this, it is necessary to propose a shoulder joint of a hydraulic humanoid robot in view of the above problems.

[0006] A hydraulic humanoid robot shoulder joint, comprising: a pitch motion component, a roll motion component, a yaw motion component, a trunk support plate and a connecting shaft; the pitch motion component and the roll motion component are arranged on the trunk support plate, and the yaw motion component is connected to the roll motion component through the connecting shaft; the pitch motion component comprises: a pitch gear, a pitch rack and a pitch drive hydraulic cylinder and a pitch slider plate; the roll motion component comprises: a second slider, a third slider, a first connecting rod, a second connecting rod, a joint connector and a roll drive hydraulic cylinder; the roll drive hydraulic cylinder output shaft passes through the trunk support plate, the pitch gear and the second slider in sequence and is fixedly connected to the third slider, wherein the pitch gear is fixedly connected to the second slider; the third slider is connected to the joint connector on the side away from the roll drive hydraulic cylinder output shaft; the joint connector The yaw motion component is a gear that is engaged with the gear of the control gear and is engaged with the gear of the control gear. The yaw motion component is a gear that is engaged with the gear of the control gear and is engaged with the gear of the control gear. The yaw motion component is a gear that is engaged with the gear of the control gear and is engaged with the gear of the control gear.

[0007] According to one embodiment of the present invention, the yaw motion assembly includes: a yaw drive hydraulic cylinder, fixedly connected to the yaw outer cylinder; a yaw outer cylinder, fixedly connected to the connecting shaft; and a yaw rotation shaft, fixedly connected to the output flange of the yaw drive hydraulic cylinder; wherein, when the output flange of the yaw drive hydraulic cylinder rotates, the yaw rotation shaft is driven to rotate.

[0008] According to one embodiment of the present invention, the joint connection component includes: a double-joint ball joint and a joint shaft, the joint shaft is connected to the third slider, the joint shaft is connected to the double-joint ball joint, and the double-joint ball joint is movably connected to the connecting rod shaft.

[0009] According to an embodiment of the present invention, the pitch driving hydraulic cylinder and the roll driving hydraulic cylinder are linear hydraulic cylinders.

[0010] In some embodiments, the yaw drive hydraulic cylinder is a swing hydraulic cylinder.

[0011] According to an embodiment of the present invention, the pitch rack is a spur rack, and the pitch gear is a spur gear.

[0012] According to an embodiment of the present invention, the pitching motion assembly further includes: a pitching slider plate disposed on the torso support plate, the pitching slider plate being connected to the pitching rack, a second slide rail being provided on the torso support plate, the pitching slider plate being slidably engaged with the second slide rail, and the pitching slider plate moving on the second slide rail along the linear motion direction of the output shaft of the pitching drive hydraulic cylinder.

[0013] In some embodiments, the second slide rail is a linear slide rail, a chute adapted to the linear slide rail is provided on the pitching slider plate, and the pitching slider plate is slidably connected to the linear slide rail through the chute.

[0014] According to an embodiment of the present invention, the first link and the second link structure are rigid links.

[0015] Adopting the embodiment of the present invention has the following beneficial effects:

[0016] For the hydraulic humanoid robot shoulder joint according to the embodiment of the present invention, by fixedly connecting the output shaft of the pitching drive hydraulic cylinder to the pitching rack and the pitching slider plate, the linear motion of the output shaft of the pitching drive hydraulic cylinder drives the pitching gear to mesh with the pitching rack. With such a design, a compact spatial structure can be achieved. When the pitching gear meshes with the pitching rack, the pitching gear makes a rotational motion, driving the second slider, the third slider, the joint connector, the first link, and the second link to rotate. Since the first link is movably connected to the link shaft, the link shaft is further driven to rotate, and the link shaft is fixedly connected to the yaw motion assembly, further driving the yaw motion assembly to rotate. Thus, the linear motion is converted into a rotational motion, realizing the rotation of the shoulder joint in the pitching motion direction while further achieving a compact spatial structure. The output shaft of the roll drive hydraulic cylinder is fixed to the third slider, so that the output shaft of the roll drive hydraulic cylinder drives the third slider to move. The first slide rail is provided on the second slider, so that the third slider moves on the second slider through the first slide rail. Since the third slider is respectively connected to the first link and the second link through the joint connector, and the first link is connected to the link shaft, the third slider drives the joint connector, the first link, and the second link to rotate, so as to convert the linear motion into the rotational motion of the link shaft. Thus, the rotation of the shoulder joint in the roll motion direction is realized while further achieving a compact spatial structure, avoiding interference between various motions. The output flange of the yaw drive hydraulic cylinder rotates, driving the yaw rotation shaft fixedly connected thereto to rotate.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or 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, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Among them:

[0019] Figure 1 is a schematic structural view of the shoulder joint of a hydraulic humanoid robot according to an embodiment of the present invention from a perspective;

[0020] Figure 2 is a schematic structural view of the shoulder joint of a hydraulic humanoid robot according to an embodiment of the present invention from another perspective;

[0021] Figure 3 is a schematic structural view of the shoulder joint in the pitching direction

[0022] Figure 4 is a schematic structural view of the shoulder joint in the rolling direction;

[0023] Figure 5 is a schematic structural view of the shoulder joint in the yaw direction.

[0024] Reference numerals:

[0025] Shoulder joint 100,

[0026] Pitching motion component 10, pitching drive hydraulic cylinder 101, pitching rack 102, pitching gear 103, pitching slider plate 104, second slide rail 105,

[0027] Rolling motion component 20, rolling drive hydraulic cylinder 202, inner bearing shaft 203, first slide rail 204, second slider 205, third slider 206, joint connecting member 207, first connecting rod 208, second connecting rod 209, connecting shaft 210,

[0028] Yaw motion component 30, yaw drive hydraulic cylinder 301, yaw outer cylinder 302, yaw rotating shaft 303,

[0029] Trunk support plate 40. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0031] As Figures 1 to 5 shown, the shoulder joint 100 of a hydraulic humanoid robot according to an embodiment of the present invention includes: a pitching motion component, a rolling motion component, a yaw motion component, a trunk support plate, and a connecting shaft. The pitching motion component and the rolling motion component are arranged on the trunk support plate, and the yaw motion component is connected to the rolling motion component through the connecting shaft.

[0032] The pitching motion assembly 10 includes: a pitching drive hydraulic cylinder 101, a pitching rack 102, and a pitching gear 103.

[0033] As Figure 4 shown, the rolling motion assembly includes: a second slider 205, a third slider 206, a first link 208, a second link 209, a joint connector 207, and a rolling drive hydraulic cylinder 202.

[0034] In order to enable the rolling motion assembly and the pitching motion assembly to have a compact spatial layout on the shoulder joint, the output shaft of the rolling drive hydraulic cylinder sequentially passes through the torso support plate, the pitching gear 103, and the second slider 205 and is fixedly connected to the third slider 206. Such a fixing method greatly reduces the space occupied by the overall assembly, saves installation space inside the humanoid robot, and optimizes the overall structural layout of the robot. Specifically, in order to allow the rolling drive hydraulic cylinder to be arranged inside the torso support plate, a shaft hole for installing the output shaft of the rolling drive hydraulic cylinder is opened on the torso support plate. The output shaft of the rolling drive hydraulic cylinder is inserted into the shaft hole, and the rolling drive hydraulic cylinder is located inside the torso support plate of the robot through the inner shaft 203 of the bearing. Among them, the inner shaft 203 of the bearing is connected to the torso support plate through a bearing. The pitching gear is fixedly connected to the inner shaft 203 of the bearing by a key.

[0035] In order to save space and make the space compact, and at the same time to ensure that the pitching gear can rotate in the pitching direction, the pitching gear is sleeved on the outer periphery of the output shaft of the rolling drive hydraulic cylinder and is close to the torso support plate. In order to fix the output shaft of the rolling drive hydraulic cylinder on the third slider, a through hole matching the output shaft of the rolling drive hydraulic cylinder is opened on the second slider, and the output shaft of the rolling drive hydraulic cylinder passes through the through hole to achieve a fixed connection with the third slider.

[0036] Among them, the pitching gear 103 is fixedly connected to the second slider 205. Specifically, a plurality of fastening holes are opened on the end face of the through hole of the second slider, and fasteners pass through the fastening holes to fix the second slider on the pitching gear.

[0037] As Figure 2 and Figure 3As shown, the pitch drive hydraulic cylinder 101 and the pitch rack 102 are arranged on the trunk support plate. When the pitch drive hydraulic cylinder 101 drives, the pitch rack 102 engages with the pitch gear 103. Specifically, when the output shaft of the pitch drive hydraulic cylinder 101 performs linear motion, it drives the pitch rack 102 to move. The pitch rack 102 engages with the pitch gear 103 to cause the pitch gear 103 to perform rotational motion. As can be seen from this, the energy loss during the power transmission process is small. The thrust generated by the pitch drive hydraulic cylinder can be quickly and completely transmitted to the pitch rack 102, and then transmitted to the pitch gear 103 through meshing, so that the shoulder joint can quickly respond to the drive signal and perform pitching movements in time, thereby improving the response speed of the robot's shoulder joint movement.

[0038] This fixing method greatly reduces the space occupied by the overall components, saves installation space inside the humanoid robot, and optimizes the overall structural layout of the robot.

[0039] The second slider 205 is provided with a first slide rail 204. The third slider 206 moves relative to the second slider 205 via the first slide rail 204, resulting in linear sliding between the second slider 205 and the third slider 206. The third slider 206 is connected to the joint connector 207 on the side facing away from the output shaft of the roll drive hydraulic cylinder. The joint connector is movably connected to the first and second connecting rods. The second connecting rod is connected to the connecting shaft. Finally, the connecting shaft 210 achieves rotational motion.

[0040] When the output shaft of the roll drive hydraulic cylinder 202 moves linearly, it drives the third slider 206 to move, and through the joint connector 207, the first connecting rod 208 and the second connecting rod 209, the linear motion is converted into the rotational motion of the connecting shaft 210. Specifically, the joint connector 207 connects the third slider 206 with the first and second connecting rods 209, respectively, to ensure the stable transmission of force between the various components. This connection method makes the movement process more coherent and avoids problems such as jamming and shaking caused by loose connections or poor force transmission. When the first connecting rod 208 and the connecting shaft 210 move in coordination, the entire assembly can stably convert linear motion into rotational motion, ensuring that the movement in the roll direction is stable and reliable when the robot performs various actions.

[0041] The pitch gear 103 is fixedly connected to the second slider 205, thereby building a connection bridge between the pitch and roll motion components.

[0042] Pitch motion component 10:

[0043] The output shaft of the pitch drive hydraulic cylinder 101 moves linearly. Since it is fixedly connected to the pitch rack 102 and the pitch slider plate 104, it will drive the pitch rack 102 to move synchronously. The pitch rack 102 meshes with the pitch gear 103. According to the transmission principle of the gear and rack, the linear motion of the pitch rack 102 is converted into the rotational motion of the pitch gear 103, thereby realizing the movement of the shoulder joint in the pitch direction.

[0044] Roll motion assembly:

[0045] The output shaft of the roll drive hydraulic cylinder 202 moves linearly. The third slider 206 can move relative to the second slider 205 along the first slide rail. The third slider 206 is respectively connected to the first connecting rod 208 and the second connecting rod 209 through the joint connector 207. When the third slider 206 moves, it will drive the first connecting rod 208 and the second connecting rod 209 to move through the joint connector 207, and then convert the linear motion into the rotational motion of the connecting shaft 210, realizing the movement of the shoulder joint in the roll direction.

[0046] Driven by the pitch drive hydraulic cylinder, the pitch gear meshes with the pitch rack, and the rotation of the pitch gear drives the second slider, the third slider, the first connecting rod, the second connecting rod, the joint connector, the output shaft of the roll drive hydraulic cylinder, the connecting shaft and the yaw motion assembly to rotate together.

[0047] Driven by the roll drive hydraulic cylinder, the third slider slides linearly on the second slider through the first slide rail, the joint connector drives the first connecting rod and the second connecting rod to rotate, the rotation of the first connecting rod drives the connecting shaft to rotate, and the rotation of the connecting shaft drives the yaw motion assembly to rotate.

[0048] According to the shoulder joint of a hydraulic humanoid robot according to an embodiment of the present invention, the output shaft of the pitch driving hydraulic cylinder 101 is fixedly connected to the pitch rack 102 and the pitch slider plate 104. The linear motion of the output shaft of the pitch driving hydraulic cylinder 101 drives the pitch gear 103 to mesh with the pitch rack 102, causing the pitch gear 103 to rotate. This drives the second slider, the third slider, the joint connecting member, and the first and second connecting rods to rotate. Since the first connecting rod 208 is movably connected to the connecting rod shaft, it further drives the connecting shaft to rotate. And the connecting shaft is fixedly connected to the yaw motion assembly, further driving the yaw motion assembly to rotate. Thus, the linear motion is converted into a rotational motion to achieve the rotation of the shoulder joint in the pitch motion direction. The output shaft of the roll driving hydraulic cylinder 202 is fixed to the third slider 206, so that the output shaft of the roll driving hydraulic cylinder 202 drives the third slider 206 to move. The first slide rail 204 is arranged on the second slider 205, so that the third slider 206 moves on the second slider through the first slide rail 204. Since the third slider is respectively connected to the first connecting rod 208 and the second connecting rod 209 through the joint connecting member 207, and the first connecting rod 208 is connected to the connecting shaft 210, the third slider 206 drives the joint connecting member 207, the first connecting rod 208 and the second connecting rod 209 to move, so as to convert the linear motion into the rotational motion of the connecting shaft 210.

[0049] According to an embodiment of the present invention, as Figure 5 shown, in order to reduce the volume of the shoulder joint while improving flexibility, the shoulder joint of the hydraulic humanoid robot further includes: a yaw motion assembly 30, and the yaw motion assembly 30 includes: a yaw driving hydraulic cylinder 301, a yaw outer cylinder 302 and a yaw rotating shaft 303. The yaw driving hydraulic cylinder 301 is fixedly connected to the yaw outer cylinder 302. The yaw outer cylinder 302 is fixedly connected to the connecting shaft 210. The yaw rotating shaft 303 is fixedly connected to the output flange of the yaw driving hydraulic cylinder 301. Wherein, when the output flange of the yaw driving hydraulic cylinder 301 rotates, it drives the yaw rotating shaft 303 to rotate.

[0050] The output flange of the yaw driving hydraulic cylinder 301 rotates, driving the yaw rotating shaft 303 fixedly connected thereto to rotate. Thus, the yaw motion of the shoulder joint is realized.

[0051] According to an embodiment of the present invention, in order to achieve the motion transmission in the roll direction motion assembly, ensure the transmission and conversion of motion, and also for the sake of flexibility, the joint connecting member includes: a double joint ball hinge and a joint shaft. The joint shaft is connected to the second slider, the joint shaft is connected to the double joint ball hinge, and the double joint ball hinge is movably connected to the connecting rod shaft. Under driving, the double joint ball hinge drives the connecting rod shaft, and the connecting rod shaft is movably connected to the first connecting rod and the second connecting rod, thereby driving the first connecting rod and the second connecting rod to convert the linear motion into the rotational motion of the connecting shaft.

[0052] The yaw-direction component, roll-direction component, and pitch-direction component are connected through the torso support plate 40. The inner shaft 203 of the bearing is connected to the torso support plate 40, which can stably connect the entire shoulder joint structure to the robot torso. This enables various forces borne by the shoulder joint to be evenly distributed to the torso during the movement of the robot, enhancing the stability of the overall structure and enabling the shoulder joint to work reliably.

[0053] According to an embodiment of the present invention, in order to provide stable linear power output and accurately control the stroke and speed of the movement when driving the movement components in their respective directions, ensuring accurate and reliable movement in the pitch and roll directions, and also to improve the flexibility of the shoulder joint, the pitch drive hydraulic cylinder 101 and the roll drive hydraulic cylinder 202 are linear hydraulic cylinders. In the present invention, the drive hydraulic cylinder is not limited and can also be other drive hydraulic cylinders. Linear hydraulic cylinders are preferably used in the present invention.

[0054] In some embodiments, in order to save movement space and also to improve the flexibility of the shoulder joint, the yaw drive hydraulic cylinder 301 is a swing hydraulic cylinder. It can achieve accurate control of the swing angle. This makes the movement of the robot in the yaw direction more flexible, and at the same time realizes the rotational movement in the yaw direction, reducing energy loss.

[0055] According to an embodiment of the present invention, in order to improve efficiency, accuracy, make the movement stable, and at the same time reliably convert linear motion into rotational motion to ensure the stability and accuracy of the movement in the pitch direction, the pitch rack 102 is a straight rack, and the pitch gear 103 is a straight gear. The meshing transmission between the straight gear and the straight rack has a stable transmission ratio. This ensures the stability and reliability of the movement in the pitch direction.

[0056] According to an embodiment of the present invention, in order to achieve stable movement guidance and improve the accuracy of movement, as Figure 3 shown, the pitch movement component further includes: a pitch slider plate arranged on the torso support plate. The pitch slider plate is connected to the pitch rack, and the pitch drive hydraulic cylinder is connected to the pitch slider plate. Under the drive, the pitch slider plate and the pitch rack move synchronously. A second slide rail is provided on the torso support plate, and the pitch slider plate is slidably matched with the second slide rail. The pitch slider plate moves along the straight movement direction of the output shaft of the pitch drive hydraulic cylinder on the second slide rail. This ensures that the pitch slider plate moves linearly on the torso support plate along the second slide rail.

[0057] Through the sliding cooperation between the second slide rail 105 and the pitch slider plate 104, the movement direction of the pitch slider plate 104 is restricted, so that it can only move along the straight movement direction of the output shaft of the pitch drive hydraulic cylinder 101. This guiding effect improves the accuracy of the movement in the pitch direction.

[0058] In some embodiments, to achieve precise sliding fit and enhance the reliability of the structure, the second slide rail 105 is a linear slide rail, and the pitching slider plate 104 is provided with a chute adapted to the linear slide rail. The pitching slider plate 104 is slidably connected to the linear slide rail through the chute. Thereby, the smoothness and accuracy of the movement of the pitching slider plate 104 are improved.

[0059] According to an embodiment of the present invention, in order to achieve motion transmission in the roll motion assembly and ensure the transmission and conversion of motion, the first connecting rod 208 and the second connecting rod 209 are rigid connecting rods. The rigid connecting rod can transmit force and motion, ensuring the accuracy and stability of the motion in the roll direction.

[0060] The x-axis is the pitching direction, the y-axis is the yaw direction, and the z-axis is the roll direction.

[0061] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship 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. Therefore, it should not be construed as a limitation to the present invention. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0062] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0064] The foregoing are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hydraulic humanoid robot shoulder joint, characterized in that, include: Pitch motion assembly, roll motion assembly, yaw motion assembly, trunk support plate and connecting shaft; The pitch motion assembly and the roll motion assembly are arranged on the trunk support plate, and the yaw motion assembly is connected to the roll motion assembly via the connecting shaft; Pitch motion assembly, including: pitch gear, pitch rack and pitch drive hydraulic cylinder; A rolling motion assembly, comprising: a second slider, a third slider, a first connecting rod, a second connecting rod, a joint connecting member and a rolling drive hydraulic cylinder; The output shaft of the roll driving hydraulic cylinder sequentially passes through the trunk support plate, the pitch gear and the second slider and is fixedly connected to the third slider, wherein the pitch gear is fixedly connected to the second slider; The third slider is connected to the joint connecting member on a side away from the output shaft of the rolling drive hydraulic cylinder; The joint connecting member is movably connected to the first connecting rod and the second connecting rod; The first connecting rod is connected to the connecting shaft; The second slider is provided with a first slide rail; the third slider moves relative to the second slider via the first slide rail; The pitch driving hydraulic cylinder and the pitch rack are arranged on the trunk support plate; When the pitch drive hydraulic cylinder is driven, the pitch gear is engaged with the pitch rack, and the rotation of the pitch gear drives the second slider, the third slider, the first connecting rod, the second connecting rod, the joint connection, the output shaft of the roll drive hydraulic cylinder, the connecting shaft and the yaw motion assembly to rotate together; Driven by the roll drive hydraulic cylinder, the third slider slides linearly on the second slider through the first slide rail, the joint connection member drives the first connecting rod and the second connecting rod to rotate, the rotation of the second connecting rod drives the connecting shaft to rotate, and the rotation of the connecting shaft drives the yaw motion assembly to rotate.

2. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The yaw motion assembly includes: A yaw outer cylinder, fixedly connected to the connecting shaft; A yaw drive hydraulic cylinder, fixedly connected to the yaw outer cylinder; The yaw shaft is fixedly connected to the output flange of the yaw drive hydraulic cylinder; When the output flange of the yaw drive hydraulic cylinder rotates, the yaw shaft is driven to rotate.

3. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The joint connection component includes: a double-joint ball joint and a joint shaft, the joint shaft is connected to the third slider, the joint shaft is connected to the double-joint ball joint, and the double-joint ball joint is movably connected to the connecting rod shaft.

4. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The pitch drive hydraulic cylinder and the roll drive hydraulic cylinder are linear hydraulic cylinders.

5. The hydraulic humanoid robot shoulder joint according to claim 2, characterized in that, The yaw drive hydraulic cylinder is a swing hydraulic cylinder.

6. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The pitch rack is a spur rack, and the pitch gear is a spur gear.

7. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The pitch motion assembly also includes: a pitch slider plate, which is arranged on the trunk support plate, the pitch sliding plate is connected to the pitch rack, a second slide rail is provided on the trunk support plate, the pitch sliding plate slides in cooperation with the second slide rail, and the pitch slider plate moves on the second slide rail along the linear motion direction of the output shaft of the pitch drive hydraulic cylinder.

8. The hydraulic humanoid robot shoulder joint according to claim 7, wherein, The second slide rail is a linear slide rail, and the pitch slider plate is provided with a slide groove adapted to the linear slide rail, and the pitch slider plate is slidably connected to the linear slide rail through the slide groove.

9. The hydraulic humanoid robot shoulder joint according to claim 1, characterized in that, The first connecting rod and the second connecting rod structure are rigid connecting rods.

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