Humanoid robot joint structure based on flexible shaft transmission

Abstract

The invention belongs to the technical field of robot joint transmission, and discloses a humanoid robot joint structure based on flexible shaft transmission, which comprises a fixed bracket, and the fixed bracket is provided with a first motor group, a second motor group, a first flexible shaft assembly, a second flexible shaft assembly, a turbine assembly and a movable part, wherein the first motor set and the second motor set are fixedly installed on the fixed support, the movable part is hinged to the fixed support, the power output end of the first motor set is fixedly connected with one end of the first flexible shaft assembly, and the other end of the first flexible shaft assembly penetrates through the movable part. The power output end of the second motor set is fixedly connected with one end of the second flexible shaft assembly, and the other end of the second flexible shaft assembly is connected with the movable component in an engaged mode. The joint transmission scheme of the humanoid robot is simple in overall structure, large in torque, low in cost, high in reliability and flexible in driving motor arrangement.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot joint transmission, and in particular relates to a humanoid robot joint structure based on flexible shaft transmission. Background Art

[0002] Humanoid robots are a core area of ​​biomimetic robotics. The performance of their joint drive systems directly determines the robot's mobility, load capacity, and endurance. Currently, mainstream joint drive solutions include cable-type (tendon-type) and electric actuators, but both have significant drawbacks and are unable to meet the demands of high-dynamics, high-efficiency, and high-load applications.

[0003] The cable-pull type uses a capstan on a motor to drive the cable, offering lower overall costs. However, its disadvantages are low load-bearing capacity and the cable's wear and tear over time. The electric actuator type places a micro-electric actuator near the joint, using the lever principle to drive the joint. While its advantages include greater load-bearing capacity and precision, its disadvantages are the need for ample installation space, high manufacturing costs, and high maintenance costs.

[0004] A Chinese patent with application number CN202510474978.X discloses an under-actuated, fully-actuated, dual-mode robotic multi-finger dexterous hand, belonging to the field of robotics. The dexterous hand includes a palm and several fingers; each finger is provided with a tendon transmission system, a second drive assembly, a third drive assembly, a fourth drive assembly, and a fifth drive assembly; the fingers include a base, a base joint, a proximal phalanx, an intermediate phalanx, and a distal phalanx, which are connected in sequence; the base is fixed on the palm; the present invention designs a two-degree-of-freedom finger base joint and a mode switching mechanism based on face gears, which can allow the dexterous hand to work in a fully-actuated mode or an under-actuated mode, and reduce the control complexity of the dual-mode coupling through a mechanical structure. The present invention proposes and realizes the dual mode of a rigid dexterous hand for the first time, ensuring the humanoid dexterity of the dexterous hand, realizing a highly integrated design of the dexterous hand, and enhancing the versatility of the dexterous hand. However, the tendon rope transmission in this invention uses a pulley and a tendon rope to achieve finger joint movement, but long-term use causes the tendon rope to wear and fail, has a small load-bearing capacity, and has high maintenance costs. Summary of the Invention

[0005] The main technical problem to be solved by the present invention is to provide a humanoid robot joint structure based on flexible shaft transmission with a simple overall structure. The joint structure has large torque, low cost, high reliability, and flexible arrangement of the drive motor. It is also convenient for spatial arrangement in the case of complex layout of the humanoid robot joint transmission and has high transmission efficiency.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A humanoid robot joint structure based on flexible shaft transmission includes a fixed bracket, on which a first motor group, a second motor group, a first flexible shaft assembly, a second flexible shaft assembly, a turbine assembly and a movable part are provided, wherein the first motor group and the second motor group are fixedly mounted on the fixed bracket, the movable part is hinged on the fixed bracket, the power output end of the first motor group is fixedly connected to one end of the first flexible shaft assembly, the other end of the first flexible shaft assembly passes through the movable part, the power output end of the second motor group is fixedly connected to one end of the second flexible shaft assembly, and the other end of the second flexible shaft assembly is meshed with the movable part.

[0007] The following is a further optimization of the above technical solution by the present invention: The first motor assembly includes a motor body fixedly mounted on the bottom surface of the housing of the fixed bracket, an output shaft is provided on the power output end of the motor body, and a holder is fixedly mounted on the outer surface of the motor body near the output shaft; The structure of the second motor group is the same as that of the first motor group.

[0008] Further optimization: the first flexible shaft assembly includes a first flexible shaft housing component fixedly connected to the base of the first motor group and a first flexible shaft core component fixedly connected to the output shaft of the first motor group; The second flexible shaft assembly includes a second flexible shaft shell component fixedly connected to the holder of the second motor group and a second flexible shaft core component fixedly connected to the output shaft of the second motor group.

[0009] Further optimization: the first flexible shaft housing assembly includes two first flexible shaft housing heads, a first flexible shaft housing is fixedly connected between the two first flexible shaft housing heads, and one of the first flexible shaft housing heads is fixedly connected to the base of the first motor group; The first soft shaft shell is sleeved on the outer surface of the first soft shaft core component.

[0010] Further optimization: the first flexible shaft core assembly includes two first flexible shaft core heads, and a first flexible shaft core is fixedly connected between the two first flexible shaft core heads; One of the first flexible shaft core heads is fixedly connected to the output shaft of the first motor group.

[0011] Further optimization: the second flexible shaft housing assembly includes two second flexible shaft housing heads, and a second flexible shaft housing is fixedly connected between the two second flexible shaft housing heads; One of the second flexible shaft shell heads is fixedly connected to the clamping seat of the second motor group, and the second flexible shaft shell is sleeved on the outer surface of the second flexible shaft core component.

[0012] Further optimization: the second flexible shaft core assembly includes two second flexible shaft core heads, and a second flexible shaft core is fixedly connected between the two second flexible shaft core heads; One of the second flexible shaft core heads is fixedly connected to the output shaft of the second motor group, and the other second flexible shaft core head is fixedly connected to the turbine assembly.

[0013] Further optimization: the material of the first soft shaft core and the second soft shaft core is a composite braided material.

[0014] Further optimization: the movable component includes a movable shell hinged to the fixed bracket, and one end of the movable shell is provided with a first hinge end and a second hinge end symmetrically spaced apart, and a coaxial first through hole is opened in the middle of the first hinge end and the second hinge end.

[0015] Further optimization: an oblique tooth hole is provided on the surface of the first hinged end close to the second hinged end and located at the position of the first through hole. A plurality of oblique teeth are arranged in an annular array on the inner surface of the oblique tooth hole, and the turbine assembly is meshed and connected with the oblique teeth.

[0016] The present invention adopts the above technical solution and has the following beneficial effects: 1. The present invention adopts the above technical solution, which is ingenious in conception and reasonable in structure. The application of this structure to the joints of the dexterous hand can reduce costs and provide high torque. At the same time, the motor is driven by a motor with flexible arrangement, high transmission efficiency, safety and reliability, and easy operation. The overall structure is simple, easy to manufacture and produce, which can reduce production and use costs and improve economic benefits. 2. When the transmission is performed through the motor, a soft shaft core made of braided material is used for transmission, and a soft shaft shell is sleeved on the outer surface of the soft shaft core, which can provide large torque, and the soft shaft core reduces the degree of wear when rotating, prolongs the service life, and reduces maintenance costs.

[0017] The present invention will be further described below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a cross-sectional view of the overall structure of an embodiment of the present invention; Figure 3 This is a schematic structural diagram of the first motor group in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the first flexible shaft assembly in an embodiment of the present invention; Figure 5 For the embodiment of the present invention Figure 4 Structural cross-section at point B in the middle; Figure 6 Schematic diagram of the structure of the second flexible shaft assembly in an embodiment of the present invention; Figure 7 This is a front view of the second flexible shaft assembly in an embodiment of the present invention; Figure 8 For the embodiment of the present invention Figure 7 Structural cross-section at point C in the middle; Figure 9 Schematic diagram of the installation structure of the turbine assembly in an embodiment of the present invention; Figure 10 For the embodiment of the present invention Figure 9 Schematic diagram of the structure at A in the middle; Figure 11 Schematic diagram of the structure of the movable shell in an embodiment of the present invention.

[0019] In the figure: 1. fixing bracket; 11. hinge slot; 12. middle hole; 13. third flexible shaft housing head; 2. first motor group; 21. motor body; 22. holder; 220. spline slot; 23. output shaft; 3. second motor group; 4. first flexible shaft assembly; 41. first flexible shaft housing assembly; 410. first flexible shaft housing head; 411. first flexible shaft housing; 412. first spline; 42. first flexible shaft core assembly; 420. first flexible shaft core head; 421. first flexible shaft core; 5. second flexible shaft assembly; 51. second flexible shaft housing assembly; 510. Second flexible shaft shell head; 511, second flexible shaft shell; 512, second spline; 52, second flexible shaft core assembly; 520, second flexible shaft core head; 521, second flexible shaft core; 6, turbine assembly; 61, turbine; 62, turbine shaft; 63, limit retaining spring; 7, movable part; 71, movable shell; 710, first hinged end; 7101, first through hole; 711, second hinged end; 7110, oblique tooth hole; 72, lubricating bearing; 73, encoder; 74, end cover nut; 75, end cover bolt; 76, end cover joint; 77, sealing felt. DETAILED DESCRIPTION

[0020] like Figure 1-11 As shown: A humanoid robot joint structure based on flexible shaft transmission includes a fixed bracket 1, on which a first motor group 2, a second motor group 3, a first flexible shaft assembly 4, a second flexible shaft assembly 5, a turbine assembly 6 and a movable part 7 are provided, wherein the first motor group 2 and the second motor group 3 are fixedly mounted on the fixed bracket 1, and the movable part 7 is hinged on the fixed bracket 1, the power output end of the first motor group 2 is fixedly connected to one end of the first flexible shaft assembly 4, and the other end of the first flexible shaft assembly 4 passes through the movable part 7, the power output end of the second motor group 3 is fixedly connected to one end of the second flexible shaft assembly 5, and the other end of the second flexible shaft assembly 5 is meshed with the movable part 7.

[0021] In this embodiment, the fixing bracket 1 is fixedly installed at the palm position of the dexterous hand. The shape of the fixing bracket 1 is set according to the requirements of the palm area division of the dexterous hand. The fixing bracket 1 is set to be shell-shaped.

[0022] like Figure 2As shown, a hinge groove 11 is provided at the hinge portion between the fixed bracket 1 and the movable component 7, and the hinge groove 11 is arranged in a symmetrical structure.

[0023] A through-hole 12 is formed in the middle of the hinge slot 11 .

[0024] A third flexible shaft housing head 13 is fixedly mounted on a position close to one side of the hinge groove 11 , and the third flexible shaft housing head 13 is located at the position of the middle hole 12 .

[0025] A second through hole is defined in the middle of the third flexible shaft housing head 13 .

[0026] like Figure 3 As shown, the first motor group 2 includes a motor body 21 fixedly mounted on the bottom surface of the shell of the fixed bracket 1, an output shaft 23 is provided on the power output end of the motor body 21, and power is transmitted through the output shaft 23, and a base 22 is fixedly mounted on the outer surface of the motor body 21 near the output shaft 23.

[0027] The holder 22 is sleeved on the outer surface of the output shaft 23 , and a spline groove 220 is defined in the middle of the holder 22 .

[0028] The second motor group 3 is fixedly mounted on the bottom surface of the fixed bracket 1 , and the second motor group 3 is located close to the first motor group 2 .

[0029] The structure of the second motor group 3 is the same as that of the first motor group 2 .

[0030] like Figure 4-5 As shown, the first flexible shaft assembly 4 includes a first flexible shaft shell component 41 fixedly connected to the base 22 of the first motor group 2 and a first flexible shaft core component 42 fixedly connected to the output shaft 23 of the first motor group 2 .

[0031] The first flexible shaft housing assembly 41 includes two first flexible shaft housing heads 410 , and a first flexible shaft housing 411 is fixedly connected between the two first flexible shaft housing heads 410 .

[0032] A third through hole is defined in the middle of the first flexible shaft housing 410 .

[0033] One of the first flexible shaft housing heads 410 is fixedly connected to the holder 22 of the first motor assembly 2 .

[0034] A first spline 412 is provided on an end surface of the first flexible shaft housing 410 close to the holder 22 of the first motor assembly 2 . The size of the first spline 412 matches the spline groove 220 .

[0035] The first flexible shaft shell 411 is sleeved on the outer surface of the first flexible shaft core component 42 .

[0036] When the first flexible shaft housing assembly 41 is installed on the first motor group 2, the first spline 412 of the first flexible shaft housing head 410 is matched with the spline groove 220 of the holder 22, and then the first flexible shaft housing head 410 and the holder 22 are locked by bolts. With this design, the first flexible shaft housing head 410 does not twist when connected to the holder 22.

[0037] The first flexible shaft core assembly 42 includes two first flexible shaft core heads 420 , and a first flexible shaft core 421 is fixedly connected between the two first flexible shaft core heads 420 .

[0038] The shape of the first flexible shaft core head 420 matches the shape and size of the third through hole. In this way, the first flexible shaft shell head 410 is sleeved on the outer surface of the first flexible shaft core head 420 .

[0039] One of the first flexible shaft core heads 420 is fixedly connected to the output shaft 23 of the first motor group 2. The specific fixed connection method is well known and will not be described in detail here. With such a design, when the first motor group 2 is started, the output shaft 23 rotates, driving the first flexible shaft core head 420 to rotate.

[0040] The first flexible shaft core 421 is made of a composite braided material, which has the characteristics of flexibility and torsion resistance.

[0041] The other first flexible shaft shell head 410 and the other first flexible shaft core head 420 are connected to other parts of the dexterous hand that need to be transmitted. When the first motor group 2 is started, the first flexible shaft core 421 is driven to rotate to transmit power.

[0042] like Figure 6-8 As shown, the second flexible shaft assembly 5 includes a second flexible shaft housing component 51 fixedly connected to the holder 22 of the second motor group 3 and a second flexible shaft core component 52 fixedly connected to the output shaft 23 of the second motor group 3 .

[0043] The second flexible shaft housing assembly 51 includes two second flexible shaft housing heads 510 , and a second flexible shaft housing 511 is fixedly connected between the two second flexible shaft housing heads 510 .

[0044] A fourth through hole is defined in the middle of the second flexible shaft housing 510 .

[0045] One of the second flexible shaft housing heads 510 is fixedly connected to the holder 22 of the second motor assembly 3 .

[0046] The structure of the second flexible shaft housing head 510 is the same as that of the first flexible shaft housing head 410 , that is, a second spline 512 is provided on one end surface of the second flexible shaft housing head 510 , and the second spline 512 matches the spline groove 220 of the second motor group 3 .

[0047] The second flexible shaft shell 511 is sleeved on the outer surface of the second flexible shaft core component 52 .

[0048] The installation method of the second flexible shaft housing assembly 51 is the same as that of the first flexible shaft housing assembly 41 , which can also prevent the second flexible shaft housing head 510 from twisting when connected to the holder 22 of the second motor group 3 .

[0049] The other second flexible shaft housing head 510 is fixedly connected to the third flexible shaft housing head 13. The second flexible shaft housing head 510 and the third flexible shaft housing head 13 are also fixedly connected by a spline and a spline groove, which will not be described in detail here.

[0050] A fifth through hole is defined in the middle of the second flexible shaft housing 510 .

[0051] The second flexible shaft core assembly 52 includes two second flexible shaft core heads 520 , and a second flexible shaft core 521 is fixedly connected between the two second flexible shaft core heads 520 .

[0052] One of the second flexible shaft core heads 520 is fixedly connected to the output shaft 23 of the second motor group 3. The specific fixed connection method is well known and will not be described in detail here. With this design, when the second motor group 3 is started, the output shaft 23 rotates, driving the second flexible shaft core head 520 to rotate.

[0053] The material of the second flexible shaft core head 520 is also made of composite braided material, which has the characteristics of flexibility and torsion resistance. The other second flexible shaft core head 520 is fixedly connected to the turbine assembly 6 .

[0054] With this design, when the second motor group 3 is started, it drives the second flexible shaft core 521 to rotate, and then drives the turbine assembly 6 to transmit.

[0055] The shape and size of the fifth through hole match those of the second flexible shaft core head 520 . In this way, the second flexible shaft shell head 510 is sleeved on the outer surface of the second flexible shaft core head 520 .

[0056] The first flexible shaft housing 411 and the second flexible shaft housing 511 are both made of carbon fiber composite material.

[0057] The turbine assembly 6 includes a turbine shaft 62 fixedly connected to the second flexible shaft housing head 510 , and the other end of the turbine shaft 62 is fixedly connected to a turbine 61 .

[0058] The turbine shaft 62 is also sleeved with a limiting clamping spring 63 for limiting the installation position of the turbine shaft 62 .

[0059] The turbine shaft 62 is simultaneously inserted into the second through hole of the third flexible shaft housing head 13. During installation, the end of the turbine shaft 62 away from the turbine 61 is inserted from the end of the third flexible shaft housing head 13 away from the second flexible shaft assembly 5. After insertion, the limiting retaining spring 63 is sleeved on the end of the turbine shaft 62 away from the turbine 61 and then inserted into the second flexible shaft core head 520 for fixed connection. Then, the second flexible shaft housing head 510 and the third flexible shaft housing head 13 are fixedly connected by bolts, while ensuring that the turbine 61 is outside the third flexible shaft housing head 13 for meshing connection with the movable part 7.

[0060] The fixed connection method between the turbine shaft 62 and the second flexible shaft core head 520 is well known in the prior art and will not be described in detail here.

[0061] With this design, the second motor group 3 is started to drive the second flexible shaft core component 52 to rotate, thereby driving the turbine 61 to rotate.

[0062] like Figure 2 、 Figure 11 As shown, the movable component 7 includes a movable shell 71 hinged to the fixed bracket 1.

[0063] A first hinge end 710 and a second hinge end 711 are provided at one end of the movable shell 71 , and the first hinge end 710 and the second hinge end 711 are symmetrically spaced apart.

[0064] A coaxial first through hole 7101 is defined between the first hinge end 710 and the second hinge end 711 .

[0065] The first hinge end 710 and the second hinge end 711 match the hinge slot 11 , and the first through hole 7101 and the middle hole 12 are coaxially arranged.

[0066] The first hinged end 710 is arranged close to the third flexible shaft shell head 13, and an oblique tooth hole 7110 is opened on the surface of the first hinged end 710 close to the second hinged end 711 and located at the position of the first through hole 7101. The inner surface of the oblique tooth hole 7110 has a plurality of oblique teeth in a circular array.

[0067] The turbine 61 is meshed with the helical teeth on the helical tooth hole 7110 . When the turbine 61 rotates, the movable shell 71 is driven to rotate.

[0068] Lubricating bearings 72 are fixedly installed in both ends of the middle hole 12 close to the first hinge end 710 and the second hinge end 711 respectively.

[0069] An end cover joint 76 is fixedly installed in each of the two lubricating bearings 72 , and the two end cover joints 76 extend into two corresponding first through holes 7101 respectively.

[0070] An end cover nut 74 is fixedly installed in one end of the two first through holes 7101 away from each other, and the two end cover nuts 74 correspond to the two end cover joints 76.

[0071] The end cover nut 74 is fixedly connected to the corresponding end cover joint 76 via an end cover bolt 75 .

[0072] With this design, the movable shell 71 can be hinged to the fixed bracket 1 .

[0073] An encoder 73 is further provided between the second hinged end 711 and the middle hole 12 , and the encoder 73 is sleeved on the end cover joint 76 .

[0074] The encoder 73 is electrically connected to the control system of the dexterous hand and can detect the rotational displacement of the movable shell 71 and provide position feedback, thereby increasing the accuracy of the dexterous hand.

[0075] The encoder 73 can be obtained commercially, and the specific connection method and application are not described here in detail.

[0076] The control ends of the first motor group 2 and the second motor group 3 are also electrically connected to the control system of the dexterous hand. When the encoder 73 detects the displacement of the movable shell 71 and feeds back the signal to the control system, the control system then controls the rotation of the first motor group 2 and the second motor group 3 to achieve real-time adjustment and flexible control.

[0077] Sealing felt 77 is fixedly mounted at the ends of the first hinge end 710 and the second hinge end 711 .

[0078] During use, the first soft shaft core 421 and the second soft shaft core 521 are respectively located in the first soft shaft shell 411 and the second soft shaft shell 511 during transmission, thereby avoiding wear caused by long-term use. At the same time, the second soft shaft core 521 drives the turbine 61 to rotate, and by engaging with the helical teeth in the helical tooth hole 7110, drives the movable shell 71 to rotate, thereby increasing the torque and bearing capacity.

[0079] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot joint structure based on flexible shaft transmission, comprising a fixed bracket (1), characterized in that: The fixed bracket (1) is provided with a first motor group (2), a second motor group (3), a first flexible shaft assembly (4), a second flexible shaft assembly (5), a turbine assembly (6) and a movable part (7), wherein the first motor group (2) and the second motor group (3) are fixedly mounted on the fixed bracket (1), the movable part (7) is hinged on the fixed bracket (1), the power output end of the first motor group (2) is fixedly connected to one end of the first flexible shaft assembly (4), the other end of the first flexible shaft assembly (4) passes through the movable part (7), the power output end of the second motor group (3) is fixedly connected to one end of the second flexible shaft assembly (5), and the other end of the second flexible shaft assembly (5) is meshedly connected to the movable part (7).

2. The humanoid robot joint structure based on flexible shaft transmission according to claim 1, characterized in that: The first motor assembly (2) comprises a motor body (21) fixedly mounted on the bottom surface of the housing of the fixed bracket (1); an output shaft (23) is provided on the power output end of the motor body (21); and a holder (22) is fixedly mounted on the outer surface of the motor body (21) near the output shaft (23); The structure of the second motor group (3) is the same as that of the first motor group (2).

3. The humanoid robot joint structure based on flexible shaft transmission according to claim 2, characterized in that: The first flexible shaft assembly (4) comprises a first flexible shaft housing component (41) fixedly connected to the holder (22) of the first motor group (2) and a first flexible shaft core component (42) fixedly connected to the output shaft (23) of the first motor group (2); The second flexible shaft assembly (5) comprises a second flexible shaft housing component (51) fixedly connected to the holder (22) of the second motor group (3) and a second flexible shaft core component (52) fixedly connected to the output shaft (23) of the second motor group (3).

4. The humanoid robot joint structure based on flexible shaft transmission according to claim 3, characterized in that: The first flexible shaft housing assembly (41) comprises two first flexible shaft housing heads (410), a first flexible shaft housing (411) being fixedly connected between the two first flexible shaft housing heads (410), wherein one of the first flexible shaft housing heads (410) is fixedly connected to the holder (22) of the first motor assembly (2); The first soft shaft shell (411) is sleeved on the outer surface of the first soft shaft core component (42).

5. The humanoid robot joint structure based on flexible shaft transmission according to claim 4, characterized in that: The first flexible shaft core assembly (42) comprises two first flexible shaft core heads (420), with a first flexible shaft core (421) fixedly connected between the two first flexible shaft core heads (420); One of the first flexible shaft core heads (420) is fixedly connected to the output shaft (23) of the first motor group (2).

6. The humanoid robot joint structure based on flexible shaft transmission according to claim 5, characterized in that: The second flexible shaft housing assembly (51) comprises two second flexible shaft housing heads (510), with a second flexible shaft housing (511) fixedly connected between the two second flexible shaft housing heads (510); One of the second flexible shaft housing heads (510) is fixedly connected to the holder (22) of the second motor assembly (3), and the second flexible shaft housing (511) is sleeved on the outer surface of the second flexible shaft core assembly (52).

7. The humanoid robot joint structure based on flexible shaft transmission according to claim 6, characterized in that: The second flexible shaft core assembly (52) comprises two second flexible shaft core heads (520), with a second flexible shaft core (521) fixedly connected between the two second flexible shaft core heads (520); One of the second flexible shaft core heads (520) is fixedly connected to the output shaft (23) of the second motor assembly (3), and the other second flexible shaft core head (520) is fixedly connected to the turbine assembly (6).

8. The humanoid robot joint structure based on flexible shaft transmission according to claim 7, characterized in that: The first soft shaft core (421) and the second soft shaft core (521) are made of composite braided material.

9. The humanoid robot joint structure based on flexible shaft transmission according to claim 8, characterized in that: The movable component (7) comprises a movable shell (71) hinged to the fixed bracket (1); one end of the movable shell (71) is provided with a first hinge end (710) and a second hinge end (711) symmetrically spaced apart; a coaxial first through hole (7101) is provided in the middle of the first hinge end (710) and the second hinge end (711).

10. The humanoid robot joint structure based on flexible shaft transmission according to claim 9, characterized in that: A beveled tooth hole (7110) is provided on a surface of the first hinged end (710) close to the second hinged end (711) and located at the position of the first through hole (7101). A plurality of beveled teeth are arranged in a circular array on the inner surface of the beveled tooth hole (7110), and the turbine assembly (6) is meshedly connected with the beveled teeth.

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