Joint mechanism of humanoid robot and mounting method

Abstract

The invention discloses a joint mechanism of a humanoid robot and a mounting method thereof, and the joint mechanism comprises a first driving part which is used for driving the robot to rotate around a first shaft; the second driving part is used for driving the robot to rotate around a second shaft; the first shell is provided with at least two wire holes extending in the plane direction; the second shell is provided with an opening for the wire body to penetrate through and at least two vertical linear cavities, the vertical linear cavities extend in the vertical direction, the tops of the vertical linear cavities are communicated through the opening, and the bottoms of the vertical linear cavities can be communicated with the wire hole; the second shell and the first shell are rotationally connected and are provided with mounting positions and initial positions, the vertical linear cavities and the linear holes are staggered at the initial positions, and the openings, the vertical linear cavities and the linear holes form a first three-dimensional wiring path; at the mounting position, the vertical line cavity is opposite to the line hole, and the opening, the vertical line cavity and the line hole form a second three-dimensional wiring path; the length of the first three-dimensional routing path is larger than that of the second three-dimensional routing path. According to the invention, through the cooperation of the vertical line cavity and the line hole, the wiring space is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of humanoid robots, and in particular relates to a joint mechanism and an installation method of a humanoid robot. Background Art

[0002] Currently, most humanoid robots use hollow joints to avoid excessive wiring designs. However, the vias in hollow joints are relatively small and are generally suitable for wire diameters below ø4mm. In complex outdoor environments or special circumstances, multiple wire protections are often required, and the outer diameter of the wires increases, reaching a maximum of around ø7mm. In this case, wiring cannot be routed through hollow joints, and an alternative routing method must be designed.

[0003] The hip joint of a humanoid robot has many wires and complex wiring. The existing wiring method is to route multiple wires in the same plane, which easily causes the wires to be too concentrated. The gaps between adjacent wires are small, making them prone to entanglement. Once the wiring space is increased, the humanoid robot will become too large. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention provides a joint mechanism and installation method of a humanoid robot, which can route wires in three-dimensional space, achieve smooth routing of large outer diameter wires without changing the volume, and realize the simultaneous routing of a wiring harness including multiple wires in three-dimensional space, effectively ensuring that the wires will not be entangled.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a joint mechanism of a humanoid robot, comprising:

[0006] a first driving member for driving a portion of the robot to rotate about a first axis;

[0007] a second drive member for driving a portion of the robot to rotate about a second axis;

[0008] A first housing is provided outside the first driving member and has at least two wire holes extending in a plane direction;

[0009] A second housing is provided outside the second driving member and has an opening for the wire to pass through, and at least two vertical linear cavities are located on both sides of the outer wall of the second driving member. The vertical linear cavities extend in a vertical direction, the tops of the vertical linear cavities are connected by the opening, and the bottoms of the vertical linear cavities can be connected to the wire hole;

[0010] The second shell is rotatably connected to the first shell, and both have an installation position and an initial position. In the initial position, the vertical linear cavity and the wire hole are misaligned, and the opening, vertical linear cavity, and wire hole form a first three-dimensional wiring path; in the installation position, the vertical linear cavity and the wire hole are opposite, and the opening, vertical linear cavity, and wire hole form a second three-dimensional wiring path; the length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path.

[0011] Furthermore, the initial position is the normal position of the joint mechanism of the humanoid robot.

[0012] Furthermore, the first driving member is used to drive the Yaw movement of the torso, and its first driving part extends along the Yaw axis direction; the second driving member is used to drive the Roll movement of the torso, and its second driving part extends along the Roll axis direction; in the initial position, the torso faces forward, and in the installation position, the torso deviates from the front of the lower limbs.

[0013] Furthermore, the wire holes include a first wire hole and a second wire hole, which extend along a plane direction perpendicular to the Yaw axis; and the angles at which the first wire hole and the second wire hole extend along the circumferential direction are both greater than 90°.

[0014] Furthermore, the wire holes are isolated from each other and radially symmetrically arranged on both sides of the first driving member.

[0015] Furthermore, the opening extends along the side wall of the second shell in the direction of the second driving part.

[0016] Furthermore, the first driving member drives the trunk Yaw angle to be -220°~110°; and the second driving member drives the trunk Roll angle to be -55°~55°.

[0017] Furthermore, the vertical linear cavity includes a first vertical linear cavity and a second vertical linear cavity, the circumferential length of the first linear hole is greater than the length of the first vertical linear cavity; the circumferential length of the second linear hole is greater than the length of the second vertical linear cavity.

[0018] The present invention also discloses a method for installing a joint mechanism of a humanoid robot, comprising the following steps:

[0019] Installing a first driving member and a first housing, wherein at least two wire holes are formed in the first housing;

[0020] Install a second driving member and a second housing, forming at least two vertical linear cavities between the outer wall of the second driving member and the second housing, wherein the bottoms of the vertical linear cavities can be connected to the wire holes, and openings communicating with the vertical linear cavities are formed in the second housing;

[0021] The first shell and the second shell are rotated relative to each other, and the two are moved from the initial position to the installation position, the vertical linear cavity and the wire hole are radially opposite, and the opening, the vertical linear cavity and the wire hole form a second three-dimensional wiring path, and the wire body is installed and entered along the second three-dimensional wiring path after being bundled;

[0022] The first shell and the second shell are rotated relative to each other in opposite directions, and both enter the initial position from the installation position. The vertical linear cavity and the wire hole are radially offset, and the opening, the vertical linear cavity, and the wire hole form a first three-dimensional wiring path, and the length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path.

[0023] Furthermore, the angle difference between the installation position and the initial position is 90°.

[0024] The beneficial effects of the present invention are: 1) through the cooperation of the vertical linear cavity and the wire hole, the wiring space is set in both the vertical direction and the horizontal direction, which changes the traditional idea of ​​arranging the wiring space in only one plane, greatly increases the wiring space, and extends the layout path of the wire body; 2) the length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path, so that in the initial position, the wire body is arranged obliquely, and a part of the length is reserved for the relative rotation of the torso and lower limbs of the humanoid robot. When the torso rotates in one direction relative to the lower limbs, due to the reserved length, the space for the wire body to move freely is relatively larger, and the reserved wire body will not curl and tangle inside, and at the same time , when the torso rotates in another direction relative to the lower limbs, the wires in the two three-dimensional routing paths will not interfere with each other; 3) The first wire hole and the second wire hole are isolated from each other and extend almost the entire circumference along the plane direction. When the wire is arranged vertically, the wire can swing freely in the first wire hole or the second wire hole, so that the free movement space of the wire is large. This routing method provides greater freedom for the relative rotation of the torso and lower limbs; 4) After entering the opening, the wire enters the first vertical linear cavity and the second vertical linear cavity respectively, that is, the wire is divided into bundles, which reduces the probability of wire entanglement; 5) At the installation position, the vertical linear cavity and the wire hole are opposite to each other, which is convenient for the vertical installation of the wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The three-dimensional joint mechanism provided by the present invention Figure 1 .

[0026] Figure 2 The local three-dimensional structure of the joint mechanism provided by the present invention Figure 1 .

[0027] Figure 3 The local three-dimensional structure of the joint mechanism provided by the present invention Figure 2 .

[0028] Figure 4 The local three-dimensional structure of the joint mechanism provided by the present invention Figure 3 .

[0029] Figure 5 A cross-sectional view of the joint mechanism provided by the present invention Figure 1 .

[0030] Figure 6A cross-sectional view of the joint mechanism provided by the present invention Figure 2 .

[0031] Figure 7 The local three-dimensional structure of the joint mechanism provided by the present invention Figure 4 , which is in the initial position at this time.

[0032] Figure 8 The local three-dimensional structure of the joint mechanism provided by the present invention Figure 5 , which is now in the installation position.

[0033] Figure 9 A cross-sectional view of the joint mechanism provided by the present invention Figure 3 , which is now in the installation position.

[0034] Figure 10 The local three-dimensional image of the humanoid robot provided by the present invention Figure 1 .

[0035] Figure 11 The local three-dimensional image of the humanoid robot provided by the present invention Figure 2 .

[0036] Figure 12 The local three-dimensional image of the humanoid robot provided by the present invention Figure 3 .

[0037] Figure 13 The local three-dimensional image of the humanoid robot provided by the present invention Figure 4 .

[0038] Figure 14 The local three-dimensional image of the humanoid robot provided by the present invention Figure 5 .

[0039] Among them, 1-first driving member, 11-first driving part, 2-second driving member, 21-second driving part, 3-first shell, 31-wire hole, 311-first wire hole, 312-second wire hole, 4-second shell, 41-opening, 42-vertical straight cavity, 421-first vertical straight cavity, 422-second vertical straight cavity, 51-first three-dimensional wiring path, 52-second three-dimensional wiring path, 61-torso, 62-lower limbs. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0041] like Figure 1-Figure 4 As shown, a joint mechanism of a humanoid robot includes a first driving member 1, a first shell 3 arranged outside the first driving member 1, a second driving member 2, and a second shell 4 arranged outside the second driving member 2, and the first shell 3 and the second shell 4 are rotatably connected.

[0042] Specifically, the joint mechanism here is a hip joint mechanism. Of course, in other embodiments, it can also be other joint mechanisms of a humanoid robot, and there is no specific limitation.

[0043] The first drive member 1 is used to drive a portion of the robot to rotate about a first axis. Specifically, in this embodiment, the first drive member 1 includes a first drive portion 11 extending along the yaw axis. Under the action of the first drive portion 11, the first drive member 1 drives the robot's trunk 61 to perform yaw motion. Yaw motion refers to the rotation of the trunk 61 about the vertical axis Y, manifested as changes in heading and yaw angle.

[0044] The second driving member 2 is used to drive the robot's body to rotate about a second axis. Specifically, in this embodiment, the second driving member 2 has a second driving portion 21 extending along the roll axis. Under the action of the second driving portion 21, the second driving member 2 drives the robot's trunk 61 to perform a roll motion. Roll motion refers to the rotation of the trunk 61 about the horizontal longitudinal axis Z, manifested as changes in the roll and tumble angles.

[0045] Specifically, the first driving member 1 drives the trunk 61 to move at a Yaw angle of -220°~110°, preferably, the Yaw angle is -210°~100°; the second driving member 2 drives the trunk 61 to move at a Roll angle of -55°~55°, preferably, the Roll angle is -45°~45°, that is, Figure 12 、 Figure 13 The middle swing angle is -45°~45°.

[0046] like Figure 2 、 Figure 3As shown, the first shell 3 has at least two wire holes 31 extending along the planar direction, specifically extending in the planar direction determined by the Pitch axis and the Roll axis. Here, the Pitch axis refers to the rotational movement of the trunk 61 around the horizontal transverse axis X-axis, which is manifested as a change in the pitch angle. In this embodiment, the number of wire holes 31 is two, including a first wire hole 311 and a second wire hole 312, which extend along the planar direction perpendicular to the Yaw axis, and the angles of the first wire hole 311 and the second wire hole 312 extending in the circumferential direction are both greater than 90°. More specifically, the first wire hole 311 and the second wire hole 312 are isolated from each other, that is, the two are not connected, and are radially symmetrically arranged on both sides of the first driving member 1. Of course, in other embodiments, the number of wire holes 31 can also be four, and there is no specific limitation.

[0047] like Figure 4 As shown, the top of the second housing 4 has an opening 41 for the wire to pass through. The opening 41 extends along the length of the second driving portion 21 and extends across the entire sidewall of the second housing 4. The second housing 4 also has at least two vertical cavities 42 located on either side of the outer wall of the second driving member 2. The vertical cavities 42 extend in the vertical direction, that is, along the yaw axis. The tops of the vertical cavities 42 are connected through the opening 41, and the bottoms of the vertical cavities 42 can be connected to the wire hole 31.

[0048] The wires here include at least one waist joint group (power + signal) wire, one left and right leg joint group (power + signal) wire, one hip front and rear camera (power + signal) wire, and one gyroscope (power + signal) wire.

[0049] In this embodiment, there are two vertical linear cavities 42, including a first vertical linear cavity 421 and a second vertical linear cavity 422. The circumferential length of the first linear hole 311 is greater than the circumferential length of the bottom of the first vertical linear cavity 421, and the circumferential length of the second linear hole 312 is greater than the circumferential length of the bottom of the second vertical linear cavity 422. In other words, when the first vertical linear cavity 421 and the first linear hole 311 are aligned vertically, the projection of the first vertical linear cavity 421 on the horizontal plane is completely covered by the first linear hole 311; when the second vertical linear cavity 422 and the second linear hole 312 are aligned vertically, the projection of the second vertical linear cavity 422 on the horizontal plane is completely covered by the second linear hole 312.

[0050] The first shell 3 and the second shell 4 have an installation position and an initial position, such as Figure 5 、 Figure 10As shown, in the initial position, the torso 61 faces forward, which is the normal position of the joint mechanism of the humanoid robot. The vertical linear cavity 42 is misaligned with the linear hole 31, that is, the bottom of the vertical linear cavity 42 is not directly above the linear hole 31. Specifically, the projection of the bottom of the first vertical linear cavity 421 on the horizontal plane does not fall at all in the area where the first linear hole 311 is located, or the projection of the bottom of the first vertical linear cavity 421 on the horizontal plane only partially falls in the area where the first linear hole 311 is located; the projection of the bottom of the second vertical linear cavity 422 on the horizontal plane does not fall at all in the area where the second linear hole 312 is located, or the projection of the bottom of the second vertical linear cavity 422 on the horizontal plane only partially falls in the area where the second linear hole 312 is located.

[0051] At this time, the opening 41, the vertical straight cavity 42, and the wire hole 31 form a first three-dimensional wiring path 51. Specifically, the opening 41, the first vertical straight cavity 421, and the first wire hole 311 form the first three-dimensional wiring path 51, which can be specifically called the first three-dimensional wiring path 51A. The opening 41, the second vertical straight cavity 422, and the second wire hole 312 are also defined as the first three-dimensional wiring path 51B, which can be specifically called the first three-dimensional wiring path 51B.

[0052] like Figure 6 、 Figure 11 As shown, in the installed position, the trunk 61 is relatively rotated by a certain angle. In this embodiment, the rotation angle is 90°. Of course, in other embodiments, the rotation angle can be 60° to 90°, and there is no specific limitation. At this time, the trunk 61 is offset from the front of the lower limb 62, and the vertical linear cavity 42 is radially opposite the wire hole 31. In other words, the bottom of the vertical linear cavity 42 is directly above the wire hole 31. Specifically, the projection of the bottom of the first vertical linear cavity 421 on the horizontal plane completely falls within the area where the first wire hole 311 is located, and the projection of the bottom of the second vertical linear cavity 422 on the horizontal plane completely falls within the area where the second wire hole 312 is located.

[0053] At this time, the opening 41, the vertical straight cavity 42, and the wire hole 31 form a second three-dimensional wiring path 52. Specifically, the opening 41, the first vertical straight cavity 421, and the first wire hole 311 form a second three-dimensional wiring path 52, which can be specifically called a second three-dimensional wiring path 52A. The opening 41, the second vertical straight cavity 422, and the second wire hole 312 are also defined as a second three-dimensional wiring path 52, which can be specifically called a second three-dimensional wiring path 52B.

[0054] The length of the first three-dimensional wiring path 51 is greater than that of the second three-dimensional wiring path 52. Therefore, after the wire body is installed at the installation position, the trunk 61 is rotated and reset to the front. At this time, the length of the wire body in the first three-dimensional wiring path 51 is greater, which is equivalent to reserving part of the length of the wire body in the first three-dimensional wiring path 51 before the trunk 61 and the lower limbs 62 rotate relative to each other. The first three-dimensional wiring path 51A and the first three-dimensional wiring path 51B form two independent wiring spaces that will not interfere with each other. Wires with different functions (such as high-current power lines and sensor signal lines) can be separated without interfering with each other. Figure 7 As shown, when the trunk 61 rotates relative to the lower limbs 62, whether it rotates toward the left or toward the right, that is, Figure 11 、 Figure 12 In the rotation direction shown, due to the previously reserved length, the space for the wire to move freely is relatively larger, and the reserved wire will not curl or tangle inside.

[0055] In addition, compared with the planar wiring space design, the design of the first three-dimensional wiring path 51 and the second three-dimensional wiring path 52 also greatly extends the wiring path of the wire within the same spatial range; at the same time, the wire is divided into two bundles and enters the first vertical linear cavity 421 and the second vertical linear cavity 422 from both sides of the opening 41, which greatly reduces the chance of wire entanglement.

[0056] A method for installing a joint mechanism of a humanoid robot comprises the following steps:

[0057] The first driving member 1 and the first housing 3 are mounted, and at least two wire holes 31 are formed in the first housing 3. In this embodiment, the wire holes 31 include a first wire hole 311 and a second wire hole 312, which are isolated from each other and extend in the horizontal direction.

[0058] The second driving member 2 and the second housing 4 are installed, and at least two vertical linear cavities 42 are formed between the outer wall of the second driving member 2 and the inner wall of the second housing 4. The bottom of each vertical linear cavity 42 can be connected to the wire hole 31. An opening 41 is formed at the top of the second housing 4 to connect all the vertical linear cavities 42.

[0059] Specifically, there are two vertical linear cavities 42 , namely a first vertical linear cavity 421 and a second vertical linear cavity 422 , and the first vertical linear cavity 421 and the second vertical linear cavity 422 are located on both sides of the opening 41 and are symmetrically arranged.

[0060] The first housing 3 and the second housing 4 are rotated relative to each other, and both are moved from the initial position to the installation position. At this time, the vertical linear cavity 42 and the wire hole 31 are radially opposite each other. The opening 41, the vertical linear cavity 42, and the wire hole 31 form a second three-dimensional wiring path 52. After the wires are split, they are installed and entered along the second three-dimensional wiring path 52A and the second three-dimensional wiring path 52B.

[0061] like Figure 8 、 Figure 9 As shown, in the installation position, the horizontal projection of the first vertical linear cavity 421 completely falls into the first wire hole 311, and the horizontal projection of the second vertical linear cavity 422 completely falls into the second wire hole 312, so that the opening 41, the first vertical linear cavity 421, and the first wire hole 311 form a second three-dimensional wiring path 52A, and part of the wire body is installed along the second three-dimensional wiring path 52A; the opening 41, the second vertical linear cavity 422, and the second wire hole 312 also form a second three-dimensional wiring path 52B; part of the wire body is installed along the second three-dimensional wiring path 52B;

[0062] The first shell 3 and the second shell 4 are rotated relative to each other in opposite directions, and both of them move from the installation position to the initial position, such as Figure 7 As shown, at this time, the trunk 61 faces forward, the vertical linear cavity 42 and the wire hole 31 are radially offset, and the opening 41, the first vertical linear cavity 421, and the first wire hole 311 form a first three-dimensional wiring path 51A; the opening 41, the second vertical linear cavity 422, and the second wire hole 312 also form a first three-dimensional wiring path 51B. Due to the misalignment of the vertical linear cavity 42 and the wire hole 31, the length of the first three-dimensional wiring path 51 is greater than the length of the second three-dimensional wiring path 52. That is, the wire body is on a first three-dimensional wiring path 51 that is longer than the second three-dimensional wiring path 52, the wire body has more room for movement, and the length of the wire body in a flat state within the first three-dimensional wiring path 51 is also greater.

[0063] In this embodiment, the angular difference between the installation position and the initial position is 90°, that is, the first shell 3 and the second shell 4 are rotated relative to each other by 90° in opposite directions, and both enter the initial position from the installation position.

[0064] In the initial position, the wire body is in an inclined state in the first three-dimensional wiring path 51. If the initial position is rotated 90° to the left to be the installation position, when the torso 61 needs to be rotated 210° to the left relative to the lower limb 62, it is first rotated to 90° to reach the second three-dimensional wiring path 52. At this time, the required wire length is shorter, and part of the wire length will hang down into the cavity of the first shell 3. At this time, the lower end of the wire is located in the middle position of the wire hole 31; continue to rotate 90° to the left to reach a position symmetrical to the first three-dimensional wiring path 51. At this time, the wire length is the same as the first three-dimensional wiring path 51; continue to rotate 30° to the left to reach the 210° position, and this 30° requires additional wire length to be reserved.

[0065] That is to say, the total length of the wire that needs to be reserved is the 90° angle difference between the first three-dimensional wiring path 51 in the initial position and the second three-dimensional wiring path 52 in the installation position, and the 30° wire length of the final rotation. Since the opening angle of the wire hole 31 itself is greater than 90°, the wire length remains unchanged under a 45° rotation angle in the 90° angle difference between the first three-dimensional wiring path 51 in the initial position and the second three-dimensional wiring path 52 in the installation position. That is, during the 45° rotation process, the wire body slides from the middle to one end in the wire hole 31, and the change in the relative position in the wire hole 31 absorbs the change in wire length. Therefore, when rotating toward the left, the total length of the reserved wire body required is the length required for a 75° rotation. Compared with the non-tilted installation state, the length of the reserved wire body is greatly shortened, which avoids the wire body being too long inside and causing entanglement.

[0066] When the trunk 61 needs to rotate 100° to the right relative to the lower limb 62, the lower end of the wire in the first three-dimensional routing path 51A is at the leftmost end of the first wire hole 311, and the upper end of the wire comes to the middle of the second wire hole 312, 10° to the right. The lower end of the wire in the first three-dimensional routing path 51B is at the rightmost end of the second wire hole 312, and the upper end of the wire comes to the middle of the first wire hole 311, 10° to the left. There is a 35° gap between the lower end of the wire initially located in the first three-dimensional routing path 51A and the upper end of the wire initially located in the second three-dimensional routing path 52B. Considering the volume of the wire, there is actually a gap of about 20° between the two, and the wires on both sides will not interfere with each other. It should be noted that the required wire length at this time is the difference between the first three-dimensional routing path 51 and the second three-dimensional routing path 52 plus the 100° rotation length, that is, a rotation length of about 145°.

[0067] The above specific embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A joint mechanism of a humanoid robot, characterized in that: include: A first driving member (1) for driving a portion of the robot to rotate about a first axis; A second driving member (2) for driving a portion of the robot to rotate about a second axis; A first housing (3) is provided outside the first driving member (1) and has at least two wire holes (31) extending in a planar direction; A second housing (4) is provided outside the second driving member (2), and has an opening (41) for the wire to pass through, and at least two vertical linear cavities (42) are located on both sides of the outer wall of the second driving member (2). The vertical linear cavities (42) extend in a vertical direction, and their tops are connected through the opening (41), and their bottoms can be connected to the wire hole (31); The second shell (4) and the first shell (3) are rotatably connected, and both have an installation position and an initial position. In the initial position, the vertical linear cavity (42) and the wire hole (31) are misaligned, and the opening (41), the vertical linear cavity (42), and the wire hole (31) form a first three-dimensional wiring path (51); in the installation position, the vertical linear cavity (42) and the wire hole (31) are directly opposite, and the opening (41), the vertical linear cavity (42), and the wire hole (31) form a second three-dimensional wiring path (52); the length of the first three-dimensional wiring path (51) is greater than the length of the second three-dimensional wiring path (52).

2. The joint mechanism of the humanoid robot according to claim 1, characterized in that: The initial position is the normal position of the joint mechanism of the humanoid robot.

3. The joint mechanism of the humanoid robot according to claim 1, characterized in that: The first driving member (1) is used to drive the trunk (61) in a Yaw motion, and the first driving portion (11) thereof extends in the Yaw axis direction; the second driving member (2) is used to drive the trunk (61) in a Roll motion, and the second driving portion (21) thereof extends in the Roll axis direction; in the initial position, the trunk (61) faces forward, and in the installation position, the trunk (61) deviates from the front of the lower limb (62).

4. The joint mechanism of the humanoid robot according to claim 3, characterized in that: The wire holes (31) comprise a first wire hole (311) and a second wire hole (312), which extend along a plane direction perpendicular to the Yaw axis; the angles of the first wire hole (311) and the second wire hole (312) extending along the circumferential direction are both greater than 90°.

5. The joint mechanism of the humanoid robot according to claim 1, characterized in that: The wire holes are isolated from each other and are radially symmetrically arranged on both sides of the first driving member (1).

6. The joint mechanism of the humanoid robot according to claim 1, characterized in that: The opening (41) extends along the side wall of the second housing (4) in the direction of the second driving portion (21).

7. The joint mechanism of the humanoid robot according to claim 3, characterized in that: The first driving member (1) drives the trunk (61) to a yaw angle of -220° to 110°; and the second driving member (2) drives the trunk (61) to a roll angle of -55° to 55°.

8. The joint mechanism of the humanoid robot according to claim 4, characterized in that: The vertical linear cavity (42) comprises a first vertical linear cavity (421) and a second vertical linear cavity (422); the circumferential length of the first linear hole (311) is greater than the length of the first vertical linear cavity (421); and the circumferential length of the second linear hole (312) is greater than the length of the second vertical linear cavity (422).

9. A method for installing a joint mechanism of a humanoid robot, characterized in that: The following steps are involved: Installing a first driving member and a first housing, wherein at least two wire holes are formed in the first housing; Install a second driving member and a second housing, forming at least two vertical linear cavities between the outer wall of the second driving member and the second housing, wherein the bottoms of the vertical linear cavities can be connected to the wire holes, and openings communicating with the vertical linear cavities are formed in the second housing; The first shell and the second shell are rotated relative to each other, and the two are moved from the initial position to the installation position, the vertical linear cavity and the wire hole are radially opposite, and the opening, the vertical linear cavity and the wire hole form a second three-dimensional wiring path, and the wire body is installed and entered along the second three-dimensional wiring path after being bundled; The first shell and the second shell are rotated relative to each other in opposite directions, and both enter the initial position from the installation position. The vertical linear cavity and the wire hole are radially offset, and the opening, the vertical linear cavity, and the wire hole form a first three-dimensional wiring path, and the length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path.

10. The method for installing a joint mechanism of a humanoid robot according to claim 9, wherein: The angular difference between the installation position and the initial position is 90°.

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