Joint mechanism of humanoid robot and mounting method

Abstract

The application discloses a joint mechanism of a humanoid robot and a mounting method thereof. The joint mechanism comprises a first driving member for driving the robot to rotate around a first axis, a second driving member for driving the robot to rotate around a second axis, a first shell with at least two wire holes extending along a plane direction, and a second shell with an opening for a wire body to pass through, at least two vertical wire cavities extending along a vertical direction, a top part of the vertical wire cavities being communicated through the opening, and a bottom part of the vertical wire cavities being communicated with the wire holes. The second shell and the first shell are rotationally connected, and both have a mounting position and an initial position. At the initial position, the vertical wire cavities are misaligned with the wire holes, and the opening, the vertical wire cavities and the wire holes form a first three-dimensional wire routing path. At the mounting position, the vertical wire cavities are opposite to the wire holes, and the opening, the vertical wire cavities and the wire holes form a second three-dimensional wire routing path. The length of the first three-dimensional wire routing path is greater than that of the second three-dimensional wire routing path. The application increases the wire routing space through cooperation of the vertical wire cavities and the wire holes.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of humanoid robots, in particular to a joint mechanism and installation method of a humanoid robot. BACKGROUND

[0002] At present, most humanoid robots adopt hollow joints to avoid excessive wiring design. However, the via hole of the hollow joint is relatively small, and is generally suitable for wire diameters of less than ø4mm. In complex outdoor environments or special environments, the wire often needs to be protected multiple times, at which time the outer diameter of the wire will increase, and can be up to ø7mm or so. At this time, the hollow joint cannot be used for wiring, and another wiring method needs to be designed.

[0003] The hip joint part of the humanoid robot has a large number of wire bodies and complex winding. The existing wiring method is to wire multiple wire bodies in the same plane, which is easy to cause the wire bodies to be too concentrated, the gap between adjacent wire bodies is small, and winding is easy to occur. Once the wiring space is increased, the volume of the humanoid robot will be too large. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the present application provides a joint mechanism and installation method of a humanoid robot, which wires in a three-dimensional space, realizes smooth wiring of large-diameter wire bodies without changing the volume, and realizes wiring of wire harnesses including multiple wire bodies in a three-dimensional space at the same time, effectively ensuring that the wire bodies will not be wound.

[0005] The technical scheme adopted by the present application to solve its technical problems is as follows: a joint mechanism of a humanoid robot, comprising:

[0006] A first driving member for driving a part of the robot to rotate around a first axis;

[0007] A second driving member for driving a part of the robot to rotate around a second axis;

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

[0009] A second housing provided outside the second driving member, having an opening for wire bodies to pass through, and at least two vertical wire cavities located on both sides of the outer wall of the second driving member, the vertical wire cavities extending in a vertical direction, the top of the vertical wire cavities being connected in communication through the opening, and the bottom of the vertical wire cavities being connected in communication with the wire holes;

[0010] The second housing and the first housing are connected in rotation, and both have an installation position and an initial position. At the initial position, the vertical wire cavities are misaligned with the wire holes, and the opening, the vertical wire cavities and the wire holes form a first three-dimensional wiring path. At the installation position, the vertical wire cavities and the wire holes are opposite to each other, and the opening, the vertical wire cavities and the wire holes 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] Further, the initial position is a normal position of the joint mechanism of the humanoid robot.

[0012] Further, the first driving member is used to drive the torso yaw movement, and the first driving part of the first driving member extends along the yaw axis direction; the second driving member is used to drive the torso roll movement, and the second driving part of the second driving member extends along the roll axis direction; at the initial position, the torso is front-facing, and at the installation position, the torso deviates from the front of the lower limbs.

[0013] Further, the wire holes include first wire holes and second wire holes, which extend along the direction of the plane perpendicular to the yaw axis direction; the first wire holes and the second wire holes extend along the circumferential direction, and the angle of the circumferential extension is greater than 90°.

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

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

[0016] Further, the first driving member drives the yaw angle of the torso to be -220°-110°; and the second driving member drives the roll angle of the torso to be -55°-55°.

[0017] Further, the vertical wire cavity includes first vertical wire cavities and second vertical wire cavities, the circumferential length of the first wire hole is greater than the length of the first vertical wire cavity; and the circumferential length of the second wire hole is greater than the length of the second vertical wire cavity.

[0018] The application further discloses a joint mechanism installation method of a humanoid robot, which comprises the following steps:

[0019] The first driving member and the first shell are installed, and at least two wire holes are formed in the first shell;

[0020] The second driving member and the second shell are installed, at least two vertical wire cavities are formed between the outer wall of the second driving member and the second shell, the bottom of the vertical wire cavity can be connected with the wire hole, and an opening is formed in the second shell to communicate the vertical wire cavity;

[0021] The first shell and the second shell are relatively rotated, and the two enter the installation position from the initial position, the vertical wire cavity and the wire hole are radially opposite, the opening, the vertical wire cavity and the wire hole form a second three-dimensional wire routing path, and the wire body is installed into the second three-dimensional wire routing path after being split;

[0022] Reverse relative rotation of the first shell and the second shell, both from the installation position into the initial position, the vertical linear cavity and the linear hole are radially misaligned, the opening, the vertical linear cavity, the linear hole form a first 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.

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

[0024] The beneficial effects of the present application are: 1) through the cooperation of the vertical linear cavity and the linear hole, wiring space is arranged in the vertical direction and the horizontal direction, which changes the traditional idea of arranging wiring space in only one plane, greatly increases the wiring space, and prolongs 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 the wire body is inclined when it is arranged in the initial position, which reserves a part of the length for the relative rotation of the torso and the lower limbs of the humanoid robot, when the torso rotates relative to the lower limbs in one direction, due to the reserved length, the wire body has a relatively larger free space, and the reserved wire body does not curl and wind inside, at the same time, when the torso rotates relative to the lower limbs in the other direction, the wire body in the two three-dimensional wiring paths does not interfere; 3) the first linear hole and the second linear hole are isolated from each other and extend along the plane direction almost the entire circumference, when the wire body is vertically arranged, the wire body can swing freely in the first linear hole or the second linear hole, so that the wire body has a larger free space, and this wiring method provides a larger degree of freedom for the relative rotation of the torso and the lower limbs; 4) the wire body enters the first vertical linear cavity and the second vertical linear cavity respectively after entering the opening, that is, the wire body is arranged in bundles, which reduces the probability of winding of the wire body; 5) in the installation position, the vertical linear cavity and the linear hole are opposite, which is convenient for vertical installation of the wire body. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Three-dimensional view of the joint mechanism provided by the present application Figure One .

[0026] Figure 2 Partial three-dimensional view of the joint mechanism provided by the present application Figure One .

[0027] Figure 3 Partial three-dimensional view of the joint mechanism provided by the present application Figure Two .

[0028] Figure 4 Partial three-dimensional view of the joint mechanism provided by the present application Figure Three .

[0029] Figure 5 Cross-sectional view of the joint mechanism provided by the present application Figure One .

[0030] Figure 6Sectional view of joint mechanism provided by the present application Figure Two .

[0031] Figure 7 Partial perspective view of joint mechanism provided by the present application Figure Four , at this time in the initial position.

[0032] Figure 8 Partial perspective view of joint mechanism provided by the present application Figure Five , at this time in the installed position.

[0033] Figure 9 Sectional view of joint mechanism provided by the present application Figure Three , at this time in the installed position.

[0034] Figure 10 Partial perspective view of humanoid robot provided by the present application Figure One .

[0035] Figure 11 Partial perspective view of humanoid robot provided by the present application Figure Two .

[0036] Figure 12 Partial perspective view of humanoid robot provided by the present application Figure Three .

[0037] Figure 13 Partial perspective view of humanoid robot provided by the present application Figure Four .

[0038] Figure 14 Partial perspective view of humanoid robot provided by the present application Figure Five .

[0039] Wherein, 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 wire cavity, 421-first vertical wire cavity, 422-second vertical wire cavity, 51-first three-dimensional wire routing path, 52-second three-dimensional wire routing path, 61-torso, 62-lower limbs. DETAILED DESCRIPTION

[0040] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0041] As Figures 1-4 shown in the figure, a joint mechanism of a humanoid robot comprises a first driving member 1, a first housing 3 arranged outside the first driving member 1, a second driving member 2, and a second housing 4 arranged outside the second driving member 2, the first housing 3 and the second housing 4 being rotationally connected.

[0042] Specifically, the joint mechanism is a hip joint mechanism, and in other embodiments, it can also be other joint mechanisms of a humanoid robot, and the specific type is not limited.

[0043] The first driving member 1 is used to drive a part of the robot to rotate around a first axis. Specifically, in the embodiment, the first driving member 1 has a first driving part 11 extending along the direction of the Yaw axis, so that under the action of the first driving part 11, the first driving member 1 drives the torso 61 of the robot to perform Yaw movement, where the Yaw movement refers to the rotation movement of the torso 61 around the vertical axis Y, which is manifested as the change of the heading angle and the yaw angle.

[0044] The second driving member 2 is used to drive a part of the robot to rotate around a second axis. Specifically, in the embodiment, the second driving member 2 has a second driving part 21 extending along the direction of the Roll axis, so that under the action of the second driving part 21, the second driving member 2 drives the torso 61 of the robot to perform Roll movement, where the Roll movement refers to the rotation movement of the torso 61 around the horizontal longitudinal axis Z, which is manifested as the change of the lateral roll angle and the roll angle.

[0045] Specifically, the angle of the Yaw movement of the torso 61 driven by the first driving member 1 is -220°~110°, and preferably, the Yaw angle is -210°~100°; the angle of the Roll movement of the torso 61 driven by the second driving member 2 is -55°~55°, and preferably, the Roll angle is -45°~45°, i.e. Figure 12 、 Figure 13 the middle swing angle is -45°~45°.

[0046] As Figure 2 、 Figure 3As shown, the first housing 3 has at least two wire holes 31 extending along a planar direction, specifically extending along the planar direction defined by the Pitch axis and the Roll axis. Here, the Pitch axis refers to the rotational movement of the torso 61 around the horizontal X-axis, manifested as a change in the pitch angle. In this embodiment, there are two wire holes 31, including a first wire hole 311 and a second wire hole 312, which extend along a planar direction perpendicular to the Yaw axis, and the circumferential angles of the first wire hole 311 and the second wire hole 312 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, they are not connected, and are radially symmetrically arranged on both sides of the first drive 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 drive unit 21 and extends the entire sidewall of the second housing 4. The second housing 4 also has at least two vertical cavities 42 located on both sides of the outer wall of the second drive unit 2. The vertical cavities 42 extend in the vertical direction, that is, along the yaw axis. The top of the vertical cavities 42 are connected through the opening 41, and the bottom of the vertical cavities 42 can be connected to the wire hole 31.

[0048] The cable here includes at least one power and signal cable for the waist joint assembly, one power and signal cable for each of the left and right leg joint assemblies, one power and signal cable for each of the front and rear cameras on the buttocks, and one power and signal cable for the gyroscope.

[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 wire hole 311 is greater than the bottom circumferential length of the first vertical linear cavity 421, and the circumferential length of the second wire hole 312 is greater than the bottom circumferential length of the second vertical linear cavity 422. In other words, when the first vertical linear cavity 421 and the first wire hole 311 are vertically aligned, the projection of the first vertical linear cavity 421 on the horizontal plane will be completely covered by the first wire hole 311; when the second vertical linear cavity 422 and the second wire hole 312 are vertically aligned, the projection of the second vertical linear cavity 422 on the horizontal plane will be completely covered by the second wire hole 312.

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

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

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

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

[0054] The length of the first three-dimensional wiring path 51 is greater than the length of the second three-dimensional wiring path 52. Therefore, after the cable is installed at the mounting position and the torso 61 is rotated back to its front position, the cable length within the first three-dimensional wiring path 51 is greater. This means that even before the torso 61 and lower limbs 62 have rotated relative to each other, a portion of the cable length is reserved within the first three-dimensional wiring path 51. The first three-dimensional wiring paths 51A and 51B form two independent wiring spaces that do not interfere with each other, allowing cables with different functions (such as high-current power lines and sensor signal lines) to be separated without mutual interference. Figure 7 As shown, when the torso 61 rotates relative to the lower limbs 62, whether it rotates to the left or to the right, that is... Figure 11 , Figure 12 The rotation direction shown allows for a relatively larger space for the line to move freely due to the previously reserved length, and the reserved line will not curl or tangle inside.

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

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

[0057] The first drive unit 1 and the first housing 3 are installed. 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 drive component 2 and the second housing 4 are installed. At least two vertical straight cavities 42 are formed between the outer wall of the second drive component 2 and the inner wall of the second housing 4. The bottom of the vertical straight cavity 42 can be connected to the wire hole 31. An opening 41 connecting all the vertical straight cavities 42 is formed at the top of the second housing 4.

[0059] Specifically, there are two vertical cavities 42, namely a first vertical cavity 421 and a second vertical cavity 422, and the first vertical cavity 421 and the second vertical 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 enter the installation position from the initial position. At this time, the vertical cavity 42 and the wire hole 31 are radially aligned. The opening 41, the vertical cavity 42, and the wire hole 31 form the second three-dimensional wiring path 52. After the wire is bundled, it is installed along the second three-dimensional wiring path 52A and the second three-dimensional wiring path 52B.

[0061] As shown in FIG. 4, in the installation position, the horizontal projection of the first vertical linear cavity 421 falls completely into the first linear hole 311, and the horizontal projection of the second vertical linear cavity 422 falls completely into the second linear hole 312, so that the opening 41, the first vertical linear cavity 421 and the first linear hole 311 form a second three-dimensional wire routing path 52A along which the partial wire is installed; the opening 41, the second vertical linear cavity 422 and the second linear hole 312 also form a second three-dimensional wire routing path 52B along which the partial wire is installed. Figure 8 Figure 9 As shown in FIG. 4, in the installation position, the horizontal projection of the first vertical linear cavity 421 falls completely into the first linear hole 311, and the horizontal projection of the second vertical linear cavity 422 falls completely into the second linear hole 312, so that the opening 41, the first vertical linear cavity 421 and the first linear hole 311 form a second three-dimensional wire routing path 52A along which the partial wire is installed; the opening 41, the second vertical linear cavity 422 and the second linear hole 312 also form a second three-dimensional wire routing path 52B along which the partial wire is installed.

[0062] Reverse relative rotation of the first shell 3 and the second shell 4, both from the installation position into the initial position, as shown in FIG. 5, at this time the torso 61 is front-facing, the vertical linear cavity 42 and the linear hole 31 are radially misaligned, the opening 41, the first vertical linear cavity 421 and the first linear hole 311 form a first three-dimensional wire routing path 51A; the opening 41, the second vertical linear cavity 422 and the second linear hole 312 also form a first three-dimensional wire routing path 51B; due to the misalignment of the vertical linear cavity 42 and the linear hole 31, the length of the first three-dimensional wire routing path 51 is greater than that of the second three-dimensional wire routing path 52, that is, the wire is in a longer first three-dimensional wire routing path 51 than the second three-dimensional wire routing path 52, the wire has a larger activity space, and the length of the wire in a flat state in the first three-dimensional wire routing path 51 is also greater. Figure 7 In this embodiment, the angle difference between the installation position and the initial position is 90°, that is, the angle of reverse relative rotation of the first shell 3 and the second shell 4 is 90°, both from the installation position into the initial position.

[0063] In the initial position, the wire is in an inclined state in the first three-dimensional wire routing path 51, if the initial position is rotated 90° to the left to become the installation position, when the torso 61 needs to be rotated 210° to the left relative to the lower limbs 62, it is first rotated to 90°, coming to the second three-dimensional wire routing path 52, at this time the required wire length is shorter, part of the wire length will sag into the cavity of the first shell 3, at this time the lower end of the wire is located at the middle position of the linear hole 31; continue to rotate 90° to the left, coming to a position symmetrical to the first three-dimensional wire routing path 51, at this time the wire length is the same as that of the first three-dimensional wire routing path 51; continue to rotate 30° to the left to come to the position of 210°, which requires an extra length of wire.

[0064]

[0065] ​​That is, the total length of the wire to be reserved is the angle difference 90° of the initial first three-dimensional wire routing path 51 and the installation second three-dimensional wire routing path 52, and the 30° length of the last rotation. Since the opening angle of the wire hole 31 itself is greater than 90°, the wire length does not change in the 45° rotation angle of the angle difference 90° of the initial first three-dimensional wire routing path 51 and the installation second three-dimensional wire routing path 52. That is, in the process of rotating 45°, the wire body slides from the middle to one end in the wire hole 31, and the change in the relative position of the wire hole 31 is used to absorb the change in the wire length. Therefore, when rotating to the left, the total length of the wire to be reserved is the length of the wire required for rotating 75°. Compared with the installation state without inclination, the length of the wire to be reserved is greatly shortened, avoiding the entanglement caused by the excessive length of the wire inside.

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

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

Claims

1. A joint mechanism of a humanoid robot, characterized by, The application relates to a human-shaped robot joint mechanism, which comprises the following parts: a first driving part (1) for driving a part of the robot to rotate around a first axis; a second driving part (2) for driving a part of the robot to rotate around a second axis; a first shell (3) arranged outside the first driving part (1) and having at least two wire holes (31) extending along a plane direction; a second shell (4) arranged outside the second driving part (2) and having an opening (41) for a wire body to pass through, at least two vertical wire cavities (42) arranged on both sides of the outer wall of the second driving part (2) and extending along a vertical direction, the top of the vertical wire cavities (42) being connected with the opening (41) and the bottom being connected with the wire holes (31); the second shell (4) and the first shell (3) are rotationally connected and have an installation position and an initial position, at the initial position, the vertical wire cavities (42) are misaligned with the wire holes (31), the opening (41), the vertical wire cavities (42) and the wire holes (31) form a first three-dimensional wire path (51), at the installation position, the vertical wire cavities (42) are opposite to the wire holes (31), the opening (41), the vertical wire cavities (42) and the wire holes (31) form a second three-dimensional wire path (52), and the length of the first three-dimensional wire path (51) is greater than that of the second three-dimensional wire path (52).

2. The joint mechanism of the humanoid robot according to claim 1, characterized by: The initial position is a normal position of a joint mechanism of a human-shaped robot.

3. The joint mechanism of the humanoid robot according to claim 1, characterized by: The first driving part (1) is used for driving a torso (61) to perform a yaw motion, and a first driving part (11) extends along a yaw axis direction; the second driving part (2) is used for driving the torso (61) to perform a roll motion, and a second driving part (21) extends along a roll axis direction; at the initial position, the torso (61) faces forward, and at the installation position, the torso (61) deviates from the front of a lower limb (62).

4. The joint mechanism of the humanoid robot according to claim 3, characterized by: The wire holes (31) comprise a first wire hole (311) and a second wire hole (312) extending along a plane direction perpendicular to the yaw axis direction; the first wire hole (311) and the second wire hole (312) extend along a circumferential direction and the angle is greater than 90 degrees.

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

6. The joint mechanism of the humanoid robot according to claim 1, characterized by: The opening (41) extends along the direction of the second driving part (21) and the side wall of the second shell (4).

7. The joint mechanism of the humanoid robot according to claim 3, characterized by: The first driving part (1) drives the torso (61) to perform a yaw motion with an angle of -220 degrees to 110 degrees; and the second driving part (2) drives the torso (61) to perform a roll motion with an angle of -55 degrees to 55 degrees.

8. The joint mechanism of the humanoid robot according to claim 4, characterized by: The vertical wire cavities (42) comprise a first vertical wire cavity (421) and a second vertical wire cavity (422), the circumferential length of the first wire hole (311) is greater than the length of the first vertical wire cavity (421), and the circumferential length of the second wire hole (312) is greater than the length of the second vertical wire cavity (422).

9. A joint mechanism mounting method for a humanoid robot, characterized by, The application further discloses a method for installing the joint mechanism of the human-shaped robot, which comprises the following steps: installing the first driving part and the first shell, and forming at least two wire holes in the first shell; installing the second driving part and the second shell, and forming at least two vertical wire cavities between the outer wall of the second driving part and the second shell, the bottom of the vertical wire cavities being connected with the wire holes, and forming an opening in the second shell for connecting the vertical wire cavities; Relative rotation of the first and second housings, both from the initial position into the installation position, the vertical line cavity and the line hole are radially opposite, the opening, vertical line cavity, line hole form a second three-dimensional wire routing path, the line body after beam splitting along the second three-dimensional wire routing path installation into; Reverse relative rotation of the first and second housings, both from the installation position into the initial position, the vertical line cavity and the line hole are radially misaligned, the opening, vertical line cavity, line hole form a first three-dimensional wire routing path, the length of the first three-dimensional wire routing path is greater than the length of the second three-dimensional wire routing path.

10. The joint mechanism mounting method of the humanoid robot according to claim 9, characterized by: The angle difference between the installation position and the initial position is 90°.

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