A full-size integrated humanoid robot

Abstract

The application discloses a full-size integrated humanoid robot, which comprises a trunk mechanism, arm mechanisms arranged on the left and right sides of the upper end of the trunk mechanism, a hip mechanism arranged at the lower end of the trunk mechanism, and leg mechanisms arranged at the left and right ends of the hip mechanism; the driving modules of the arm mechanisms and the leg mechanisms are respectively installed in the inner cavities of corresponding curved metal shells through bolts; the hip mechanism comprises a hip assembly and hip curved shells arranged on the front and back sides of the hip assembly; the hip assembly comprises a hip base connected with the trunk driving module output shaft of the trunk mechanism; hip driving modules are symmetrically arranged at the left and right ends of the inner cavity of the hip base; the control circuit boards of the hip driving modules are arranged on the top of the hip base through fixing plates. On the basis of replacing the traditional shell and framework with the curved metal shell, the volume of the hip mechanism is reduced, the assembly steps are simplified, the lightweight of the humanoid robot is realized, and the structural strength requirement is met.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a full-size, integrated humanoid robot. Background Technology

[0002] With the rapid development of artificial intelligence and advanced manufacturing, the application potential of humanoid robots in service, industrial collaboration, disaster relief, and caregiving is constantly increasing, placing higher demands on the biomimetic, modular, lightweight, and integrated nature of their body structures. Currently, most humanoid robots still suffer from problems such as bulky size, insufficient integration, rough appearance, and limited communication protocols in terms of body structure, joint design, communication interfaces, and material application, making it difficult to meet the industrial demands for both high performance and mass production compatibility.

[0003] Existing humanoid robots are large in size and complex to assemble. Specifically, at the structural design level, current solutions mostly adopt a traditional layout of a skeletal metal frame combined with an external plastic shell. This means using a metal skeletal body structure combined with a separate plastic shell for exterior coverage. This shell, often manufactured using injection molding or 3D printing, exists independently of the main structure, serving only an aesthetic and basic protective function. This type of structure lacks sufficient coupling between the structural and aesthetic layers, resulting in low overall integration and poor space utilization. While 3D printing or injection molding is cost-effective, it offers limited structural strength, making it susceptible to collision damage in real-world scenarios, requiring frequent maintenance, and the plastic surface has a poor texture, failing to project a high-end product image. Furthermore, the traditional layout of a skeletal metal frame with an external plastic shell involves a large number of parts, making assembly complex.

[0004] In addition, the existing humanoid robots have a large hip width, meaning that the hip drive module structure is not compact enough, which in turn results in a large humanoid robot size, failing to meet the requirements for robot miniaturization.

[0005] In summary, existing humanoid robots are large in size and have limited structural strength. Summary of the Invention

[0006] This invention proposes a full-size integrated humanoid robot to solve the problem of the large size of humanoid robots.

[0007] The present invention discloses a full-size integrated humanoid robot, including a torso mechanism, arm mechanisms disposed on the left and right sides of the upper end of the torso mechanism, a hip mechanism disposed at the lower end of the torso mechanism, and leg mechanisms disposed on the left and right ends of the hip mechanism.

[0008] The drive modules of the arm mechanism and the leg mechanism are respectively installed in the inner cavity of the corresponding curved metal shell by bolts;

[0009] The hip mechanism comprises a hip assembly and hip curved housings installed on the front and back of the hip assembly; the hip assembly comprises a hip base connected with an output shaft of a torso driving module of the torso mechanism; the hip base is an inverted U-shaped base with front and back side plates, and the left and right ends of the inner cavity of the hip base are symmetrically provided with hip driving modules; the axis of the hip driving module is arranged in the left and right directions, and the upper part of the motor housing of the hip driving module is provided with a convex edge connected with the edge of the side plate of the hip base; the control circuit board of the hip driving module is arranged on the top of the hip base through a fixing plate; the output shaft of the hip driving module extends to the outside of the hip base, and the outer periphery of the output end of the hip output shaft is sleeved with a hip joint part, and the hip joint part is connected with the radial hole in the outer periphery of the hip output shaft through a bolt;

[0010] The thigh swing driving module of the leg mechanism is arranged in the front and back directions, installed in the hip joint part, and located on the side away from the hip base corresponding to the hip output shaft, and the output end of the hip output shaft is provided with an arc-shaped groove for avoiding the thigh swing driving module. On the basis of replacing the traditional housing and framework with the curved metal housing, the volume of the hip mechanism is reduced, thereby the volume of the humanoid robot is reduced, the assembly steps are simplified, the lightweight of the humanoid robot is realized, and the structural strength requirement is met.

[0011] Optionally, the curved metal housings of the arm mechanism and the leg mechanism are made of 7-system aviation aluminum alloy and magnesium alloy, and the curved metal housings are provided with wire holes corresponding to the curved metal housings, and the inner walls of the curved metal housings are provided with reinforcing ribs;

[0012] The torso housing of the torso mechanism is a metal housing or a plastic housing;

[0013] The hip curved housing is a metal housing or a plastic housing. By using the above scheme, the limbs of the humanoid robot adopt the curved metal housing, the curved metal housing combines the housing and the internal structure together while ensuring the structural strength, and the housing is used to fix the mechanism and bear the load.

[0014] Optionally, the two hip driving modules are arranged at the left and right ends of the hip base, and the motor cables of the hip driving modules are connected with the control circuit board on the fixing plate through the base wire holes on the hip base;

[0015] The fixing plate comprises front and rear plates which are butted in front and back, and the front and rear plates enclose the outer periphery of the torso driving module;

[0016] The left and right ends of the hip base are provided with connecting flanges; the hip base is arranged between the two protrusions of the hip driving module, and the connecting flanges are connected to the protrusions through bolts.

[0017] Optionally, the trunk driving module comprises a first driving module connected to the upper end of the hip base.

[0018] The axis of the first driving module is arranged in a vertical direction, and the outer periphery of the motor housing of the first driving module is connected to the second driving module through a first connecting frame; the axis of the second driving module is arranged in a front-rear direction and is located above the first driving module.

[0019] The first connecting frame is in a U shape and comprises a connecting sleeve arranged vertically and connecting members arranged at the front and rear ends of the connecting sleeve; the outer periphery of the motor housing of the second driving module is fixed to one connecting member of the first connecting frame, and a second connecting frame is arranged between the output shaft of the second driving module and the other connecting member of the first connecting frame; the second connecting frame is rotatably arranged on the first connecting frame.

[0020] The second connecting frame has an inner cavity with openings at the left and right ends, and a third driving module is arranged in the second connecting frame; the third driving module is arranged above the first driving module and has an axis extending in a left-right direction.

[0021] The output shaft of the third driving module is connected to the lower end of the trunk shell of the trunk mechanism through a third connecting frame. The above scheme effectively reduces the volume of the trunk driving module.

[0022] Optionally, the leg surface metal shell of the leg mechanism comprises, from top to bottom, a thigh upper shell, a thigh lower shell and a lower leg shell.

[0023] The thigh upper shell comprises front and rear shells which are connected in a front-rear direction; the front and rear shells of the thigh upper shell are rotatably arranged on the left and right sides of the hip joint member; the output shaft of the thigh swing driving module extends to the outside of the hip joint member and is connected to the inner side of the upper end of the thigh upper shell.

[0024] The thigh lower shell comprises left and right shells which are connected in a left-right direction; a thigh rotation driving module is arranged between the thigh upper shell and the thigh lower shell; the thigh rotation driving module is arranged at the lower end of the inner cavity of the thigh upper shell in a vertical direction, the motor housing of the thigh rotation driving module is fixed to the inner cavity of the thigh upper shell, and the output shaft of the thigh rotation driving module extends downward into the thigh lower shell and is fixedly connected to the inner side of the upper end of the thigh lower shell.

[0025] The inner cavity lower end of the lower thigh shell is provided with a lower leg swing driving module; the lower leg shell comprises left and right shells which are in butt joint; the left and right shells of the lower leg shell are rotatably arranged on the left and right sides of the lower thigh shell; the lower leg swing driving module is arranged along the left and right directions, and the output shaft of the lower leg swing driving module extends to the outside of the lower thigh shell and is connected to the inner side of the upper end of the lower leg shell. By the above scheme, the leg curved surface metal shell and the internal structure are combined together, and the shell is used to fix the mechanism and bear the load.

[0026] Optionally, the lower leg shell is provided with a foot mechanism below; the inner cavity of the lower leg shell is provided with a foot driving module, the foot driving module is arranged along the left and right directions, the fixed end of the foot driving module is fixed on the lower leg shell, and the output end of the foot driving module is connected to the foot mechanism through a leg transmission member.

[0027] Optionally, the trunk shell of the trunk mechanism comprises front and rear shells which are in butt joint;

[0028] The inner cavity upper end of the trunk shell is provided with a mounting bracket; the mounting bracket is in left-right symmetrical structure, and the middle part of the mounting bracket is provided with a mounting hole for mounting the head mechanism;

[0029] The left and right ends of the mounting bracket are symmetrically provided with fourth driving modules arranged along the left and right directions, and the input end of the fourth driving module is connected to the shoulder shell;

[0030] The shoulder shell comprises front and rear shells which are in butt joint, and the inner cavity of the shoulder shell is provided with a fifth driving module away from the trunk shell;

[0031] The fifth driving module is arranged along the front and rear directions, the output shaft of the fifth driving module extends to the outside of the shoulder shell, and the output shaft of the fifth driving module is connected to the first large arm shell of the arm mechanism;

[0032] The first large arm shell comprises front and rear shells which are in butt joint, and the front and rear shells of the first large arm shell are rotatably arranged on the front and rear sides of the shoulder shell.

[0033] Optionally, the arm curved surface metal shell of the arm mechanism comprises a first large arm shell, a second large arm shell and a first small arm shell along the left and right directions in sequence;

[0034] The first large arm shell is connected to the fifth driving module of the trunk mechanism, and the inner cavity of the first large arm shell is provided with a large arm rotation driving module away from the trunk mechanism;

[0035] The axis of the large arm rotation driving module is arranged along the left and right directions, the motor shell of the large arm rotation driving module is provided with a connecting protrusion, and the connecting protrusion is connected to the positioning block in the first large arm shell through a bolt;

[0036] The second large arm shell comprises upper and lower shells which are butted together in an up-down manner;

[0037] The output shaft of the large arm rotation driving module extends into the second large arm shell and is connected with the positioning block in the second large arm shell through a connecting block;

[0038] The large arm swing driving module is installed at the end of the inner cavity of the second large arm shell away from the trunk mechanism, and the axis of the large arm swing driving module is arranged in a vertical direction;

[0039] The first small arm shell comprises upper and lower shells which are butted together in an up-down manner, and the upper and lower shells of the first small arm shell are rotatably arranged on the two sides of the second large arm shell in a corresponding manner; the output shaft of the large arm swing driving module extends out of the second large arm shell and is connected with the first small arm shell.

[0040] Optionally, the outer periphery of the second large arm shell is provided with a recessed surface for avoiding the first small arm shell.

[0041] Optionally, a small arm rotation driving module is installed at the end of the inner cavity of the first small arm shell away from the second large arm shell;

[0042] The axis of the small arm rotation driving module is arranged in a left-right direction, and the output shaft of the small arm rotation driving module extends into the second small arm shell and is connected with the second small arm shell.

[0043] The second small arm shell comprises upper and lower shells which are butted together in an up-down manner, and a wrist driving module is installed in the second small arm shell in a vertical arrangement;

[0044] The end of the lower shell of the second small arm shell away from the first small arm shell is provided with an arc-shaped avoiding surface, and a hand mechanism is arranged below the arc-shaped avoiding surface; the top connecting rod of the hand mechanism extends upward into the second small arm shell and is connected with the output shaft of the wrist driving module through an arm transmission member.

[0045] Compared with the prior art, the present application has the following beneficial effects:

[0046] On the basis of replacing the traditional shell and framework with the curved metal shell, the volume of the hip mechanism is reduced, and thus the volume of the humanoid robot is reduced, the assembly steps are simplified, the lightweight of the humanoid robot is realized, and the structural strength requirement is met;

[0047] The limbs of the humanoid robot adopt the curved metal shell, and the curved metal shell is prepared from 7-system aviation aluminum alloy and magnesium alloy, so that the lightweight and the structural strength requirement are considered.

[0048] Only the convex edge is arranged on the upper part of the motor shell of the hip driving module to reduce the overall volume of the hip assembly; the control circuit board is arranged outside to reduce the width of the hip mechanism, and thus the structure of the hip driving module is more compact to realize the miniaturization requirement of the robot;

[0049] The avoiding concave surface and the arc avoiding surface are additionally arranged on the arm mechanism to increase the activity range of the first small arm shell and the hand mechanism and improve the flexibility of the robot;

[0050] The decorative shell and the skeleton are integrated, which has industrial aesthetics and participates in structure bearing, improves the torsional stiffness and protection capability, the design reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0051] The above description of the present disclosure and the following description of the embodiments are used to demonstrate and explain the spirit and principle of the present application, and provide further explanation of the patent application scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0052] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0053] Figure 1 is a schematic view of a humanoid robot in the present application;

[0054] Figure 2 is a schematic view of the inner cavity of the trunk mechanism of the humanoid robot in the present application;

[0055] Figure 3 is a schematic view of the trunk driving module and the hip mechanism in the present application;

[0056] Figure 4 is an exploded schematic view of the hip mechanism in the present application;

[0057] Figure 5 is a schematic view of the leg mechanism in the present application;

[0058] Figure 6 is a schematic view of the arm mechanism in the present application;

[0059] Figure 7 is a partial schematic view (1) of the arm mechanism in the present application;

[0060] Figure 8 is a partial schematic view (2) of the arm mechanism in the present application;

[0061] Figure 9 is a partial schematic view (3) of the arm mechanism in the present application;

[0062] Figure 10Figure 1 is a schematic view of the rear shell of the first large arm shell in the present application.

[0063] BRIEF DESCRIPTION OF DRAWINGS

[0064] 1. torso mechanism; 11, torso driving module; 111, first driving module; 112, first connecting frame; 113, second driving module; 114, second connecting frame; 115, third driving module; 116, third connecting frame; 12, torso shell; 13, mounting frame; 14, fourth driving module; 15, shoulder shell; 16, fifth driving module;

[0065] 2. arm mechanism; 21, arm curved metal shell; 211, first large arm shell; 2111, first positioning platform; 2112, threaded hole; 2113, first pin hole; 2114, positioning protrusion; 212, second large arm shell; 2121, avoiding concave surface; 213, first small arm shell; 214, second small arm shell; 2141, arc-shaped avoiding surface; 22, large arm rotation driving module; 221, connecting protrusion; 222, connecting block; 223, connecting through hole; 224, second pin hole; 23, large arm swing driving module; 24, small arm rotation driving module; 25, wrist driving module; 26, supporting frame; 27, connecting turntable; 28, transmission rod;

[0066] 3. hip mechanism; 31, hip curved shell; 32, hip base; 321, connecting flange; 322, base wire passing hole; 33, hip driving module; 331, convex edge; 332, hip output shaft; 3321, radial hole; 3322, arc-shaped slot; 34, fixing plate; 35, hip joint piece;

[0067] 4. leg mechanism; 41, thigh swing driving module; 42, leg curved metal shell; 421, upper thigh shell; 422, lower thigh shell; 423, lower leg shell; 424, foot mechanism; 43, thigh rotation driving module; 44, lower leg swing driving module; 45, foot driving module;

[0068] 5. head mechanism;

[0069] 6. hand mechanism. DETAILED DESCRIPTION

[0070] The following detailed description of the application will be made with reference to the accompanying drawings, wherein: The present application is described in conjunction with the preferred embodiments with reference to the accompanying drawings. However, the description of the application is not limited to the preferred embodiments. Rather, the description of the application is intended to cover any alternatives or modifications of the application based on the application's claims. In order to provide a thorough understanding of the application, many specific details are described in the following description. The application can be practiced without these details. In addition, well-known functions or constructions are not described in detail since they would obscure the application with unnecessary detail. Furthermore, some of the particular details of the application are omitted in order not to obscure the application with details that are not essential to the understanding of the application. It is to be understood that the application can assume alternative shapes and designs, and each example is presented by way of example only.

[0071] In the description of the present embodiments, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the application is usually placed, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0072] The terms "first", "second", etc. are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0073] In the description of the present embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "provided with", "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present embodiments can be understood according to the specific circumstances.

[0074] The present application provides a full-size integrated humanoid robot, which does not need to use the traditional layout of a skeletal metal frame combined with an external plastic shell. In the present embodiment, the limbs of the humanoid robot use a curved metal shell, which combines the shell and the internal structure while ensuring the structural strength, and uses the shell to fix the mechanism and bear the load.

[0075] Please refer to Figure 1 and Figure 2As shown, the humanoid robot comprises a trunk mechanism 1, an arm mechanism 2, a hip mechanism 3, a leg mechanism 4 and a head mechanism 5. Among them, the arm mechanism 2 is two, symmetrically arranged on the left and right sides of the upper end of the trunk mechanism 1. The hip mechanism 3 is arranged at the lower end of the trunk mechanism 1. The leg mechanism 4 is two, symmetrically arranged at the left and right ends of the hip mechanism 3. The head mechanism 5 is arranged at the top of the trunk mechanism 1.

[0076] Among them, the limbs of the humanoid robot adopt a curved metal shell, that is, the shells of the arm mechanism 2 and the leg mechanism 4 are curved metal shells. The drive modules of the arm mechanism 2 and the leg mechanism 4 are respectively installed in the inner cavities of the corresponding curved metal shells through bolts.

[0077] In this embodiment, the curved metal shells of the arm mechanism 2, the hip mechanism 3 and the leg mechanism 4 are made of 7-system aluminum alloy and magnesium alloy. The inner wall of the curved metal shell is provided with a reinforcing rib. The curved metal shell takes into account the requirements of lightweight and structural strength. The surface of the curved metal shell adopts a customized anodic oxidation and metal coloring process to form a unified high-quality appearance, while improving corrosion resistance and wear strength. The external curved metal shell of the humanoid robot effectively reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0078] In this embodiment, the main shaft of each drive module (i.e. joint module) of the humanoid robot is a hollow shaft, that is, the drive module supports hollow wiring design. Among them, the hollow wiring design of the joint module is the prior art, so it will not be described. The main control system (i.e. humanoid robot controller) of the humanoid robot is arranged in the trunk mechanism 1. Therefore, the cables of the mechanisms except the trunk mechanism 1 are extended into the trunk mechanism 1 to be connected with the main control system. Therefore, the corresponding overline holes are formed on the shells of the arm mechanism 2, the hip mechanism 3 and the leg mechanism 4 to facilitate the wiring of the cables.

[0079] Further, the trunk shell 12 of the trunk mechanism 1 is a metal shell or a plastic shell. The hip curved shell 31 is a metal shell or a plastic shell. Since the humanoid robot mainly contacts or collides with the outside world through the limbs, the probability of collision between the trunk and the hip and the outside world is small, so the trunk shell 12 and the hip curved shell 31 can adopt a plastic shell to reduce the cost and weight of the humanoid robot. In addition, the trunk shell 12 and the hip curved shell 31 can also adopt a metal shell to keep consistent with the material of the curved metal shell to improve the overall aesthetics of the humanoid robot.

[0080] Preferably, the trunk shell 12 and the hip curved shell 31 are both made of plastic shell, which reduces the cost and weight of the humanoid robot. The color of the trunk shell 12, the hip curved shell 31 and the curved metal shell of the limbs are consistent by painting or other surface treatment on the surface of the plastic shell, which improves the overall appearance and consistency of the humanoid robot.

[0081] Please refer to Figures 3 to 5 As shown in the figure, the hip mechanism 3 includes a hip curved shell 31 and a hip assembly. The hip assembly includes a hip base 32 and two hip drive modules 33. The hip base 32 is connected to the output shaft of the trunk drive module 11 of the trunk mechanism 1. The hip base 32 is an inverted U-shaped base with front and rear side plates. The left and right ends of the inner cavity of the hip base 32 are symmetrically provided with the hip drive modules 33. The two hip drive modules 33 are arranged at the left and right ends of the hip base 32. In this embodiment, the hip drive module 33 is a harmonic joint module.

[0082] The axis of the hip drive module 33 is arranged in the left-right direction. The upper part of the motor housing of the hip drive module 33 is provided with a protrusion 331, which is connected to the edge of the side plate of the hip base 32 by bolts. Specifically, the left and right ends of the hip base 32 are each provided with a connecting flange 321. The hip base 32 is placed between the protrusions 331 of the two hip drive modules 33, and the connecting flange 321 is connected to the protrusion 331 by bolts. Only the upper part of the motor housing of the hip drive module 33 is provided with a protrusion 331 to reduce the overall size of the hip assembly, and thus the structure of the hip drive module 33 is more compact.

[0083] The top of the hip base 32 is provided with a fixed plate 34. Compared with the traditional joint module structure in which the control circuit board is arranged at the end of the inner cavity of the joint module, in this embodiment, the control circuit board of the hip drive module 33 is installed on the top of the fixed plate 34, thereby shortening the axial dimension between the two hip drive modules 33 and reducing the width of the hip mechanism 3. In order to ensure that the output shaft of the trunk drive module 11 is smoothly connected to the upper end of the hip base 32, the fixed plate 34 includes front and rear plates that are butted together. The front and rear plates of the fixed plate 34 enclose the outer periphery of the trunk drive module 11. In addition, the motor cable of the hip drive module 33 is connected to the control circuit board on the fixed plate 34 through the base wire hole 322 on the hip base 32. Preferably, the base wire hole 322 is opened on the front and rear sides of the hip base 32 and is located between the two hip drive modules 33.

[0084] In this embodiment, the hip curved shell 31 includes front and rear shells that are butted together. The front and rear shells of the hip curved shell 31 are distributed on the front and rear sides of the hip assembly and are connected to the fixed plate 34 by bolts.

[0085] The hip output shaft 332 of the hip driving module 33 extends to the outside of the hip base 32 along the left-right direction. A radial hole 3321 is formed on the outer periphery of the output end of the hip output shaft 332. The hip joint member 35 is sleeved on the outer periphery of the output end of the hip output shaft 332. The hip joint member 35 is connected to the radial hole 3321 through a bolt. By forming the radial hole 3321 on the outer periphery of the hip output shaft 332, the hip output shaft 332 is effectively connected to the hip joint member 35, and the width of the hip mechanism 3 is reduced.

[0086] The axis of the thigh swing driving module 41 of the leg mechanism 4 is arranged along the front-rear direction. The thigh swing driving module 41 is installed in the inner cavity of the hip joint member 35 and located on the side away from the hip base 32 of the hip output shaft 332. In order to further reduce the width of the hip mechanism 3, the output end of the hip output shaft 332 is provided with an arc-shaped slot 3322 for avoiding the thigh swing driving module 41.

[0087] Please refer to Figure 5 As shown in the figure, the leg curved surface metal shell 42 of the leg mechanism 4 includes, from top to bottom, a thigh upper shell 421, a thigh lower shell 422, a lower leg shell 423 and a foot mechanism 424. The thigh upper shell 421 includes front and rear shells which are connected in front and back. The front and rear shells of the thigh upper shell 421 are rotatably arranged on the front and back sides of the hip joint member 35. The thigh swing driving module 41 arranged in the hip joint member 35 has an output shaft extending to the outside of the hip joint member 35 along the front-rear direction and connected to the inner side of the upper end of the thigh upper shell 421. The thigh swing driving module 41 is adapted to drive the thigh upper shell 421 to swing forward and backward.

[0088] The thigh lower shell 422 includes left and right shells which are connected in left and right. A thigh rotation driving module 43 is arranged between the thigh upper shell 421 and the thigh lower shell 422. The axis of the thigh rotation driving module 43 is arranged along the vertical direction. The thigh rotation driving module 43 is arranged in the inner cavity of the thigh upper shell 421 along the vertical direction. A protrusion is arranged on the outer periphery of the motor housing of the thigh rotation driving module 43. The protrusion is connected to the positioning block in the thigh lower shell 422 through a bolt, so that the thigh rotation driving module 43 is fixed in the inner cavity of the thigh upper shell 421. The output shaft of the thigh rotation driving module 43 extends downward into the inner cavity of the thigh lower shell 422. A protrusion is arranged on the outer periphery of the output shaft of the thigh rotation driving module 43. The protrusion is fixedly connected to the inner side of the upper end of the thigh lower shell 422 through a bolt.

[0089] The inner cavity of the lower thigh shell 422 is provided with a lower leg swing driving module 44 at the lower end. The lower leg shell 423 includes left and right shells that are connected in front and back. The left and right shells of the lower leg shell 423 are rotatably arranged on the left and right sides of the lower end of the thigh shell 422. The axis of the lower leg swing driving module 44 is arranged in the left-right direction. The output shaft of the lower leg swing driving module 44 extends to the outside of the lower thigh shell 422 and is connected to the inner side of the upper end of the lower leg shell 423.

[0090] Further, the inner cavity of the lower leg shell 423 is provided with a foot driving module 45. The axis of the foot driving module 45 is arranged in the left-right direction. The fixed end of the foot driving module 45 is fixed to the lower leg shell 423, and the output end of the foot driving module 45 is connected to the leg mechanism 424 through a leg transmission.

[0091] Among them, the leg transmission and the leg mechanism 424 are both prior art. The existing Chinese patent document with publication number CN222005236U describes a leg mechanism and a humanoid robot. The document describes in detail how to achieve transmission between the foot driving module 45 and the leg mechanism 424 through a crank and connecting rod structure.

[0092] In this embodiment, the bottom of the leg mechanism 424 is provided with a non-slip pad.

[0093] Please refer to Figures 1 to 3 As shown in the figure, the trunk shell 12 includes front and back shells that are connected in front and back. The trunk driving module 11 is arranged at the lower end of the inner cavity of the trunk shell 12. The trunk driving module 11 includes a first driving module 111, a first connecting frame 112, a second driving module 113, a second connecting frame 114, a third driving module 115, and a third connecting frame 116. The lower end of the first driving module 111 is an output end connected to the upper end of the hip base 32. The axis of the first driving module 111 is arranged in the vertical direction. The outer periphery of the motor shell of the first driving module 111 is connected to the second driving module 113 through the first connecting frame 112. The axis of the second driving module 113 is arranged in the front-back direction, and the second driving module 113 is located above the first driving module 111.

[0094] The first connecting frame 112 is in U shape, comprising a connecting sleeve arranged vertically and connecting members arranged at the front and rear ends of the connecting sleeve. The motor housing of the second driving module 113 is fixed to the rear connecting member of the first connecting frame 112. The output shaft of the second driving module 113 is connected to the front connecting member of the first connecting frame 112 through a second connecting frame 114. The front end of the second connecting frame 114 is rotatably arranged on the front connecting member of the first connecting frame 112, and the rear end of the second connecting frame 114 is fixedly connected to the output shaft of the second driving module 113. The middle part of the second connecting frame 114 has an inner cavity with openings at the left and right ends, and the third driving module 115 is arranged in the inner cavity of the second connecting frame 114. The third driving module 115 is arranged above the first driving module 111 and in front of the second driving module 113. The axis of the third driving module 115 extends in the left-right direction. The output shaft of the third driving module 115 is connected to the inner side of the lower end of the trunk shell 12 through a third connecting frame 116 arranged above the third driving module 115.

[0095] As shown in Figure 2 and Figure 6 , the inner cavity of the trunk shell 12 is provided with a mounting frame 13 at the upper end. The mounting frame 13 is symmetrical in left and right directions, and a mounting hole for mounting the head mechanism 5 is vertically arranged in the middle part.

[0096] As shown in Figure 6 and Figure 7 , the mounting frame 13 is provided with a fourth driving module 14 at the left and right ends. The axis of the fourth driving module 14 extends in the left-right direction. The input end of the fourth driving module 14 is connected to the shoulder shell 15. The shoulder shell 15 comprises a front shell and a rear shell which are connected in front and rear directions. The inner cavity of the shoulder shell 15 is provided with a fifth driving module 16 at the end away from the trunk shell 12. The axis of the fifth driving module 16 extends in the front-rear direction. The output shaft of the fifth driving module 16 extends out of the shoulder shell 15 and is connected to the first large arm shell 211 of the arm mechanism 2.

[0097] As shown in Figures 6 to 9 , the arm curved metal shell 21 of the arm mechanism 2 comprises a first large arm shell 211, a second large arm shell 212, a first small arm shell 213 and a second small arm shell 214 in sequence in the left-right direction.

[0098] The first large arm shell 211 comprises front and rear shells which are butted front and rear. The front and rear shells of the first large arm shell 211 are rotatably arranged on the front and rear sides of the corresponding shoulder shell 15 and connected with the output shaft of the fifth driving module 16. The inner cavity of the first large arm shell 211 is provided with a large arm rotating driving module 22 at the end away from the trunk mechanism 1. The axis of the large arm rotating driving module 22 is arranged in the left-right direction. The outer periphery of the motor housing of the large arm rotating driving module 22 is provided with a connecting protrusion 221. The connecting protrusion 221 is connected with the positioning block in the first large arm shell 211 through bolts.

[0099] The second large arm shell 212 comprises upper and lower shells which are butted up and down. The output shaft of the large arm rotating driving module 22 extends into the second large arm shell 212. The output shaft of the large arm rotating driving module 22 is provided with a connecting block 222 extending along the axial direction. The large arm rotating driving module 22 is connected with the positioning block in the second large arm shell 212 through the connecting block 222. The inner cavity of the second large arm shell 212 is provided with a large arm swinging driving module 23 at the end away from the trunk mechanism 1. The axis of the large arm swinging driving module 23 is arranged in the vertical direction.

[0100] The first small arm shell 213 comprises upper and lower shells which are butted up and down. The upper and lower shells of the first small arm shell 213 are rotatably arranged on the upper and lower sides of the corresponding second large arm shell 212. The output shaft of the large arm swinging driving module 23 extends out of the second large arm shell 212 and is connected with the first small arm shell 213. The large arm swinging driving module 23 is adapted to drive the first small arm shell 213 to swing up and down.

[0101] Further, in order to increase the up and down swinging range of the first small arm shell 213, the outer periphery of the second large arm shell 212 is provided with a recessed surface 2121 for avoiding the first small arm shell 213.

[0102] Please refer to Figure 9 The inner cavity of the first small arm shell 213 is provided with a small arm rotating driving module 24 at the end away from the second large arm shell 212. The axis of the small arm rotating driving module 24 is arranged in the left-right direction. The output shaft of the small arm rotating driving module 24 extends into the second small arm shell 214 and is connected with the inner side of the second small arm shell 214.

[0103] The second small arm shell 214 comprises upper and lower shells which are butted up and down. The second small arm shell 214 is provided with a wrist driving module 25. The axis of the wrist driving module 25 is arranged in the vertical direction. The lower shell of the second small arm shell 214 is provided with an arc-shaped avoiding surface 2141 at the end away from the first small arm shell 213. The lower side of the arc-shaped avoiding surface 2141 is provided with a hand mechanism 6. The top connecting rod of the hand mechanism 6 extends upward into the second small arm shell 214 and is connected with the output shaft of the wrist driving module 25 through an arm transmission member.

[0104] In this embodiment, the arm transmission member includes a connecting turntable 27 and a transmission rod 28. The inner cavity of the second small arm shell 214 is provided with a support frame 26 extending in the left-right direction, and the support frame 26 is arranged above the wrist driving module 25. The left and right ends of the top of the support frame 26 are each provided with a connecting turntable 27. One of the connecting turntables 27 is connected to the output shaft of the wrist driving module 25 below it, and the other connecting turntable 27 is connected to the top connecting rod of the hand mechanism 6 below it. The transmission rod 28 is arranged between the two connecting turntables 27. The transmission rod 28 is horizontally arranged, and its two ends are respectively rotatably connected to the edges of the corresponding connecting turntables 27. When the wrist driving module 25 drives the connecting turntable 27 above it to rotate, the transmission rod 28 drives the other connecting turntable 27 to rotate, thereby driving the hand mechanism 6 to rotate.

[0105] In this embodiment, the hand mechanism 6 includes a top connecting rod and a connecting sleeve fixed to the bottom of the top connecting rod. The connecting sleeve is provided with a joint module extending in the front-back direction inside. The output end of the joint module extends to the outside of the connecting sleeve and is connected to the U-shaped frame.

[0106] Further, in order to reduce the assembly steps and the number of bolts, part of the positioning blocks in the curved metal shells of the arm mechanism 2 and the leg mechanism 4 can serve as the connecting bosses of the two abutting shells, and also as the positioning and mounting blocks of the corresponding driving modules. Specifically, taking the first large arm shell 211 as an example. Please refer to Figure 7 Figure 8 and Figure 10 As shown, the first large arm shell 211 includes front and rear shells that are abutted front and rear. The rear shell of the first large arm shell 211 is provided with a positioning block, which is a first positioning table 2111. The first positioning table 2111 is provided with two threaded holes 2112 spaced apart thereon, and a first pin hole 2113 disposed between the two threaded holes 2112. The outer periphery of the threaded hole 2112 is provided with a positioning protrusion 2114.

[0107] The outer periphery of the motor housing of the large arm rotation driving module 22 is provided with a connecting protrusion 221. The connecting protrusion 221 is correspondingly provided with a connecting through hole 223 matched with the positioning protrusion 2114 and a second pin hole 224 matched with the first pin hole 2113.

[0108] When the large arm rotation driving module 22 needs to be installed in the first large arm shell 211, the connecting through hole 223 is inserted with the positioning protrusion 2114, and then the first pin hole 2113 is connected with the second pin hole 224 through a pin shaft; thereafter, the front shell of the first large arm shell 211 is abutted on the rear shell of the first large arm shell 211. The shank of the bolt is sequentially inserted through the front shell of the first large arm shell 211, the connecting through hole 223 and is threadedly connected with the threaded hole 2112, so that the large arm rotation driving module 22 is effectively installed in the first large arm shell 211.​

[0109] The motor housing of the large arm rotating driving module 22 can be an integrated structure or a split structure. When the motor housing is an integrated structure, the connecting protrusion 221 and the main body of the motor housing are integrally formed. When the motor housing is a split structure, the motor housing includes a main shell and a connecting shell. The main shell is a cylindrical structure with both ends open. The connecting shell is also a cylindrical structure with both ends open, is sleeved outside the main shell, and is fixedly connected with the main shell. The outer peripheral wall of the connecting shell is provided with the connecting protrusion 221.

[0110] In general, the full-size integrated humanoid robot provided by the present application replaces the traditional shell and skeleton with a curved metal shell, reduces the volume of the hip mechanism, and thus reduces the volume of the humanoid robot, simplifies the assembly steps, realizes the lightweight of the humanoid robot, and meets the structural strength requirement. The limbs of the humanoid robot adopt a curved metal shell made of 7-system aviation aluminum alloy and magnesium alloy, which meets the requirements of lightweight and structural strength. A convex edge is arranged on the upper part of the motor housing of the hip driving module to reduce the overall volume of the hip assembly. The control circuit board is externally arranged to reduce the width of the hip mechanism, and thus the structure of the hip driving module is more compact to realize the miniaturization requirement of the robot. The avoidance concave surface and the arc avoidance surface are added to the arm mechanism to increase the activity range of the first small arm shell and the hand mechanism, and improve the flexibility of the robot. The decorative shell and the skeleton are integrated, which not only has industrial aesthetics, but also participates in structural bearing, improves the torsional stiffness and protection ability, reduces the number of independent parts, shortens the assembly process, and improves the structural rigidity and reliability.

[0111] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A full-size integrated humanoid robot, characterized by, The application relates to a robot body mechanism, which comprises a trunk mechanism (1), arm mechanisms (2) arranged on the left and right sides of the upper end of the trunk mechanism (1), a hip mechanism (3) arranged at the lower end of the trunk mechanism (1), and leg mechanisms (4) arranged at the left and right ends of the hip mechanism (3). The driving modules of the arm mechanisms (2) and the leg mechanisms (4) are respectively bolted in the inner cavities of corresponding curved metal shells; The hip mechanism (3) comprises a hip assembly and hip curved shells (31) arranged on the front and back sides of the hip assembly; the hip assembly comprises a hip base (32) connected with the output shaft of the trunk driving module (11) of the trunk mechanism (1); the hip base (32) is an inverted U-shaped base with front and back side plates, and hip driving modules (33) are symmetrically arranged at the left and right ends of the inner cavity of the hip base (32); the axis of the hip driving module (33) is arranged along the left and right directions, and a convex edge (331) is arranged on the upper part of the motor shell of the hip driving module (33) and connected with the edge of the side plate of the hip base (32); the hip base (32) is arranged on the upper part of the hip driving module (33), the convex edge (331) is arranged only on the upper part of the motor shell of the hip driving module (33), and a base wire passing hole (322) is formed in the hip base (32); the control circuit board of the hip driving module (33) is arranged on the top of the hip base (32) through a fixing plate (34); a hip output shaft (332) of the hip driving module (33) extends out of the hip base (32), a hip joint piece (35) is arranged on the outer periphery of the output end of the hip output shaft (332), and the hip joint piece (35) is connected with the radial hole (3321) on the outer periphery of the hip output shaft (332) through a bolt; The thigh swing driving module (41) of the leg mechanism (4) is arranged along the front and back directions, arranged in the hip joint piece (35) and located on the side away from the hip base (32) of the hip output shaft (332), and an arc-shaped groove (3322) is arranged on the output end of the hip output shaft (332) for avoiding the thigh swing driving module (41).

2. The humanoid robot according to claim 1, characterized by, The curved metal shells of the arm mechanisms (2) and the leg mechanisms (4) are made of 7-system aviation aluminum alloy and magnesium alloy, wire passing holes are formed in the curved metal shells, and reinforcing ribs are arranged on the inner walls of the curved metal shells; The trunk shell (12) of the trunk mechanism (1) is a plastic shell; The hip curved shell (31) is a plastic shell.

3. The humanoid robot according to claim 1, characterized by, The two hip driving modules (33) are arranged at the left and right ends of the hip base (32), and the motor cables of the hip driving modules (33) are connected with the control circuit board on the fixing plate (34) through the base wire passing holes (322) on the hip base (32); The fixing plate (34) comprises front and back plates which are butted together, and the front and back plates enclose the outer periphery of the trunk driving module (11). The left and right ends of the hip base (32) are respectively provided with a connecting flange (321); the hip base (32) is arranged between the two convex edges (331) of the hip driving module (33), and the connecting flange (321) is connected to the convex edge (331) through a bolt.

4. The humanoid robot according to claim 1, characterized by, The trunk driving module (11) comprises a first driving module (111) connected to the upper end of the hip base (32); The axis of the first driving module (111) is arranged in a vertical direction, and the outer periphery of the motor housing of the first driving module (111) is connected to the second driving module (113) through a first connecting frame (112); the axis of the second driving module (113) is arranged in a front-rear direction and is located above the first driving module (111); The first connecting frame (112) is in a U shape and comprises a vertically arranged connecting sleeve and connecting pieces arranged at the front and rear ends of the connecting sleeve; the outer periphery of the motor housing of the second driving module (113) is fixed to one connecting piece of the first connecting frame (112), and a second connecting frame (114) is arranged between the output shaft of the second driving module (113) and the other connecting piece of the first connecting frame (112); the second connecting frame (114) is rotatably arranged on the first connecting frame (112); The second connecting frame (114) has an inner cavity with openings at the left and right ends, and a third driving module (115) is arranged in the second connecting frame (114); the third driving module (115) is arranged above the first driving module (111) and has an axis extending in a left-right direction; The output shaft of the third driving module (115) is connected to the lower end of the trunk shell (12) of the trunk mechanism (1) through a third connecting frame (116).

5. The humanoid robot according to claim 1, characterized by, The leg curve metal shell (42) of the leg mechanism (4) comprises, from top to bottom, a thigh upper shell (421), a thigh lower shell (422) and a lower leg shell (423); The thigh upper shell (421) comprises front and rear shells which are connected in a front-rear direction; the front and rear shells of the thigh upper shell (421) are rotatably arranged on the left and right sides of the hip joint (35); the output shaft of the thigh swing driving module (41) extends out of the hip joint (35) and is connected to the inner side of the upper end of the thigh upper shell (421); The thigh lower shell (422) comprises left and right shells which are connected in a left-right direction; a thigh rotation driving module (43) is arranged between the thigh upper shell (421) and the thigh lower shell (422); the thigh rotation driving module (43) is arranged at the lower end of the inner cavity of the thigh upper shell (421) in a vertical direction, the motor housing of the thigh rotation driving module (43) is fixed in the inner cavity of the thigh upper shell (421), and the output shaft of the thigh rotation driving module (43) extends downward into the thigh lower shell (422) and is fixedly connected to the inner side of the upper end of the thigh lower shell (422); The inner cavity lower end of the lower thigh shell (422) is provided with a lower leg swing driving module (44); the lower leg shell (423) comprises left and right shells which are in butt joint; the left and right shells of the lower leg shell (423) are rotatably arranged on the left and right sides of the lower thigh shell (422); the lower leg swing driving module (44) is arranged along the left-right direction, and the output shaft thereof extends to the outside of the lower thigh shell (422) and is connected to the inner side of the upper end of the lower leg shell (423).

6. The humanoid robot according to claim 5, wherein The lower leg shell (423) is provided below with a foot mechanism (424); the inner cavity of the lower leg shell (423) is provided with a foot driving module (45), which is arranged along the left-right direction, and the fixed end of the foot driving module (45) is fixed on the lower leg shell (423), and the output end thereof is connected to the foot mechanism (424) through a leg transmission member.

7. The humanoid robot according to claim 1, characterized by, The trunk shell (12) of the trunk mechanism (1) comprises front and rear shells which are in butt joint; The inner cavity upper end of the trunk shell (12) is provided with a mounting bracket (13); the mounting bracket (13) is in left-right symmetrical structure, and a mounting hole for mounting the head mechanism (5) is formed in the middle part thereof; The left and right ends of the mounting bracket (13) are symmetrically provided with fourth driving modules (14) arranged along the left-right direction, and the input ends of the fourth driving modules (14) are connected to the shoulder shell (15); The shoulder shell (15) comprises front and rear shells which are in butt joint, and the inner cavity of the shoulder shell (15) is provided, at the end away from the trunk shell (12), with a fifth driving module (16); The fifth driving module (16) is arranged along the front-rear direction, and the output shaft thereof extends to the outside of the shoulder shell (15) and is connected to the first large arm shell (211) of the arm mechanism (2); The first large arm shell (211) comprises front and rear shells which are in butt joint, and the front and rear shells of the first large arm shell (211) are rotatably arranged on the front and rear sides of the shoulder shell (15).

8. The humanoid robot according to claim 1, characterized by, The arm curved surface metal shell (21) of the arm mechanism (2) comprises, in sequence along the left-right direction, a first large arm shell (211), a second large arm shell (212) and a first small arm shell (213); The first large arm shell (211) is connected to the fifth driving module (16) of the trunk mechanism (1), and the inner cavity of the first large arm shell (211) is provided, at the end away from the trunk mechanism (1), with a large arm rotation driving module (22); The axis of the large arm rotation driving module (22) is arranged along the left-right direction, and a connecting protrusion (221) is arranged on the motor shell of the large arm rotation driving module (22); the connecting protrusion (221) is connected to the positioning block in the first large arm shell (211) through a bolt; The second large arm shell (212) comprises upper and lower shells which are in butt joint; The output shaft of the large arm rotation driving module (22) extends to the second large arm shell (212), and is connected to the positioning block in the second large arm shell (212) through a connecting block (222); The second large arm shell (212) is provided with a large arm swing driving module (23) at one end away from the trunk mechanism (1), and the axis of the large arm swing driving module (23) is arranged in the vertical direction; The first small arm shell (213) comprises upper and lower shells which are butted together, and the upper and lower shells of the first small arm shell (213) are rotatably arranged on the upper and lower sides of the second large arm shell (212); the output shaft of the large arm swing driving module (23) extends to the outside of the second large arm shell (212) and is connected with the first small arm shell (213).

9. The humanoid robot according to claim 8, characterized in that, The second large arm shell (212) is provided with an avoiding concave surface (2121) on the outer periphery for avoiding the first small arm shell (213).

10. The humanoid robot according to claim 8, characterized by, The first small arm shell (213) is provided with a small arm rotation driving module (24) at one end away from the second large arm shell (212); The small arm rotation driving module (24) is arranged in the left-right direction, and the output shaft thereof extends to the second small arm shell (214) and is connected with the second small arm shell (214); The second small arm shell (214) comprises upper and lower shells which are butted together, and the second small arm shell (214) is provided with a vertically arranged wrist driving module (25) therein; The lower shell of the second small arm shell (214) is provided with an arc-shaped avoiding surface (2141) at one end away from the first small arm shell (213), and the hand mechanism (6) is arranged below the arc-shaped avoiding surface (2141); the top connecting rod of the hand mechanism (6) extends upwardly into the second small arm shell (214) and is connected with the output shaft of the wrist driving module (25) through an arm transmission member.

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