Robonaut

Abstract

This invention discloses a humanoid robotic astronaut, wherein the arm includes a large arm base, a first shoulder drive assembly, and a second shoulder drive assembly; the first shoulder drive assembly realizes the directional and rolling movements of the shoulder joint of the arm through a linear push-pull stroke difference; the second shoulder drive assembly realizes the pitching movement of the shoulder joint of the arm by converting linear motion into rotational motion; the elbow uses a linear actuator and slider to convert linear motion into rotational motion. The leg includes a thigh base, a first hip drive assembly, and a second hip drive assembly; the first hip drive assembly realizes the pitching and rolling movements of the hip joint of the thigh through a linear push-pull stroke difference; the second hip drive assembly realizes the directional movement of the hip joint of the leg by converting linear motion into crank-connecting rod rotation. The knee uses a linear actuator and slider to convert linear motion into rotational motion. The humanoid robot astronaut joints in this embodiment of the invention achieve the main movement with linear actuators, which is relatively simple in structure. The shoulder and hip movements are closer to human shoulder and hip movements, with high mechanical efficiency and reliability. Moreover, during the movement, the joint movements of the hip, shoulder, knee and elbow do not exceed the outer shape envelope, realizing a biomimetic robot design that is closer to the human body shape and size.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to the creation of a humanoid robot astronaut that replaces human astronauts in performing space operations and planetary exploration missions. Background Technology

[0002] Research on humanoid robots can be traced back to around 1970. With the miniaturization of electronic devices, especially inertial devices and vision sensors, and the development of computer technology, humanoid robot technology has made rapid progress in recent years. Aside from motion control, like industrial robots, the core of humanoid robots lies in joint structure and joint motion actuation. Joint structure and joint actuation are closely related, and the forms of joint actuation include cable actuation, rotational actuation, and linear actuation (also known as linear drive). Cable actuation and rotational actuation occupy a large amount of space at the shoulder and hip joints, exceeding the normal human body envelope size and not conforming to human body dimensions. Linear actuation is considered to be able to simulate human muscles to drive joint movement, and the joint geometry can be made the same as that of humans; therefore, it has gained increasing adoption.

[0003] Linear actuation joints have been applied to the knee joints of humanoid robots, mimicking the flexion of the lower leg by the ligaments at the front of the knee, aligning it with the thigh. This utilizes the Hoeken mechanism. The robot also employs a Hoeken mechanism for the hip joint, simulating the gluteal muscles' actuation of the thigh, achieving movement from thigh flexion to alignment with the upper body. The Hoeken mechanism creates complex joints with indirect force transmission paths, reducing mechanical efficiency and reliability. Under linear force, the links moving around the rotation axis in the Hoeken mechanism are at an angle to the force direction. Therefore, a portion of the driving force is applied to the rotation axis base, requiring sufficient strength and rigidity from both the rotation axis and the base. In reality, the human knee and hip joints do not possess the two fixed rotation axes required for a Hoeken mechanism; therefore, using the Hoeken mechanism is merely one method for achieving joint actuation.

[0004] Most humanoid robots use rotary drives for their shoulder joints. Given that shoulder joints typically have three degrees of freedom, three drive units are used to drive one degree of freedom each. These drive units are installed in series, with one unit mounted inside the upper body to achieve rotational motion. To increase output torque while controlling the gravity and size of the drive units, harmonic reducers or RV reducers are often used for speed reduction. Because these two types of reducers lack self-locking functionality, braking devices are required. The main problem is that the driving torque of the rotary joint, which needs to match or closely approximate the shoulder size of the humanoid robot to the required human shoulder size, is far less than the necessary torque value. Some humanoid robots use three linear drives to achieve shoulder joint functionality, but this allows for rotation of more than 180 degrees around the central axis, resulting in a large space requirement. Rope-driven shoulder joints based on universal joints are also an option, but they still require significant space. Furthermore, because they lack self-locking functionality, without a braking device, the drive motor needs to be constantly open to counteract the reaction force.

[0005] With the application of humanoid robots in the aerospace field in mind, more robotic astronauts will be deployed in a series of deep space exploration and manned spaceflight missions to assist human astronauts in completing various complex tasks. Considering versatility and adaptability, robotic astronauts will replace human astronauts in wearing spacesuits and riding in various vehicles to perform tasks. Therefore, higher requirements are placed on the external envelope size and carrying capacity of robotic astronauts, including more compact structural features and the ability to simplify structures to simulate human joint movements. Summary of the Invention

[0006] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of this invention is to propose a humanoid robot, one application field of which is a humanoid robot astronaut, with relatively simple shoulder and hip joint structures, shoulder and hip movements that are closer to human shoulder and hip movements, direct force transmission path, high mechanical efficiency and reliability, and shoulder and hip dimensions that are closer to human dimensions.

[0007] According to an embodiment of the present invention, a humanoid robotic astronaut includes:

[0008] Main trunk;

[0009] Two arms, identical and mirror-symmetrically connected to the main torso; each arm includes a large arm base, a first shoulder drive assembly, and a second shoulder drive assembly; the first shoulder drive assembly is disposed between the large arm base and the main torso, and realizes the yaw and roll movements of the shoulder joint of the arm through a linear push-pull stroke difference; the second shoulder drive assembly is disposed within the large arm base, and realizes the pitch movement of the shoulder joint of the arm by converting linear motion into rotational motion;

[0010] Two legs, identical and mirror-symmetrically connected to the main torso; each leg includes a thigh base, a first hip drive assembly, and a second hip drive assembly; the first hip drive assembly is disposed within the thigh base and connected to the second hip drive assembly, achieving pitch and roll motion of the hip joint of the thigh through a linear push-pull stroke difference; the second hip drive assembly is disposed on the main torso, achieving heading motion of the hip joint of the leg through linear motion converted into crank-connecting rod rotation.

[0011] The first shoulder drive assembly employs a linear drive with a linear push-pull stroke difference, simulating human muscles to drive the lateral and roll movements of the shoulder joint. The lateral movement range of the shoulder joint is -80 degrees to 80 degrees, and the roll movement range is -90 degrees to +20 degrees. The force transmission is direct, improving mechanical efficiency and reliability. The second shoulder drive assembly uses a linear drive method that converts linear motion into rotational motion, simulating human muscles to drive the pitch movement of the shoulder joint. The pitch movement range of the shoulder joint is up to 360 degrees, and the force transmission is direct, further improving mechanical efficiency and reliability. Therefore, the shoulder joint of the arm, composed of the first and second shoulder drive assemblies, has three degrees of freedom: lateral, roll, and pitch. The range of motion of the shoulder joint can be essentially consistent with that of a human, with a direct force transmission path and high mechanical efficiency and reliability. Furthermore, since both the first and second shoulder drive assemblies are linear drives, and the second shoulder drive assembly is located within the upper arm base, the geometric dimensions of the shoulder can be essentially consistent with those of a human shoulder.

[0012] The first hip drive assembly employs a linear push-pull stroke difference linear drive, which can simulate human muscles to drive the pitch and roll movements of the hip joint. The pitch range of the hip joint is -100 degrees to +30 degrees, and the roll range is -45 degrees to +24 degrees. Furthermore, the force transmission is direct, improving mechanical efficiency and reliability. The second hip drive assembly uses a linear drive method that converts linear motion into crank-connecting rod rotation, which can simulate human muscles to drive the yaw movement of the hip joint. The yaw range of the hip joint is -45 degrees to +10 degrees, and the force transmission is direct, further improving mechanical efficiency and reliability. Therefore, the hip joint of the leg, composed of the first and second hip drive assemblies, has three degrees of freedom: yaw, roll, and pitch. The range of motion of the hip joint can be essentially consistent with that of a human, with a direct force transmission path and high mechanical efficiency and reliability. Furthermore, since both the first hip drive assembly and the second hip drive assembly are linear drives, and the first hip drive assembly is located within the thigh base 30, the geometric dimensions of the hip can be made to be basically consistent with those of a human hip.

[0013] In summary, the humanoid robot astronaut of this invention has relatively simple shoulder and hip joint structures, and its shoulder and hip movements are closer to those of humans. The force transmission path is direct, and the mechanical efficiency and reliability are high. Furthermore, the external dimensions of the shoulder and hip are closer to those of humans.

[0014] In some embodiments, the first shoulder drive assembly includes a shoulder base, a shoulder connecting hinge, a shoulder track base, an upper shoulder slider, a lower shoulder slider, an upper shoulder linear actuator, and a lower shoulder linear actuator. One end of the shoulder base is fixed to the main torso. The shoulder connecting hinge includes a shoulder roll axis and a shoulder yaw axis arranged in a cross shape. The shoulder roll axis is pivotally connected to the shoulder base, and the shoulder yaw axis is pivotally connected to the shoulder track base. The shoulder track base is fixed to the upper arm base. The upper shoulder slider and the lower shoulder slider are slidably engaged with the shoulder track base. The bodies of the upper shoulder linear actuator and the lower shoulder linear actuator are respectively hinged to the main torso in a single-degree-of-freedom manner, moving around the roll axis. The output shafts of the upper shoulder linear actuator and the lower shoulder linear actuator correspond to the three-degree-of-freedom ball joints of the upper shoulder slider and the lower shoulder slider, respectively.

[0015] In some embodiments, the shoulder track base has an upper shoulder slide groove and a lower shoulder slide groove extending in the same direction. One end of the upper shoulder slide groove is located in the upper shoulder slide groove and the other end is located outside the upper shoulder slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the upper shoulder linear actuator. One end of the lower shoulder slide groove is located in the lower shoulder slide groove and the other end is located outside the lower shoulder slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the lower shoulder linear actuator.

[0016] In some embodiments, the second shoulder drive assembly includes a shoulder rotary linear actuator, a rack, a gear set, and a shoulder pitch axis; the body of the shoulder rotary linear actuator is fixed to the upper arm base, the rack is fixed on the output shaft of the shoulder rotary linear actuator, the gear set is disposed on the shoulder pitch axis and meshes with the rack, and the shoulder pitch axis is fixed on the upper arm base.

[0017] In some embodiments, the arm further includes an elbow drive assembly and a forearm base. The elbow drive assembly is disposed on the upper arm base and the forearm base, and realizes the pitching movement of the elbow joint of the arm through linear drive.

[0018] In some embodiments, the elbow drive assembly includes an elbow pitch connection hinge and an elbow linear actuator; the elbow pitch connection hinge connects the upper arm base and the lower arm base, the elbow linear actuator is disposed in front of the elbow pitch connection hinge, the body of the elbow linear actuator is connected to the upper arm base, and the output end of the elbow linear actuator is connected to the lower arm base.

[0019] In some embodiments, the elbow drive assembly further includes an elbow slider disposed in an elbow groove of the forearm base, the body of the elbow linear actuator is fixed to the upper arm base, and the output end of the elbow linear actuator is hinged to the elbow slider in a single degree of freedom with pitch motion.

[0020] In some embodiments, the arm further includes a first wrist drive assembly, a second wrist drive assembly, and a robotic hand; the first wrist drive assembly is disposed on the forearm base and realizes the yaw rotation of the wrist joint of the arm through yaw rotation drive; the second wrist drive assembly connects the first wrist drive assembly and the robotic hand and realizes the pitch and roll movements of the wrist joint of the arm through the linear push-pull stroke difference.

[0021] In some embodiments, the first wrist drive assembly includes a wrist rotation motor and a forearm rotation base; the body of the wrist rotation motor is fixed inside the forearm base, the pivot shaft of the wrist rotation motor is fixed to the forearm rotation base, and a pivotal connection with the forearm rotation base is formed between the forearm base and the forearm base in a yaw motion.

[0022] In some embodiments, the second wrist drive assembly includes a first wrist linear actuator, a second wrist linear actuator, and a wrist connecting hinge; the bodies of the first wrist linear actuator and the second wrist linear actuator are respectively hinged to the forearm rotation base for two degrees of freedom of roll and pitch; the output ends of the first wrist linear actuator and the second wrist linear actuator are respectively hinged to the root of the manipulator for three degrees of freedom of yaw, roll, and pitch; the manipulator is hinged to the end of the main structure of the forearm rotation base for two degrees of freedom of roll and pitch.

[0023] In some embodiments, the first hip drive assembly includes a hip track base and a hip directional linear actuator; the hip track base is connected to the second hip drive assembly and includes a directional rotation axis, the directional rotation axis is pivotally connected to the main torso in a directional motion, the body of the hip directional linear actuator is pivotally connected to the main torso in a directional single-free manner, the output end of the hip directional linear actuator is pivotally connected to the rotation axis in a directional manner, and the connection point between the output end of the hip directional linear actuator and the rotation axis is the eccentric position of the rotation axis, such that the hip directional linear actuator and the rotation axis constitute a crank-connecting rod mechanism.

[0024] In some embodiments, the second hip drive assembly includes a hip connecting hinge, a front hip slider, a rear hip slider, a front hip linear actuator, and a rear hip linear actuator; the hip connecting hinge includes a hip roll axis and a hip pitch axis arranged in a cross shape, the hip roll axis is pivotally connected to the hip track base, the hip pitch axis is pivotally connected to the hip track base, the front hip slider and the rear hip slider are slidably engaged with the hip track base, the bodies of the front hip linear actuator and the rear hip linear actuator are pivotally connected to the thigh base in a pitch manner, and the output ends of the front hip linear actuator and the rear hip linear actuator are respectively connected to the front hip slider and the rear hip slider in a three-degree-of-freedom ball joint.

[0025] In some embodiments, the hip track base has a front hip groove and a rear hip groove extending in the same direction. One end of the front hip slider is located in the front hip groove and the other end is located outside the front hip groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the front hip linear actuator. One end of the rear hip slider is located in the rear hip groove and the other end is located outside the rear hip groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the rear hip linear actuator.

[0026] In some embodiments, the leg further includes a knee drive assembly and a lower leg base, the knee drive assembly being disposed on the thigh base and the lower leg base, and realizing the pitching movement of the knee joint of the leg through linear drive.

[0027] In some embodiments, the knee drive assembly includes a knee pitch connection hinge and a knee linear actuator; the knee pitch connection hinge connects the thigh base and the lower leg base, the knee linear actuator is disposed on the rear side of the knee pitch connection hinge, the body of the knee linear actuator is connected to the lower leg base, and the output end of the knee linear actuator is connected to the lower leg base.

[0028] In some embodiments, the knee drive assembly further includes a knee slider disposed in a knee groove of the lower leg base, the body of the knee linear actuator is fixed to the thigh base, and the output end of the knee linear actuator is pivotally connected to the knee slider.

[0029] In some embodiments, the leg further includes an ankle drive assembly and a foot; the ankle drive assembly is disposed between the lower leg base and the foot, and realizes the rolling and pitching movements of the ankle joint of the leg through a linear push-pull stroke difference.

[0030] In some embodiments, the ankle drive assembly includes a first ankle linear actuator, a second ankle linear actuator, and a heel base; the bodies of the first ankle linear actuator and the second ankle linear actuator are respectively hinged to the lower leg base for two degrees of freedom of roll and pitch; the output ends of the first ankle linear actuator and the second ankle linear actuator are respectively hinged to the heel base for three degrees of freedom of ball joints; the main structural end of the lower leg base is hinged to the heel base for two degrees of freedom of roll and pitch.

[0031] In some embodiments, the foot includes a forefoot assembly, a hindfoot assembly, and a forefoot and hindfoot cushioning connector; the forefoot assembly, the hindfoot assembly, and the heel base are coaxially pitch-pivotably connected, and the forefoot and hindfoot cushioning connector is disposed at the bottom of the foot and connected between the forefoot assembly and the hindfoot assembly.

[0032] In some embodiments, the main torso includes a head, a first head drive assembly, a second head drive assembly, a torso base, a first waist drive assembly, a second waist drive assembly, and a pelvic base. The first head drive assembly is disposed between the head and the second head drive assembly, and achieves directional movement of the head through rotational drive. The second head drive assembly is disposed between the first head drive assembly and the torso base, and achieves roll and pitch movements of the head through a linear push-pull stroke difference. The torso base is connected to the two arms. The first waist drive assembly is disposed between the torso assembly and the second waist drive assembly, and achieves roll and pitch movements of the waist of the main torso through a linear push-pull stroke difference. The second waist drive assembly is disposed between the first drive assembly and the pelvic base, and achieves directional movement of the waist of the main torso through rotational drive.

[0033] In some embodiments, the first head drive assembly includes a head rotation motor and a head rotation base. The body of the head rotation motor is fixed on the head rotation base, the output shaft of the head rotation motor is fixed to the head, and the head rotation base is pivotally connected to the head in a yaw configuration. The second head drive assembly includes a left head linear actuator, a right head linear actuator, and a head Hooke hinge. The bodies of the left head linear actuator and the right head linear actuator are respectively hinged to the torso base in a roll and pitch configuration (two degrees of freedom). The output ends of the left head linear actuator and the right head linear actuator are respectively hinged to the head rotation base in a three-degree-of-freedom ball joint. The torso base is connected to the head rotation base in a two-degree-of-freedom configuration via the head Hooke hinge.

[0034] In some embodiments, the second lumbar drive assembly includes a lumbar rotary motor and a lumbar rotary base. The body of the lumbar rotary motor is fixed to the pelvic base, and the output end of the lumbar rotary motor is fixed to the lumbar rotary base. The lumbar rotary base is assembled to the pelvic base via a lumbar bearing. The first lumbar drive assembly includes a left lumbar linear actuator, a right lumbar linear actuator, and a lumbar Hooke hinge. The bodies of the left and right lumbar linear actuators are respectively hinged to the lumbar rotary base in a two-degree-of-freedom configuration of roll and pitch. The output ends of the left and right lumbar linear actuators are respectively hinged to the trunk base in a three-degree-of-freedom configuration of ball joints. The trunk base is connected to the lumbar rotary base in a roll and two-degree-of-freedom configuration via the lumbar Hooke hinge.

[0035] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 This is a frontal schematic diagram of the humanoid robot astronaut of the present invention;

[0038] Figure 2 This is a schematic diagram of the back of the humanoid robot astronaut of the present invention;

[0039] Figure 3 This is a side view of the humanoid robot astronaut of the present invention;

[0040] Figure 4 This is a schematic diagram of the left arm of the humanoid robot astronaut of the present invention.

[0041] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0042] Figure 6 for Figure 4 Enlarged view of point B in the middle;

[0043] Figure 7 for Figure 4 Enlarged view of point C in the middle;

[0044] Figure 8 This is a schematic diagram of the right leg of the humanoid robot astronaut of the present invention;

[0045] Figure 9 for Figure 1 Enlarged diagram of point D in the middle;

[0046] Figure 10 for Figure 8 Enlarged view of point E in the middle;

[0047] Figure 11 This is a schematic diagram of the right thigh of the humanoid robot astronaut of the present invention;

[0048] Figure 12 for Figure 8 Enlarged diagram at point F;

[0049] Figure 13 This is a schematic diagram of the knee joint of the humanoid robot astronaut of the present invention, shown on the right side.

[0050] Figure 14 for Figure 8 Enlarged diagram of point G in the middle;

[0051] Figure 15 This is a schematic diagram of the main torso of the humanoid robot astronaut of the present invention;

[0052] Figure 16 for Figure 2 Enlarged view of section H in the middle;

[0053] Figure 17 for Figure 2 Enlarged view of point I in the middle;

[0054] Figure 18 This is a schematic diagram of the shoulder joint of the humanoid robot astronaut of the present invention;

[0055] Figure 19 This is a schematic diagram of the elbow joint of the humanoid robot astronaut of the present invention.

[0056] Figure 20 This is a schematic diagram of the hip joint of the humanoid robot astronaut of the present invention;

[0057] Figure 21 This is a schematic diagram of the knee joint of the humanoid robot astronaut of the present invention.

[0058] Figure label:

[0059] Main torso 100; Head 10; First head drive assembly 11; Head rotation base 110; Head rotation motor 111; Second head drive assembly 12; Head Hooke hinge 120; Left head linear actuator 121; Right head linear actuator 121; Torso base 13; First waist drive assembly 14; Waist Hooke hinge 140; Left waist linear actuator 141; Right waist linear actuator 142; Second waist drive assembly 15; Waist rotation base 150; Waist rotation motor 151; Pelvic base 16;

[0060] Arm 200; Upper arm base 20; Shoulder first drive assembly 21; Shoulder base 210; Shoulder connecting hinge 211; Shoulder roll axis 2110; Shoulder yaw axis 2111; Shoulder track base 212; Shoulder upper slider 213; Shoulder lower slider 214; Shoulder upper linear actuator 215; Shoulder lower linear actuator 216; Shoulder second drive assembly 22; Shoulder rotation linear actuator 220; Rack 221; Gear set 222; Shoulder pitch axis 223; Forearm base 23; Elbow drive assembly 24; Elbow pitch connecting hinge 240; Elbow linear actuator 241; Elbow slider 242; Wrist first drive assembly 25; Forearm rotation base 250; Wrist rotation motor 251; Wrist second drive assembly 26; Wrist first linear actuator 261; Robotic hand 27;

[0061] Leg 300; Thigh base 30; Hip first drive assembly 31; Hip track base 310; Yaw rotation axis 3100; Hip yaw linear actuator 311; Hip second drive assembly 32; Hip connecting hinge 320; Hip roll axis 3201; Hip pitch axis 3202; Hip front slider 321; Hip rear slider 322; Hip front linear actuator 323; Hip rear linear actuator 324; Lower leg base 33; Knee drive assembly 34; Knee pitch connecting hinge 340; Knee linear actuator 341; Knee slider 342; Ankle drive assembly 35; Heel base 350; Ankle first linear actuator 351; Ankle second linear actuator 352; Foot 36; Forefoot assembly 360; Hindfoot assembly 361; Forefoot and hindfoot cushioning connector 362. Detailed Implementation

[0062] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0063] The following is combined with Figures 1 to 21 To describe the humanoid robot astronaut of the present invention.

[0064] As is well known, muscles can only exert pulling force. Therefore, for a moving joint, there must be two muscle groups, each responsible for driving in two directions: pulling forward and pulling back. Because the push rod and moving structure of a linear actuator are rigid, they can simultaneously perform pushing and pulling functions. This invention uses a linear actuator to simulate the muscle groups of the human body. By arranging the linear actuators at the corresponding muscle group positions, corresponding multi-degree-of-freedom movements are achieved. To meet spatial constraints, the lateral swing amplitude of the linear actuator needs to be reduced.

[0065] In embodiments of the present invention, such as Figure 1 As shown, the front of the humanoid robot astronaut (i.e., the front view) is considered positive, with the upward vertical axis as the yaw axis, the positive axis as the roll axis, and the leftward horizontal axis as the pitch axis. In the following text, yaw motion refers to rotation about the yaw axis, roll motion refers to rotation about the roll axis, and pitch motion refers to rotation about the pitch axis.

[0066] like Figures 1 to 14 As shown, the humanoid robot astronaut according to an embodiment of the present invention includes a main torso 100, two arms 200 and two legs 300.

[0067] Two arms 200 are identical and mirror-symmetrically connected to the main body 100. With the arms 200 hanging down normally as the original position, each arm 200 includes a large arm base 20, a first shoulder drive assembly 21, and a second shoulder drive assembly 22. The first shoulder drive assembly 21 is located between the large arm base 20 and the main body 100, and realizes the yaw and roll movements of the shoulder joint of the arm 200 through the linear push-pull stroke difference. The second shoulder drive assembly 22 is located inside the large arm base 20, and realizes the pitching movement of the shoulder joint of the arm 200 by converting linear movement into rotational movement.

[0068] Two legs 300 are identical and mirror-symmetrically connected to the main body 100. With the normal extension value of the leg 300 in its original position, each leg 300 includes a thigh base 30, a first hip drive assembly 31, and a second hip drive assembly 32. The first hip drive assembly 31 is located within the thigh base 30 and connected to the second hip drive assembly 32, achieving pitch and roll motion of the hip joint of the thigh 300 through a linear push-pull stroke difference. The second hip drive assembly 32 is located on the main body 100, and achieves heading motion of the hip joint of the leg 300 by converting linear motion into crank-connecting rod rotation.

[0069] The first shoulder drive assembly 21 employs a linear drive with a linear push-pull stroke difference, simulating human muscles to drive the directional and roll movements of the shoulder joint. The directional range of the shoulder joint is -80 degrees to 80 degrees, and the roll range is -90 degrees to +20 degrees. The force transmission is direct, improving mechanical efficiency and reliability. The second shoulder drive assembly 22 uses a linear drive method that converts linear motion into rotational motion, simulating human muscles to drive the pitch movement of the shoulder joint. The pitch range of the shoulder joint is up to 360 degrees, and the force transmission is direct, further improving mechanical efficiency and reliability. Therefore, the shoulder joint of the arm 200, composed of the first and second shoulder drive assemblies 21 and 22, has three degrees of freedom: directional, roll, and pitch. The range of motion of the shoulder joint can be essentially consistent with that of humans, with a direct force transmission path and high mechanical efficiency and reliability. Furthermore, since both the first shoulder drive assembly 21 and the second shoulder drive assembly 22 are linear drives, and the second shoulder drive assembly 22 is located inside the upper arm base 20, the geometric dimensions of the shoulder can be made to be basically consistent with those of a human shoulder.

[0070] The first hip drive assembly 31 employs a linear drive with a linear push-pull stroke difference, which can simulate human muscles to drive the pitch and roll movements of the hip joint. The pitch range of the hip joint can reach -100 degrees to +30 degrees, and the roll range can reach -45 degrees to +24 degrees. Furthermore, the force transmission is direct, improving mechanical efficiency and reliability. The second hip drive assembly 32 uses a linear drive method that converts linear motion into crank-connecting rod rotation, which can simulate human muscles to drive the yaw movement of the hip joint. The yaw range of the hip joint can reach -45 degrees to +10 degrees, and the force transmission is direct, improving mechanical efficiency and reliability. Therefore, the hip joint of the leg 300, composed of the first and second hip drive assemblies 31 and 32, has three degrees of freedom: yaw, roll, and pitch. The range of motion of the hip joint can be basically consistent with that of humans, with a direct force transmission path and high mechanical efficiency and reliability. Furthermore, since both the first hip drive assembly 31 and the second hip drive assembly 32 are linear drives, and the first hip drive assembly 31 is located within the thigh base 30, the geometric dimensions of the hip can be made to be basically consistent with those of a human hip.

[0071] In summary, the humanoid robot astronaut of this invention has relatively simple shoulder and hip joint structures, and its shoulder and hip movements are closer to those of humans. The force transmission path is direct, and the mechanical efficiency and reliability are high. Furthermore, the external dimensions of the shoulder and hip are closer to those of humans.

[0072] In some embodiments, the first shoulder drive assembly 21 includes a shoulder base 210, a shoulder connecting hinge 211, a shoulder track base 212, an upper shoulder slider 213, a lower shoulder slider 214, an upper shoulder linear actuator 215, and a lower shoulder linear actuator 216; the upper shoulder linear actuator 215 and the lower shoulder linear actuator 216 are arranged vertically; one end of the shoulder base 210 is fixed to the main body 100; the shoulder connecting hinge 211 includes a shoulder roll axis 2110 and a shoulder yaw axis 2111 arranged in a cross shape; the shoulder roll axis 2110 is pivotally connected to the shoulder base 210; and the shoulder yaw axis 2111 is connected to the shoulder track base 212. The base 212 is pivotally connected to the shoulder track base 212, which is fixed to the upper arm base 20. The upper shoulder slider 213 and the lower shoulder slider 214 are distributed vertically and slide in cooperation with the shoulder track base 212 respectively. The upper shoulder linear actuator 215 and the lower shoulder linear actuator 216 are distributed vertically. The bodies of the upper shoulder linear actuator 215 and the lower shoulder linear actuator 216 are respectively hinged to the main body 100 in a single degree of freedom motion around the roll axis. The output shafts of the upper shoulder linear actuator 215 and the lower shoulder linear actuator 216 correspond to the three-degree-of-freedom ball joints of the upper shoulder slider 213 and the lower shoulder slider 214 respectively.

[0073] The first shoulder drive assembly 21 drives the shoulder track base 212 through the linear push-pull of the upper shoulder linear actuator 215 and the lower shoulder linear actuator 216 to form a stroke difference. This causes the shoulder track base 212, which is fixed on the upper arm base 20, to rotate around the shoulder roll axis 2110 or the shoulder yaw axis 2111, thereby realizing the roll and yaw motion of the shoulder joint. The yaw motion range of the shoulder joint can reach -80 degrees to 80 degrees, and the roll motion range of the shoulder joint can reach -90 degrees to +20 degrees. The first shoulder drive assembly 21 has a relatively simple structure and direct force transmission, which improves mechanical efficiency and reliability. Since the upper shoulder linear actuator and the lower shoulder linear actuator are ball-jointed with the upper shoulder slider 213 and the lower shoulder slider 214 respectively, and are slidably engaged with the shoulder track base 212 through the upper shoulder slider 213 and the lower shoulder slider 214 respectively, the upper front slider and the lower shoulder slider 214 can perform single-degree-of-freedom translation. In this way, the shoulder track base 212 is used to constrain the range of motion of the upper shoulder linear actuator 215 and the lower shoulder linear actuator 216, so that the range of motion of the output shaft of the upper shoulder linear actuator 215 and the output shaft of the lower shoulder linear actuator 216 is closer to the range of motion of the human shoulder joint.

[0074] In some embodiments, the shoulder track base 212 has a shoulder upper slide groove and a shoulder lower slide groove extending in the same direction. One end of the shoulder upper slider 213 is located in the shoulder upper slide groove and the other end is located outside the shoulder upper slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the shoulder upper linear actuator 215. One end of the shoulder lower slider 214 is located in the shoulder lower slide groove and the other end is located outside the shoulder lower slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the shoulder lower linear actuator 216.

[0075] By setting an upper shoulder slide groove and a lower shoulder slide groove on the shoulder track base 212, the upper shoulder slider 213 and the lower shoulder slider 214 are restricted to single-degree-of-freedom translation, thereby constraining the range of motion of the output end of the upper shoulder linear actuator 215 and the output end of the lower shoulder linear actuator 216, making the range of motion of the shoulder joint of the humanoid robot astronaut closer to the range of motion of the human shoulder joint.

[0076] In some embodiments, the second shoulder drive assembly 22 includes a shoulder rotary linear actuator 220, a rack 221, a gear set 222, and a shoulder pitch shaft 223. The shoulder rotary linear actuator 220 is located on the rear side inside the upper arm base 20. The body of the shoulder rotary linear actuator 220 is fixed to the upper arm base 20. The rack 221 is fixed on the output shaft of the shoulder rotary linear actuator 220. The gear set 222 is disposed on the shoulder pitch shaft 223 and meshes with the rack 221. The shoulder pitch shaft 223 is fixed on the upper arm base 20.

[0077] The second shoulder drive assembly 22 drives the rack 221 to move linearly up and down via a shoulder linear drive. The rack 221 drives the gear set 222 to rotate, which in turn drives the shoulder pitch axis 223 to rotate. This, in turn, drives the upper arm base 20 to pitch around the shoulder pitch axis 223. In other words, the shoulder joint of the arm 200 has pitch motion, and the pitch motion range of the shoulder joint can reach 360 degrees. The second shoulder drive assembly 22 has a relatively simple structure and direct force transmission, which improves mechanical efficiency and reliability. Since the second shoulder drive assembly 22 is located inside the upper arm base 20, it helps to make the shoulder shape of the humanoid robot astronaut closer to the human shoulder shape.

[0078] Based on the 360-degree rotation range of the boom base 20, the rack 221 has a relatively long stroke. However, due to limitations in the movement space, a shorter rack 221 is selected to mesh with a smaller gear (i.e., the input gear of the gear set 222), and the drive is achieved through the gear set 222. To improve motion resolution, small-sized teeth are required. The gear set 222 achieves the required stroke space for the rack 221 through several stages of meshing. To ensure strength, the thickness of the gear and rack 221 can be appropriately increased.

[0079] In some embodiments, the arm 200 further includes an elbow drive assembly 24 and a forearm base 23. The elbow drive assembly 24 is disposed on the upper arm base 20 and the forearm base 23, and realizes the pitching motion of the elbow joint of the arm 200 through linear drive, that is, realizes the back-and-forth swing of the forearm base 23.

[0080] The elbow drive assembly 24 uses linear drive to simulate human muscles to drive the pitching motion of the elbow joint. The pitching motion range of the elbow joint can reach 0 to 150 degrees, making the elbow joint movement of the humanoid robot astronaut closer to the movement of the human elbow joint. Moreover, the force transmission is direct, which improves mechanical efficiency and reliability.

[0081] In some embodiments, the elbow drive assembly 24 includes an elbow pitch connection hinge 240 and an elbow linear actuator 241; the elbow pitch connection hinge 240 connects the upper arm base 20 and the forearm base 23, the elbow linear actuator 241 is arranged on the front side of the elbow pitch connection hinge 240, the body of the elbow linear actuator 241 is connected to the upper arm base 20, and the output end of the elbow linear actuator 241 is connected to the forearm base 23.

[0082] The elbow linear actuator 241 simulates human muscle movement by pushing and pulling, causing the forearm base 23 to pitch around the elbow pitch hinge 240. The pitch range of the elbow joint can reach 0 to 150 degrees. Furthermore, the elbow drive assembly 24 has a simple structure and direct force transmission, improving mechanical efficiency and reliability. Preferably, the elbow linear actuator 241 is located in front of the shoulder rotation linear actuator 220, a reasonable layout that makes the elbow joint movement of the humanoid robot astronaut more closely resemble that of a human elbow joint.

[0083] In some embodiments, the elbow drive assembly 24 further includes an elbow slider 242, which is disposed in the elbow groove of the forearm base 23. The body of the elbow linear actuator 241 is fixed on the upper arm base 20, and the output end of the elbow linear actuator 241 is hinged to the elbow slider 242 in a single degree of freedom with pitch motion.

[0084] By using the elbow slider 242 and the elbow groove of the forearm base 23 for linear translational guidance, and by connecting the output end of the elbow linear actuator 241 to the elbow slider 242 for pitch pivoting, the large swing of the elbow linear actuator 241 when driving the pitch motion of the forearm base 23 relative to the upper arm base 20 can be effectively eliminated.

[0085] In some embodiments, the arm 200 further includes a first wrist drive assembly 25, a second wrist drive assembly 26, and a robotic hand 27; the first wrist drive assembly 25 is disposed on the forearm base 23 and realizes the yaw rotation of the wrist joint of the arm 200 through yaw rotation drive; the second wrist drive assembly 26 connects the first wrist drive assembly 25 and the robotic hand 27 and realizes the pitch and roll motion of the wrist joint of the arm 200 through the linear push-pull stroke difference.

[0086] The first wrist drive assembly 25 uses a yaw rotation drive to achieve yaw rotation of the wrist joint, while the second wrist drive assembly 26 uses a linear push-pull stroke difference drive to achieve pitch and roll movements of the wrist joint. Thus, the wrist joint has three rotational degrees of freedom: yaw, pitch, and roll. The range of motion of the wrist joint can be essentially consistent with that of the human wrist joint, with a direct force transmission path and high mechanical efficiency and reliability.

[0087] In some embodiments, the wrist first drive assembly 25 includes a wrist rotary motor 251 and a forearm rotation base 250. The body of the wrist rotary motor 251 is fixed inside the forearm base 23, and the pivot shaft of the wrist rotary motor 251 is fixed to the forearm rotation base 250. A pivotal connection is formed between the forearm rotation base 250 and the forearm base 23, which is in a yaw motion. For example, the forearm rotation base 250 achieves a yaw pivotal connection with the forearm base 23 through a wrist bearing. The wrist first drive assembly 25 has a simple structure. The wrist rotary motor 251 drives the forearm rotation base 250, thereby driving the manipulator 27 to rotate yaw. The force transmission path is direct, and the mechanical efficiency and reliability are high.

[0088] In some embodiments, the second wrist drive assembly 26 includes a first wrist linear actuator 261 and a second wrist linear actuator 262. Considering the limited stroke angle and small arrangement space of the driving robot 27, a dual-slider guide groove design is not adopted, allowing the bodies of the first wrist linear actuator 261 and the second wrist linear actuator 262 to have two degrees of freedom. The bodies of the first wrist linear actuator 261 and the second wrist linear actuator 262 are respectively hinged to the forearm rotation base 250 for roll and pitch, restricting the rotation of the first wrist linear actuator 261 and the second wrist linear actuator 262. The output ends of the first wrist linear actuator 261 and the second wrist linear actuator 262 are respectively hinged to the root of the robot 27 for yaw, roll, and pitch, respectively; the root end of the robot 27 is hinged to the end of the main structure of the forearm rotation base 250 for roll and pitch, restricting spin.

[0089] The rolling and pitching movements of the wrist joint can be achieved by the linear push-pull stroke difference between the wrist-first linear actuator 261 and the wrist-second linear actuator 262. The structure is simple, the force transmission path is direct, and the mechanical efficiency and reliability are improved.

[0090] In some embodiments, the first hip drive assembly 31 includes a hip track base 310 and a hip directional linear actuator 311; the hip track base 310 is connected to the second hip drive assembly 32 and includes a directional rotation axis 3100, which is pivotally connected to the main torso 100 in a directional manner. For example, the directional rotation axis 3100 is connected to the main torso 100 through a hip bearing to realize a directional pivotal connection between the directional rotation axis 3100 and the main torso 100; the body of the hip directional linear actuator 311 is pivotally connected to the main torso 100 in a directional single-free manner, and the output end of the hip directional linear actuator 311 is pivotally connected to the rotation axis in a directional manner. The connection point between the output end of the hip directional linear actuator 311 and the directional rotation axis 3100 is the eccentric position of the directional rotation axis 3100, so that the hip directional linear actuator 311 and the rotation axis constitute a crank-connecting rod mechanism.

[0091] The hip directional linear actuator 311 drives the directional rotation axis 3100 to rotate linearly, thereby causing the hip track base 310, the second hip drive assembly 32, and the thigh base 30 to move synchronously in a directional manner. This achieves the directional movement of the hip joint of the leg 300, with a range of motion from -45 degrees to +10 degrees. The first hip drive assembly 31 has a simple structure and a direct force transmission path, improving mechanical efficiency and reliability. The hip directional linear actuator 311 can be installed within the main body 100, making the hip dimensions of the humanoid robot astronaut essentially consistent with those of a human hip.

[0092] In some embodiments, the second hip drive assembly 32 includes a hip connecting hinge 320, a front hip slider 321, a rear hip slider 322, a front hip linear actuator 323, and a rear hip linear actuator 324. The hip connecting hinge 320 includes a hip roll axis 3201 and a hip pitch axis 3202 arranged in a cross shape. The hip roll axis 3201 is pivotally connected to the hip track base 310, and the hip pitch axis 3202 is pivotally connected to the hip track base 310. The front hip slider 321 and the rear hip slider 322 are slidably engaged with the hip track base 310, and the bodies of the front hip linear actuator 323 and the rear hip linear actuator 324 are pivotally connected to the thigh base 30 in a pitch configuration. The output ends of the front hip linear actuator 323 and the rear hip linear actuator 324 are respectively connected to the front hip slider 321 and the rear hip slider 322 in a three-degree-of-freedom ball joint configuration.

[0093] The second hip drive assembly 32 drives the thigh base 30 to roll and pitch relative to the hip track base 310 through the linear push-pull stroke difference between the front hip linear actuator 323 and the rear hip linear actuator 324. This achieves the rolling and pitching motion of the hip joint of the leg 300. The pitching motion range of the hip joint is -100 degrees to +30 degrees, and the rolling motion range is -45 degrees to +24 degrees. The second hip drive assembly 32 has a simple structure, direct force transmission, and improved mechanical efficiency and reliability. Since the front hip linear actuator 323 and the rear hip linear actuator 324 are ball-jointed with the front hip slider 321 and the rear hip slider 322 respectively, and are slidably engaged with the hip track base 310 through the front hip slider 321 and the rear hip slider 322 respectively, the front hip slider 321 and the rear hip slider 322 can perform single-degree-of-freedom translation. In turn, the hip track base 310 is used to constrain the range of motion of the front hip linear actuator 323 and the rear hip linear actuator 324, so that the range of motion space envelope of the output shaft of the front hip linear actuator and the output shaft of the rear hip linear actuator 324 is within a suitable range.

[0094] Therefore, the hip joint of the leg 300, composed of the first hip drive assembly 31 and the second hip drive assembly 32, has three degrees of freedom: yaw, roll, and pitch. The range of motion of the hip joint can be basically consistent with that of a human. The force transmission path of the hip joint is direct, and the mechanical efficiency and reliability are high. In addition, since the front hip linear actuator 323 and the rear hip linear actuator 324 are located within the thigh base 30, and since the hip yaw linear actuator 311 is located within the main body 100, the hip dimensions of the humanoid robot astronaut are basically consistent with those of a human hip.

[0095] In some embodiments, the hip track base 310 has a hip front groove and a hip rear groove extending in the same direction. One end of the hip front slider 321 is located in the hip front groove and the other end is located outside the hip front groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the hip front linear actuator 323. One end of the hip rear slider 322 is located in the hip rear groove and the other end is located outside the hip rear groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the hip rear linear actuator 324.

[0096] By setting a front hip groove and a rear hip groove on the hip track base 310, the front hip slider 321 and the rear hip slider 322 are restricted to single-degree-of-freedom translation, thereby constraining the range of motion of the output end of the front hip linear actuator 323 and the output end of the rear hip linear actuator 324, making the range of motion of the hip joint of the humanoid robot astronaut closer to the range of motion of the human hip joint.

[0097] In some embodiments, the leg 300 further includes a knee drive assembly 34 and a lower leg base 33. The knee drive assembly 34 is disposed on the thigh base 30 and the lower leg base 33, and realizes the pitching movement of the knee joint of the leg 300 through linear drive.

[0098] The knee drive assembly 34 uses linear drive to simulate human muscles to drive the pitching motion of the knee joint. The pitching motion range of the knee joint can reach 0 to 140 degrees, making the knee joint movement of the humanoid robot astronaut closer to the movement of the human knee joint. Moreover, the force transmission is direct, which improves mechanical efficiency and reliability.

[0099] In some embodiments, the knee drive assembly 34 includes a knee pitch connection hinge 340 and a knee linear actuator 341; the knee pitch connection hinge 340 connects the thigh base 30 and the lower leg base 33, the knee linear actuator 341 is arranged on the rear side of the knee pitch connection hinge 340, the body of the knee linear actuator 341 is connected to the lower leg base 33, and the output end of the knee linear actuator 341 is connected to the lower leg base 33.

[0100] The knee joint operates on a similar principle to the elbow joint, but because the limiting points of the elbow and knee joints are different—the elbow joint is restricted to the posterior side and can extend and contract in the anterior side, while the knee joint is restricted to the anterior side and can extend and contract posteriorly—a linear knee actuator 341 is designed and installed on the posterior side of the thigh 300, while a single-degree-of-freedom connecting hinge that allows only pitch motion is installed on the anterior side of the knee joint, connecting the thigh 300 and the lower leg 300.

[0101] The linear push-pull mechanism of the knee linear actuator 341 simulates human muscle movement, causing the lower leg base 33 to pitch around the knee pitch hinge 340. The elbow drive assembly 24 has a simple structure and direct force transmission, improving mechanical efficiency and reliability.

[0102] Preferably, the knee linear actuator is located on the rear side of the knee linear actuator 341, which is a reasonable layout that makes the movement of the humanoid robot astronaut's knee joint closer to the movement of the human knee joint.

[0103] In some embodiments, the knee drive assembly 34 further includes a knee slider 342 disposed in the knee groove of the lower leg base 33, the body of the knee linear actuator 341 is fixed to the thigh base 30, and the output end of the knee linear actuator 341 is pivotally connected to the knee slider 342.

[0104] By using the linear translational guide of the knee slider 342 and the knee groove of the lower leg base 33, and by connecting the output end of the knee linear actuator 341 to the knee slider 342 for pitch pivoting, the large swing of the knee linear actuator 341 when driving the pitch motion of the lower arm base 23 relative to the upper arm base 20 can be effectively eliminated.

[0105] In some embodiments, the leg 300 further includes an ankle drive assembly 35 and a foot 36; the ankle drive assembly 35 is disposed between the lower leg base 33 and the foot 36, and realizes the rolling and pitching movements of the ankle joint of the leg 300 through the linear push-pull stroke difference.

[0106] The ankle drive component 35 employs a linear push-pull stroke difference drive to achieve pitch and roll movements of the ankle joint, thus giving the ankle joint two rotational degrees of freedom: pitch and roll. The range of motion of the ankle joint can be essentially consistent with that of the human ankle joint, with a direct force transmission path and high mechanical efficiency and reliability.

[0107] In some implementations, the ankle drive assembly 35 includes an ankle first linear actuator 351, an ankle second linear actuator 352, and a heel base 350. The bodies of the ankle first linear actuator 351 and the ankle second linear actuator 352 are respectively hinged to the lower leg base 33 with two degrees of freedom of roll and pitch, restricting the rotation of the ankle first linear actuator 351 and the ankle second linear actuator 352. The output ends of the ankle first linear actuator 351 and the ankle second linear actuator 352 are respectively connected to the heel base 350 with three degrees of freedom of ball joints. The main structure end of the lower leg base 33 is hinged to the heel base 350 with two degrees of freedom of roll and pitch, restricting spin.

[0108] Considering the limited stroke angle and small arrangement space of the drive foot 36, the linear actuator body is allowed to have two degrees of freedom, without employing a dual-slider guide groove design. The overall implementation of the ankle joint is similar to that of the wrist joint.

[0109] The rolling and pitching movements of the ankle joint can be achieved by the linear push-pull stroke difference between the ankle-first linear actuator 351 and the ankle-second linear actuator 352. The structure is simple, the force transmission path is direct, and the mechanical efficiency and reliability are improved.

[0110] In some embodiments, the foot 36 includes a forefoot assembly 360, a rearfoot assembly 361, and a forefoot-rearfoot cushioning connector 362. The forefoot assembly 360, the rearfoot assembly 361, and the heel base 350 are coaxially pivotally connected, allowing the forefoot assembly 360 and the rearfoot assembly 361 to pitch about the heel base axis. A torsion spring is provided at the toe of the forefoot assembly 360 to simulate the up-and-down bending characteristics of the toes. The forefoot-rearfoot cushioning connector 362 can be a spring, which simulates the arch of the human foot 36. The forefoot-rearfoot cushioning connector 362 is located at the bottom of the foot 36 and connected between the forefoot assembly 360 and the rearfoot assembly 361. Specifically, the two ends of the forefoot-rearfoot cushioning connector 362 are hinged to the forefoot assembly 360 and the rearfoot assembly 361 with a single degree of freedom, and apply sufficient elastic tension to simulate the cushioning characteristics of the arch. Therefore, the humanoid robot astronaut's feet 36 have the freedom to bend the toes up and down, and the arch of the foot has a certain degree of elasticity, which can meet the needs of the humanoid robot astronaut to operate equipment and climb ladders.

[0111] In some embodiments, the main torso 100 includes a head 10, a first head drive assembly 11, a second head drive assembly 12, a torso base 13, a first waist drive assembly 14, a second waist drive assembly 15, and a pelvic base 16. The first head drive assembly 11 is disposed between the head 10 and the second head drive assembly 12, achieving yaw motion of the head 10 through rotational drive. The second head drive assembly 12 is disposed between the first head drive assembly 11 and the torso base 13, achieving roll and pitch motion of the head 10 through a linear push-pull stroke difference. The torso base 13 is connected to two arms 200. Specifically, a shoulder base 210, an upper shoulder linear actuator 215, and a lower shoulder linear actuator 216 are fixedly mounted on the torso base 13. Thus, the head 10 has three rotational degrees of freedom: yaw, roll, and pitch, and the force transmission path is direct, improving mechanical efficiency and reliability. The first lumbar drive assembly 14 is positioned between the torso assembly and the second lumbar drive assembly 15. It achieves the roll and pitch movements of the lumbar region of the main torso 100 through a linear push-pull stroke difference. The second lumbar drive assembly 15 is positioned between the first drive assembly and the pelvic base 16. It achieves the directional movement of the lumbar region of the main torso 100 through rotational drive. The pelvic base 16 is connected to the two legs 300. Specifically, the pelvic base 16 is connected to the hip directional linear actuator 311 and the hip bearing, respectively. Thus, the lumbar region of the humanoid robotic astronaut has three rotational degrees of freedom: directional, roll, and pitch, and the force transmission path is direct, improving mechanical efficiency and reliability.

[0112] In some embodiments, the first head drive assembly 11 includes a head rotation motor 111 and a head rotation base 110. The body of the head rotation motor 111 is fixed on the head rotation base 110, and the output shaft of the head rotation motor 111 is fixed to the head 10. The head rotation base 110 is pivotally connected to the head 10 in a heading manner. Specifically, the head rotation base 110 is assembled with the head 10 through a head bearing for force transmission and fixation, thereby enabling the head 10 to perform a heading rotational movement around the head rotation base 110. The second head drive assembly 12 includes a left linear actuator 121, a right linear actuator 121, and a Hooke hinge 120. The bodies of the left and right linear actuators 121 and 121 are respectively hinged to the torso base 13 with two degrees of freedom of roll and pitch, restricting their rotation. The output ends of the left and right linear actuators 121 and 121 are respectively hinged to the head rotation base 110 with three degrees of freedom of ball joints. The torso base 13 is hinged to the head rotation base 110 with two degrees of freedom of roll via the Hooke hinge 120, restricting its spin. Thus, the head rotation base 110 can achieve roll and pitch motion driven by the left and right linear actuators 121. The overall head 10 has three degrees of freedom of movement (heading, pitch, and roll) relative to the torso base 131-1, realizing the neck joint design.

[0113] In some embodiments, the second lumbar drive assembly 15 includes a lumbar rotary motor 151 and a lumbar rotary base 150. The body of the lumbar rotary motor 151 is fixed to the pelvic base 16, and the output end of the lumbar rotary motor 151 is fixed to the base of the lumbar rotary base 150. The lumbar rotary base 150 is assembled with the pelvic base 16 through a lumbar bearing for force transmission and fixation, thereby enabling the lumbar rotary base to perform directional rotation around the pelvic base.

[0114] The first drive assembly 14 of the waist includes a left linear actuator 141, a right linear actuator 142, and a Hooke hinge 140. The bodies of the left linear actuator 141 and the right linear actuator 142 are respectively hinged to the waist rotation base 150 in a two-degree-of-freedom manner of roll and pitch, restricting the rotation of the bodies of the left linear actuator 141 and the right linear actuator 142. The output ends of the left linear actuator 141 and the right linear actuator 142 are respectively hinged to the torso base 13 in a three-degree-of-freedom manner. The torso base 13 is connected to the waist rotation base 150 through the Hooke hinge 140 in a roll and two-degree-of-freedom manner, restricting its spin. This allows the torso base 13 to perform pitch and roll movements driven by the left linear actuator 141 and the right linear actuator 142. The trunk base 13 as a whole has three degrees of freedom of movement relative to the pelvic base: heading, pitch and roll, realizing the design of the lumbar joint.

[0115] like Figure 18 As shown, in the shoulder joint of the humanoid robot astronaut of this embodiment of the invention, the movement of the sliders (i.e., upper shoulder slider 213 and lower shoulder slider 214) under the dual linear actuators (i.e., upper shoulder linear actuator 215 and lower shoulder linear actuator 216) realizes two degrees of freedom (i.e., roll motion and yaw motion) under a small motion envelope, and the linear drive (i.e., shoulder rotation linear actuator 220 drive) realizes single degree of freedom rotational motion (pitch motion) under linear drive (i.e., shoulder rotation linear actuator 220 drive) by the rack and pinion gear set (i.e., rack 221 and gear set 222).

[0116] like Figure 19 As shown, in the elbow joint of the humanoid robot astronaut of this embodiment of the invention, a large-stroke rotational motion under limited envelope is achieved by replacing the elbow muscle deformation with a front slider (i.e., elbow slider 242).

[0117] like Figure 20 As shown, in the hip joint of the humanoid robot astronaut of this embodiment of the invention, the movement of the sliders (i.e., the front hip slider 321 and the rear hip slider 322) under the dual linear actuators (i.e., the front hip linear actuator 323 and the rear hip linear actuator 324) realizes the two degrees of freedom motion (i.e., pitch motion and roll motion) under the small motion envelope, and the single degree of freedom rotational motion (i.e., heading motion) under the linear actuator (i.e., the hip heading linear actuator 311) is realized by the eccentric wheel set (i.e., the heading rotation axis 3100).

[0118] like Figure 21 As shown, in the knee joint of the humanoid robot astronaut of this embodiment of the invention, a large-stroke rotational motion (i.e., pitching motion) under a limited envelope is achieved by using a rear slider (i.e., knee slider 342) instead of patellar sliding.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0120] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A humanoid robot astronaut, characterized in that, include: Main trunk; Two arms, both identical and mirror-symmetrically connected to the main torso; each arm includes a large arm base, a first shoulder drive assembly, and a second shoulder drive assembly; The first shoulder drive assembly is located between the upper arm base and the main torso, and realizes the yaw and roll motion of the shoulder joint of the arm through the linear push-pull stroke difference; The second drive assembly of the shoulder is disposed in the upper arm base and realizes the pitching movement of the shoulder joint of the arm by converting linear motion into rotational motion; Two legs, which are identical and mirror-symmetrically connected to the main torso; each leg includes a thigh base, a first hip drive assembly, and a second hip drive assembly; the first hip drive assembly is disposed within the thigh base and connected to the second hip drive assembly, and the pitching and rolling movements of the hip joint of the thigh are realized through a linear push-pull stroke difference; The second hip drive assembly is mounted on the main torso and converts linear motion into crank-connecting rod rotation to achieve directional motion of the hip joint of the leg.

2. The humanoid robot astronaut according to claim 1, characterized in that, The first shoulder drive assembly includes a shoulder base, a shoulder connecting hinge, a shoulder track base, an upper shoulder slider, a lower shoulder slider, an upper shoulder linear actuator, and a lower shoulder linear actuator. One end of the shoulder base is fixed to the main torso. The shoulder connecting hinge includes a shoulder roll axis and a shoulder yaw axis arranged in a cross shape. The shoulder roll axis is pivotally connected to the shoulder base, and the shoulder yaw axis is pivotally connected to the shoulder track base. The shoulder track base is fixed to the upper arm base. The upper shoulder slider and the lower shoulder slider are slidably engaged with the shoulder track base. The bodies of the upper shoulder linear actuator and the lower shoulder linear actuator are respectively hinged to the main torso in a single-degree-of-freedom manner, moving around the roll axis. The output shafts of the upper shoulder linear actuator and the lower shoulder linear actuator correspond to the three-degree-of-freedom ball joints of the upper shoulder slider and the lower shoulder slider, respectively.

3. The humanoid robot astronaut according to claim 2, characterized in that, The shoulder track base has an upper shoulder slide groove and a lower shoulder slide groove extending in the same direction. One end of the upper shoulder slide groove is located in the upper shoulder slide groove and the other end is located outside the upper shoulder slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the upper shoulder linear actuator. One end of the lower shoulder slide groove is located in the lower shoulder slide groove and the other end is located outside the lower shoulder slide groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the lower shoulder linear actuator.

4. The humanoid robot astronaut according to claim 1, characterized in that, The second shoulder drive assembly includes a shoulder rotary linear actuator, a rack, a gear set, and a shoulder pitch axis; the body of the shoulder rotary linear actuator is fixed to the upper arm base, the rack is fixed on the output shaft of the shoulder rotary linear actuator, the gear set is disposed on the shoulder pitch axis and meshes with the rack, and the shoulder pitch axis is fixed on the upper arm base.

5. The humanoid robot astronaut according to claim 1, characterized in that, The arm also includes an elbow drive assembly and a forearm base. The elbow drive assembly is disposed on the upper arm base and the forearm base, and realizes the pitching movement of the elbow joint of the arm through linear drive.

6. The humanoid robot astronaut according to claim 5, characterized in that, The elbow drive assembly includes an elbow pitch connection hinge and an elbow linear actuator; the elbow pitch connection hinge connects the upper arm base and the lower arm base, the elbow linear actuator is arranged in front of the elbow pitch connection hinge, the body of the elbow linear actuator is connected to the upper arm base, and the output end of the elbow linear actuator is connected to the lower arm base.

7. The humanoid robot astronaut according to claim 6, characterized in that, The elbow drive assembly also includes an elbow slider, which is disposed in the elbow groove of the forearm base. The body of the elbow linear actuator is fixed on the upper arm base, and the output end of the elbow linear actuator is hinged to the elbow slider in a single degree of freedom with pitch motion.

8. The humanoid robot astronaut according to claim 5, characterized in that, The arm also includes a first wrist drive assembly, a second wrist drive assembly, and a robotic hand; the first wrist drive assembly is mounted on the forearm base and achieves yaw rotation of the wrist joint of the arm through yaw rotation drive; the second wrist drive assembly connects the first wrist drive assembly and the robotic hand and achieves pitch and roll motion of the wrist joint of the arm through linear push-pull stroke difference.

9. The humanoid robot astronaut according to claim 8, characterized in that, The wrist first drive assembly includes a wrist rotation motor and a forearm rotation base; the body of the wrist rotation motor is fixed inside the forearm base, the pivot shaft of the wrist rotation motor is fixed to the forearm rotation base, and a pivotal connection with the forearm rotation base is formed between the forearm base and the forearm base in a yaw motion.

10. The humanoid robot astronaut according to claim 9, characterized in that, The second wrist drive assembly includes a first wrist linear actuator, a second wrist linear actuator, and a wrist connecting hinge. The bodies of the first wrist linear actuator and the second wrist linear actuator are respectively hinged to the forearm rotation base for two degrees of freedom of roll and pitch. The output ends of the first wrist linear actuator and the second wrist linear actuator are respectively hinged to the root of the manipulator for three degrees of freedom of yaw, roll, and pitch. The manipulator is hinged to the end of the main structure of the forearm rotation base for two degrees of freedom of roll and pitch.

11. The humanoid robot astronaut according to claim 1, characterized in that, The first hip drive assembly includes a hip track base and a hip directional linear actuator; the hip track base is connected to the second hip drive assembly and includes a directional rotation axis, the directional rotation axis is pivotally connected to the main torso in a directional motion, the body of the hip directional linear actuator is pivotally connected to the main torso in a directional single-free manner, the output end of the hip directional linear actuator is pivotally connected to the rotation axis in a directional manner, and the connection point between the output end of the hip directional linear actuator and the rotation axis is the eccentric position of the rotation axis, so that the hip directional linear actuator and the rotation axis constitute a crank-connecting rod mechanism.

12. The humanoid robot astronaut according to claim 11, characterized in that, The second hip drive assembly includes a hip connecting hinge, a front hip slider, a rear hip slider, a front hip linear actuator, and a rear hip linear actuator. The hip connecting hinge includes a hip roll axis and a hip pitch axis arranged in a cross shape. The hip roll axis is pivotally connected to the hip track base, and the hip pitch axis is pivotally connected to the hip track base. The front hip slider and the rear hip slider are slidably engaged with the hip track base. The bodies of the front hip linear actuator and the rear hip linear actuator are pivotally connected to the thigh base in a pitch configuration. The output ends of the front hip linear actuator and the rear hip linear actuator are respectively connected to the front hip slider and the rear hip slider in a three-degree-of-freedom ball joint.

13. The humanoid robot astronaut according to claim 11, characterized in that, The hip track base has a front hip groove and a rear hip groove extending in the same direction. One end of the front hip slider is located in the front hip groove and the other end is located outside the front hip groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the front hip linear actuator. One end of the rear hip slider is located in the rear hip groove and the other end is located outside the rear hip groove, forming a three-degree-of-freedom ball joint between it and the output shaft of the rear hip linear actuator.

14. The humanoid robot astronaut according to claim 1, characterized in that, The leg also includes a knee drive assembly and a lower leg base. The knee drive assembly is disposed on the thigh base and the lower leg base, and realizes the pitching movement of the knee joint of the leg through linear drive.

15. The humanoid robot astronaut according to claim 14, characterized in that, The knee drive assembly includes a knee pitch connection hinge and a knee linear actuator; the knee pitch connection hinge connects the thigh base and the lower leg base, the knee linear actuator is arranged on the rear side of the knee pitch connection hinge, the body of the knee linear actuator is connected to the lower leg base, and the output end of the knee linear actuator is connected to the lower leg base.

16. The humanoid robot astronaut according to claim 15, characterized in that, The knee drive assembly further includes a knee slider, which is disposed in the knee groove of the lower leg base. The body of the knee linear actuator is fixed to the thigh base, and the output end of the knee linear actuator is pivotally connected to the knee slider.

17. The humanoid robot astronaut according to claim 14, characterized in that, The leg also includes an ankle drive assembly and a foot; the ankle drive assembly is disposed between the lower leg base and the foot, and realizes the rolling and pitching movements of the ankle joint of the leg through a linear push-pull stroke difference.

18. The humanoid robot astronaut according to claim 17, characterized in that, The ankle drive assembly includes a first ankle linear actuator, a second ankle linear actuator, and a heel base. The bodies of the first and second ankle linear actuators are respectively hinged to the lower leg base for two degrees of freedom: roll and pitch. The output ends of the first and second ankle linear actuators are respectively connected to the heel base for three degrees of freedom: ball joints. The main structure end of the lower leg base is hinged to the heel base for two degrees of freedom: roll and pitch.

19. The humanoid robot astronaut according to claim 18, characterized in that, The foot includes a forefoot assembly, a hindfoot assembly, and a forefoot and hindfoot cushioning connector; the forefoot assembly, the hindfoot assembly, and the heel base are coaxially pivotally connected, and the forefoot and hindfoot cushioning connector is disposed at the bottom of the foot and connected between the forefoot assembly and the hindfoot assembly.

20. The humanoid robotic astronaut according to any one of claims 1-19, characterized in that, The main torso includes a head, a first head drive assembly, a second head drive assembly, a torso base, a first waist drive assembly, a second waist drive assembly, and a pelvic base. The first head drive assembly is disposed between the head and the second head drive assembly, and achieves directional movement of the head through rotational drive. The second head drive assembly is disposed between the first head drive assembly and the torso base, and achieves roll and pitch movements of the head through a linear push-pull stroke difference. The torso base is connected to the two arms. The first waist drive assembly is disposed between the torso assembly and the second waist drive assembly, and achieves roll and pitch movements of the waist of the main torso through a linear push-pull stroke difference. The second waist drive assembly is disposed between the first drive assembly and the pelvic base, and achieves directional movement of the waist of the main torso through rotational drive.

21. The humanoid robot astronaut according to claim 20, characterized in that, The first drive assembly for the head includes a head rotation motor and a head rotation base. The body of the head rotation motor is fixed on the head rotation base, the output shaft of the head rotation motor is fixed to the head, and the head rotation base is pivotally connected to the head. The second head drive assembly includes a left head linear actuator, a right head linear actuator, and a head Hooke hinge. The bodies of the left head linear actuator and the right head linear actuator are respectively hinged to the torso base in a two-degree-of-freedom configuration of roll and pitch. The output ends of the left head linear actuator and the right head linear actuator are respectively hinged to the head rotation base in a three-degree-of-freedom configuration of ball joints. The torso base is connected to the head rotation base in a two-degree-of-freedom configuration via the head Hooke hinge.

22. The humanoid robot astronaut according to claim 20, characterized in that, The second lumbar drive assembly includes a lumbar rotary motor and a lumbar rotary base. The body of the lumbar rotary motor is fixed to the pelvic base, and the output end of the lumbar rotary motor is fixed to the lumbar rotary base. The lumbar rotary base is assembled to the pelvic base via a lumbar bearing. The first lumbar drive assembly includes a left lumbar linear actuator, a right lumbar linear actuator, and a lumbar Hooke hinge. The bodies of the left and right lumbar linear actuators are respectively hinged to the lumbar rotary base in a two-degree-of-freedom configuration of roll and pitch. The output ends of the left and right lumbar linear actuators are respectively hinged to the trunk base in a three-degree-of-freedom configuration of ball joints. The trunk base is connected to the lumbar rotary base in a roll and two-degree-of-freedom configuration via the lumbar Hooke hinge.

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