Humanoid robot

Abstract

This disclosure relates to a humanoid robot, comprising: a torso assembly, an arm assembly, and a shoulder joint assembly disposed between the torso assembly and the arm assembly; the shoulder joint assembly includes: a first motor, a second motor, and a third motor. The first motor has a first output end that rotates about a first axis, the first axis extending obliquely relative to the vertical direction of the torso assembly; the second motor is mounted on the first output end and drives the entire assembly to rotate about the first axis, the second motor having a second output end that rotates about a second axis, the second axis being perpendicular to the first axis; the third motor is mounted on the second output end and drives the entire assembly to rotate about the second axis, the third motor having a third output end that rotates about a third axis, the third axis being perpendicular to the second axis; within a predetermined range of motion of the arm assembly relative to the torso assembly, the first axis and the third axis are not coaxial.

Description

Technical Field

[0001] This disclosure relates to the field of humanoid robot technology, specifically to a humanoid robot. Background Technology

[0002] In the field of humanoid robot technology, the upper limb movement mechanism is the core component for realizing biomimetic movements and complex tasks. The shoulder joint, as the key hub connecting the torso and the arm, needs to be equipped with multi-dimensional rotational degrees of freedom to highly replicate the complex movements of the human arm, such as lifting, twisting, and swinging, so as to ensure the biomimeticity of the whole robot's movements and its adaptability to tasks.

[0003] Currently, the shoulder joints of existing humanoid robots in the industry generally adopt a multi-motor drive scheme. This involves using multiple motors connected in series to form the shoulder joint assembly, with each motor driving a single rotational degree of freedom to achieve multi-posture adjustment of the shoulder. However, the multiple rotational axes of the shoulder joint are prone to momentary coaxiality during movement, inducing kinematic singularities. This leads to a reduction in the joint's degrees of freedom, decreased flexibility of the end effector, and severely impacts motion stability and control accuracy. Summary of the Invention

[0004] This disclosure provides a humanoid robot to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a humanoid robot is provided, comprising: a torso assembly, an arm assembly, and a shoulder joint assembly disposed between the torso assembly and the arm assembly; The shoulder joint assembly includes: A first motor has a first output end that rotates about a first axis, the first axis extending obliquely relative to the vertical direction of the torso assembly; The second motor is installed at the first output end and is driven by the first output end to rotate around the first axis. The second motor has a second output end that rotates around a second axis, and the second axis is perpendicular to the first axis. A third motor is installed at the second output end and is driven by the second output end to rotate the whole around the second axis. The third motor has a third output end that rotates around a third axis, and the third axis is perpendicular to the second axis. Within a predetermined range of motion of the arm assembly relative to the torso assembly, the first axis and the third axis are not coaxial.

[0006] In one embodiment of this disclosure, the first axis extends obliquely upward along the extension direction of the first output end, and the angle α between the first axis and the vertical direction of the torso assembly is an acute angle.

[0007] In one embodiment of this disclosure, the tilt angle α ranges from 75° to 85°.

[0008] In one embodiment of this disclosure, when the arm assembly moves to a horizontal position relative to the torso assembly, the third axis is perpendicular to the vertical direction of the torso assembly.

[0009] In one embodiment of this disclosure, the first axis is not parallel to the third axis within a predetermined range of motion of the arm assembly relative to the torso assembly.

[0010] In one embodiment of this disclosure, the torso assembly has a first housing with an assembly port; the first motor is located inside the first housing, and the first output terminal is exposed through the assembly port.

[0011] In one embodiment of this disclosure, the second motor is mounted on the arm assembly, the second motor having a mounting end exposed at the end of the arm assembly, the arm assembly being fixedly connected to the first output end via the mounting end.

[0012] In one embodiment of this disclosure, the arm assembly has a second housing, and the second output terminal and the third motor connected thereto are located within the second housing.

[0013] In one embodiment of this disclosure, the body of the second motor is cylindrical, with its outer peripheral arc surface exposed to form the shoulder arc of the humanoid robot.

[0014] In one embodiment of this disclosure, the arm assembly includes an upper arm, a forearm, and an elbow joint assembly disposed between the upper arm and the forearm, wherein the forearm is controlled to move relative to the upper arm by the elbow joint assembly; the third motor is located inside the upper arm, and the elbow joint assembly is mounted on the third output end.

[0015] In one embodiment of this disclosure, the arm assembly is controlled by the first motor to rotate around the first axis and by the second motor to rotate around the second axis; the elbow joint assembly is controlled by the third motor to drive the forearm to rotate synchronously around the third axis.

[0016] In one embodiment of this disclosure, the arm assembly further includes a hand and a wrist joint assembly disposed between the forearm and the hand, the hand being controlled to rotate relative to the forearm by the wrist joint assembly; the wrist joint assembly is drively connected to the output end of the elbow joint assembly.

[0017] In one embodiment of this disclosure, the first motor and / or the second motor and / or the third motor are servo motors.

[0018] In one embodiment of this disclosure, two arm assemblies and two shoulder joint assemblies are provided, and the two arms and two shoulder joint assemblies are respectively mirror-symmetrically arranged on the left and right sides of the torso assembly.

[0019] One beneficial effect of this disclosure is that the arm assembly is connected to the torso assembly via a shoulder joint assembly arranged orthogonally along three axes. The first axis extends at an angle relative to the vertical direction of the torso assembly. By rationally optimizing the spatial arrangement of the first, second, and third axes, the first and third axes remain non-coaxial within a preset range of motion of the arm assembly relative to the torso assembly. This eliminates the singular configuration caused by the coaxiality of the head and tail rotation axes, effectively avoiding adverse phenomena such as instantaneous reduction of joint degrees of freedom, abrupt changes in end-effector motion, and large-angle instantaneous joint rotation. It improves the stability and motion response accuracy of the arm assembly's all-posture motion control, expands the reachable workspace of the upper limb movements, and optimizes the overall coordination of the humanoid robot's bionic motion.

[0020] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0022] Figure 1 This is a schematic diagram of a humanoid robot part structure provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the internal structure of a humanoid robot provided in one embodiment of the present disclosure; Figure 3 This is a partial internal structure diagram of a humanoid robot provided in one embodiment of the present disclosure from another angle; Figure 4 This is a schematic diagram of the structure at the assembly port of the torso component provided in an embodiment of this disclosure; Figure 5 This is a partial enlarged view of the shoulder position of a humanoid robot provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of a shoulder joint assembly, an elbow joint assembly, and a wrist joint assembly provided in an embodiment of this disclosure; Figure 7 This is a partial structural diagram of a humanoid robot in a dual-arm state according to an embodiment of this disclosure.

[0023] Figures 1 to 7 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows: 1. Torso assembly; 11. First housing; 111. Assembly port; 2. Arm assembly; 20. Second housing; 21. Upper arm; 22. Forearm; 24. Elbow joint assembly; 25. Wrist joint assembly; 3. Shoulder joint assembly; 31. First motor; 311. First output end; 32. Second motor; 322. Arc-shaped surface; 33. Third motor; 331. Third output end; 34. Connector. Detailed Implementation

[0024] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0026] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0029] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0030] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0031] This disclosure provides a humanoid robot, with reference to... Figure 1 and Figure 7The humanoid robot includes: a torso component 1, an arm component 2, and a shoulder joint component 3 located between the torso component 1 and the arm component 2. The arm component 2, as the core execution component for the upper limb movement of the humanoid robot, can achieve multi-directional and multi-degree-of-freedom movement relative to the torso component 1 under the drive of the shoulder joint component 3, thereby completing various limb movements such as lifting, swinging, and twisting.

[0032] It should be noted that, Figure 1 The image only shows a portion of the core structure of the humanoid robot, specifically including the torso assembly 1, a single-sided arm assembly 2, and a corresponding shoulder joint assembly 3. Except... Figure 1 In addition to the structures shown, such as Figure 7 As shown, the torso component 1 can also be equipped with the other arm component 2 and the shoulder joint component 3, which are symmetrical to the single-sided structure. In addition, according to the overall design requirements of the humanoid robot, other supporting structures such as the head, hip, and legs can be assembled to form a complete humanoid robot.

[0033] The humanoid robot is equipped with at least one arm component 2, which serves as the core module for achieving biomimetic limb movement. This arm component 2 is integrated and assembled into the corresponding connection point of the humanoid robot's torso component 1. The overall dimensions, installation interfaces, and connection methods of the arm component 2 strictly match the overall assembly specifications of the humanoid robot. Its shape is preferably designed using biomimetic techniques to make the humanoid robot's appearance more human-like. Simultaneously, the arm component 2 can establish a stable signal connection with the humanoid robot's control system, receiving motion commands from the control system in real time and accurately executing preset movements such as rotation, swinging, and flexion / extension. This enables the robot's upper limbs to complete various complex posture adjustments, fully meeting the humanoid robot's needs for daily activities, object grasping, and scene interaction, effectively ensuring the humanoid robot's movement flexibility and adaptability to complex scenarios.

[0034] To facilitate subsequent explanations and avoid ambiguity regarding orientation, the orientation of the humanoid robot needs to be clearly defined. In this embodiment, based on the humanoid robot being in a naturally upright standing position, the vertical direction of the torso component 1 is defined as the direction perpendicular to the horizontal ground it stands on, specifically as follows: Figure 2 As shown, the Z-axis of the torso component 1 extends along the vertical direction of the torso component 1. Furthermore, when the arm component 2 is in a horizontally raised posture, the length direction of the arm component 2 is basically perpendicular to the vertical direction (i.e., the Z-axis direction) of the torso component 1. At this time, the extension direction of the arm component 2 is parallel to the horizontal ground, forming a biomimetic posture of a human arm naturally raised horizontally.

[0035] It should be noted that the above orientation definitions are only for illustrating the technical solution of this embodiment and clarifying the relative positional relationships and motion logic of each component, and are not intended to limit the absolute orientation of the humanoid robot and its components. In practical applications, the humanoid robot's posture can change dynamically according to usage requirements, and the relative orientations of its components will also be adjusted accordingly.

[0036] In one specific embodiment of this disclosure, reference is made to Figure 7 There are two arm components 2 and two shoulder joint components 3, and the two arm components 2 and two shoulder joint components 3 are mirror-symmetrically arranged on the left and right sides of the torso component 1. See details. Figure 2 In the view direction, the two arm components 2 and the two shoulder joint components 3 are arranged mirror-symmetrically on the left and right sides of the Z-axis, with the midline of the torso component 1 as the center of symmetry. This enables the humanoid robot to have complete dual-arm coordinated movement capabilities, simulating the synchronous or independent movements of human arms. By setting the arm components 2 and shoulder joint components 3 symmetrically on the left and right sides, this disclosure can effectively maintain the overall center of gravity balance of the humanoid robot, avoiding problems such as body tilting and swaying caused by the shift of the center of gravity during unilateral movement, thus improving the overall motion stability. In addition, it can also enable the motion planning algorithm of the control system to achieve symmetrical reuse, eliminating the need to develop separate control algorithms for the left and right arms, thereby reducing the development difficulty and complexity of the control algorithm, while improving the coordination and synchronization accuracy of the dual-arm movements.

[0037] refer to Figure 2 and Figure 3 The shoulder joint assembly 3 includes a first motor 31, a second motor 32, and a third motor 33. The first motor 31 has a first output end 311 that rotates about a first axis A, which extends obliquely relative to the vertical direction (Z-axis direction) of the torso assembly 1. The second motor 32 is mounted on the first output end 311, forming a rigid linkage structure with it. The second motor 32 is driven by the first output end 311 to rotate about the first axis A. The second motor 32 also has a second output end (not shown) that rotates about a second axis B, which is perpendicular to the first axis A. The third motor 33 is mounted on the second output end and is driven by the second output end to rotate about the second axis B. The third motor 33 has a third output end 331 that rotates about a third axis C, which is perpendicular to the second axis B.

[0038] The aforementioned structure, with the three motors connected in series, forms a motion transmission chain from the torso assembly 1 to the arm assembly 2. Specifically, the first motor 31, as the upstream drive unit, provides the entire arm assembly 2 with overall rotational motion around the first axis A. After the first motor 31 starts, its first output end 311 drives the second motor 32 mounted on it to rotate synchronously around the first axis A. The second motor 32, as the second-stage drive unit, also has its own independent power output capability. Its second output end can rotate around the second axis B. Since the second axis B is perpendicular to the first axis A, the rotation of the second motor 32 around the second axis B will not couple with the overall rotational motion applied by the first motor 31. The two degrees of freedom of motion are spatially independent and do not interfere with each other. The third motor 33 is mounted on the second output end and rotates around the second axis B along with the second output end, thereby realizing the pitch and sway of the arm assembly 2. At the same time, the third motor 33 itself has a third output end 331 that rotates around the third axis C, which is perpendicular to the second axis B, providing the arm assembly 2 with a downstream rotational degree of freedom.

[0039] In one specific embodiment of this disclosure, reference is made to Figure 6 The second output end of the second motor 32 is connected to the third motor 33 via a connector 34. The connector 34 can be clamped on opposite sides along the second axis B of the second motor 32, forming a symmetrical and stable connection to ensure the stability of power transmission. The connection between the connector 34 and the second motor 32 can be in at least three ways: First, the second output end extends from one end of the second motor 32 and is directly fixedly connected to the corresponding side of the connector 34. The other side of the connector 34 is hinged to the end of the second motor 32 furthest from the second output end, thus achieving a single-sided drive and double-sided support transmission structure. Second, the second output end extends from both opposite ends of the second motor 32 and is fixedly connected to the corresponding sides of the connector 34, forming a double-sided drive transmission structure. Third, the second output end extends from one end of the second motor 32 and is fixedly connected to one side of the connector 34. The side of the connector 34 furthest from the second output end remains suspended without hinges or limiting assembly, achieving a single-sided drive and single-sided support structure, making the structure more streamlined. Regardless of which connection method is used, the connector 34 can rotate around the second axis B under the driving action of the second output end, thereby driving the third motor 33 to complete the attitude adjustment.

[0040] Within the preset range of motion of arm assembly 2 relative to torso assembly 1, the first axis A and the third axis C are not coaxial. It should be noted that the "preset range of motion" here refers to the range of motion of arm assembly 2 relative to torso assembly 1 that the humanoid robot's algorithm can control. This preset range of motion can be a reasonable interval preset based on the humanoid robot's daily work scenarios, action requirements, and motion control stability. This disclosure can use a control algorithm to maintain a sufficient angle between the first axis A and the third axis C, actively excluding near-coaxial postures from the humanoid robot's daily working range, ensuring that arm assembly 2 always remains within a posture range with good kinematic characteristics, simple control logic, and stable action response during actual use.

[0041] The arm assembly 2 is connected to the torso assembly 1 via a shoulder joint assembly 3 arranged orthogonally along three axes. The first axis A is extended at an angle relative to the vertical direction (Z-axis) of the torso assembly 1. By optimizing the spatial arrangement of the first axis A, the second axis B, and the third axis C, the first axis A and the third axis C remain non-coaxial throughout the movement of the arm assembly 2 within a preset range of motion. This eliminates the singular configuration caused by the coaxiality of the head and tail rotation axes, effectively avoiding adverse phenomena such as instantaneous reduction of joint degrees of freedom, abrupt changes in end effector motion, and instantaneous large-angle rotation of joints. It improves the stability and motion response accuracy of the arm assembly 2 in all postures, expands the reachable workspace of upper limb movement, and optimizes the overall coordination of the humanoid robot's bionic motion.

[0042] It is important to clarify that the "non-coaxial" mentioned above specifically refers to the situation where the first axis A and the third axis C are completely non-coincident and not collinear in three-dimensional space. This completely eliminates the kinematic singularity problem caused by the complete coincidence of the two rotation axes from the structural design source, avoiding core hidden dangers such as joint degree of freedom degradation and motion coupling interference. Based on this, combined with the orthogonal three-axis layout of the shoulder joint and the inclined arrangement of the first axis A, it can be noted that when the arm component 2 moves to a certain posture, the first axis A and the third axis C may be parallel in spatial direction. In this parallel posture, although the first axis A and the third axis C do not coincide, their spatial extension directions tend to be completely consistent. This will lead to multiple ambiguities in the inverse kinematic solution, which in turn will cause instantaneous large-scale adjustments in joint movement, affecting the stability and accuracy of motion control.

[0043] To address the aforementioned issues, in one embodiment of this disclosure, the first axis A and the third axis C are not parallel within a preset range of motion of the arm assembly 2 relative to the torso assembly 1. Specifically, this disclosure can actively exclude the posture of the arm assembly 2 when the first axis A and the third axis C are parallel from the daily working range of the humanoid robot through a control algorithm, ensuring that the arm assembly 2 always remains within a posture range with good kinematic characteristics, simple control logic, and stable motion response during actual use. The first axis A and the third axis C always maintain an optimal spatial relationship of neither being coaxial nor parallel within the preset range of motion, thereby avoiding the kinematic singularity problems caused by coaxial and parallel situations and improving the reliability, stability, and accuracy of the motion control of the arm assembly 2.

[0044] In one embodiment of this disclosure, such as Figure 2 As shown, when the arm assembly 2 moves to a horizontal position relative to the torso assembly 1, the third axis C is perpendicular to the vertical direction (Z-axis) of the torso assembly 1. In this embodiment, the third axis C is the extension direction of the arm assembly 2, thereby making the extension direction of the arm assembly 2 correspond to the rotation axis of the third motor 33, thus unifying the reference axis system of the arm assembly 2, making the torsional motion of the arm assembly 2 match its own length direction, and reducing the control complexity. When the arm assembly 2 is raised, its entire body is in a horizontally extended state. In this posture, the spatial coordinates of the arm assembly 2 establish a clear geometric correspondence with the horizontal working surface. During motion planning, the operation target position can be intuitively mapped to the joint space, the path planning logic is simpler, and the upper limb movement control is more concise and efficient.

[0045] In one embodiment of this disclosure, reference is made to Figure 2 The first axis A extends obliquely upward along the extension direction of the first output end 311, and the tilt angle α between the first axis A and the vertical direction (Z-axis) of the torso component 1 is an acute angle. Preferably, the tilt angle α is in the range of 75°-85°. This oblique arrangement makes the direction of the first axis A close to the natural tilt direction of the human clavicle and scapula, giving the shoulder joint component 3 a biomimetic bias characteristic, which not only improves the biomimetic appearance and motion fit of the humanoid robot, but also lays the foundation for avoiding kinematic anomalies from a geometric configuration perspective.

[0046] Specifically, considering practical application scenarios, in most of the actions performed by humanoid robots daily (such as walking, running, standing, picking up objects from a table, and daily interactions), the arm component 2 is usually in a normal posture with its arms hanging down or bent at the elbow. The humanoid robot only needs to perform large-scale arm-raising movements on rare occasions. In the normal posture, the overall extension direction of the arm component 2 (i.e., the extension direction of the third axis C) will naturally form an angle with the first axis A, which is inclined upwards, and there will be no coaxial or parallel situation. This ensures that the shoulder joint component 3 always maintains a non-singular state in the common working area, avoiding problems such as motion jamming, loss of degrees of freedom, and decreased control precision caused by kinematic singularities.

[0047] This disclosure enables the arm assembly 2 to move flexibly without kinematic singularities when performing most daily actions by setting the first axis A to extend upward at an angle. When the arm assembly 2 occasionally needs to perform large-amplitude arm-raising actions (such as waving, lifting objects, or extending upward), the shoulder joint assembly 3, with its tri-axis orthogonal layout, also allows the arm assembly 2 to be raised flexibly to meet various action requirements. At this time, a preset control algorithm can be used to actively exclude the posture where the first axis A is parallel to the third axis C from the preset range of motion. This ensures both the maximum range of motion of the arm assembly 2 and the safety and flexibility of movement within the overall workspace, without limiting the maximum range of motion of the arm assembly 2.

[0048] In one embodiment of this disclosure, reference is made to Figure 3 and Figure 4 The torso component 1 has a first housing 11, which serves as the external protection and structural framework for the torso component 1, providing dust and collision protection for the internal functional components. The first housing 11 has an assembly port 111, within which the first motor 31 is located, with its first output end 311 exposed through the assembly port 111 for transmission connection with the downstream second motor 32. In this embodiment, by placing the first motor 31 inside the torso component 1, the weight of the first motor 31 is concentrated on the torso component 1 rather than the shoulder or arm component 2, thereby reducing the inertial load on the arm component 2 and improving its dynamic response speed. Simultaneously, the drive source for the shoulder joint component 3 adopts a built-in, hidden design, simplifying the exposed shoulder structure of the humanoid robot and resulting in a smooth and compact shoulder shape, meeting the requirements of lightweight and humanoid appearance for humanoid robots.

[0049] Furthermore, the second motor 32 is mounted on the arm assembly 2. The second motor 32 has a mounting end exposed at the end of the arm assembly 2, through which the arm assembly 2 is fixedly connected to the first output end 311. Specifically, the mounting end can be a flange structure, a threaded interface, or other conventional mechanical connection structure disposed on the housing of the second motor 32. When the first motor 31 is working, the first output end 311 drives the second motor 32 to rotate around the first axis A through the mounting end, thereby driving the entire arm assembly 2 to complete the overall circumferential rotation adjustment and realize a large range of posture deflection movements of the upper limb.

[0050] In one embodiment of this disclosure, reference is made to Figure 3 The arm assembly 2 has a second housing 20, which covers the outer periphery of the arm assembly 2, serving a protective and shape-regulating function. The second output end of the second motor and the third motor 33 connected to it are located inside the second housing 20. This built-in layout protects the transmission components from external dust and impacts, ensuring the stability and durability of the joint transmission operation; on the other hand, it makes the outer surface of the arm assembly 2 smooth and flat with smooth lines, enhancing the biomimetic texture and overall anthropomorphic appearance of the arm assembly 2.

[0051] In one embodiment of this disclosure, reference is made to Figure 5 and Figure 7 The main body of the second motor 32 is cylindrical, with its outer curved surface 322 exposed to form the shoulder curvature of the humanoid robot. Specifically, the outer curved surface 322 of the second motor 32 can directly participate in the shaping as part of the shoulder appearance, eliminating the need for additional decorative shells. This simplifies the structure of the humanoid robot while making the shoulder contour naturally rounded, closely resembling the natural shape of a human shoulder. Furthermore, as... Figure 7 As shown, when the arm assembly 2 is in a natural hanging state, the outer peripheral arc surface 322 of the second motor 32 and the outer surface of the torso assembly 1 can form a gradually transitioning shoulder contour, thereby enhancing the visual biomimetic effect.

[0052] In one embodiment of this disclosure, reference is made to Figure 6The arm assembly 2 includes an upper arm 21, a forearm 22, and an elbow joint assembly 24 disposed between the upper arm 21 and the forearm 22. The forearm 22 is controlled by the elbow joint assembly 24 relative to the upper arm 21. A third motor 33 is located inside the upper arm 21, and the elbow joint assembly 24 is mounted on a third output end 331. Preferably, the two are rigidly connected, resulting in direct and efficient power transmission. Specifically, the elbow joint assembly 24, as a rotating structure connecting the upper and lower arm bodies, enables relative movement between the upper arm 21 and the forearm 22, allowing the forearm 22 to perform multiple posture adjustments such as bending, extension, and twisting under the drive of the elbow joint assembly 24. Preferably, the elbow joint assembly 24 can be configured with at least two drive motors with different output directions, and the output axes of the two drive motors are independent and do not interfere with each other. This allows the forearm 22 to have at least two independent rotational degrees of freedom in different directions relative to the upper arm 21, such as pitch and twist.

[0053] During actual movement, the multi-joint drive structure can operate in concert. The arm assembly 2 is controlled by the first motor 31 to rotate around the first axis A, and by the second motor 32 to rotate around the second axis B. The elbow joint assembly 24 is controlled by the third motor 33 to drive the forearm 22 to rotate synchronously around the third axis C. The first motor 31, the second motor 32, and the third motor 33 together constitute the three degrees of freedom of the shoulder joint assembly 3. The first motor 31 and the second motor 32 are responsible for the overall twisting and pitching of the arm assembly 2, respectively. The third motor 33 is located inside the upper arm 21 and is responsible for driving its downstream components to twist around the third axis C. This coordinated movement enriches the motion freedom of the humanoid robot's upper limbs, enabling the arm assembly 2 to perform compound movements such as flexion, extension, twisting, and lifting, thus improving the flexibility of limb operations.

[0054] Furthermore, the arm assembly 2 also includes a hand and a wrist joint assembly 25 disposed between the forearm 22 and the hand. The hand is controlled by the wrist joint assembly 25 to rotate relative to the forearm 22, and the wrist joint assembly 25 is drive-connected to the output end of the elbow joint assembly 24. Preferably, the wrist joint assembly 25 can be configured with at least two drive motors with different output directions, and the output axes of the two drive motors are independent and do not interfere with each other, thereby enabling the hand to have at least two independent degrees of freedom of rotation in different directions relative to the forearm 22, such as pitch and twist. The arm assembly 2 forms a complete kinematic chain from the shoulder, elbow to wrist, and the joints work together to achieve complex multi-degree-of-freedom movements, meeting the flexible operation requirements of humanoid robots in various work scenarios.

[0055] In one embodiment of this disclosure, the first motor 31 and / or the second motor 32 and / or the third motor 33 are servo motors. These servo motors have built-in high-precision encoders and closed-loop control modules, providing reliable closed-loop control functionality. They can receive command signals from the control system in real time and dynamically adjust based on position and speed information fed back from the encoder, precisely controlling the motor's speed, output torque, and operating position. Servo motors offer advantages such as high positioning accuracy, fast dynamic response, smooth operation, stable torque output, and strong controllability. They can be adapted to the shoulder joint assembly 3 as the core drive component of the upper limb, meeting the stringent requirements for motion accuracy, response speed, and smoothness, providing reliable power support for the arm assembly 2 to perform various fine movements.

[0056] Preferably, when two or all three of the first motor 31, second motor 32, and third motor 33 are servo motors, each servo motor can achieve precise coordinated operation under the unified scheduling of the control system. Relying on their respective closed-loop control advantages, they can provide real-time feedback on their own operating status and dynamically adjust output parameters to ensure the synchronization and coordination of actions when multiple motors are linked. The multi-servo motor coordinated drive method optimizes the driving performance of the shoulder joint component 3 and enriches the motion control modes of the shoulder joint component 3, enabling the arm component 2 to achieve more complex and precise multi-dimensional motion control, improving the motion flexibility and bionicity of the humanoid robot's upper limbs, and meeting the needs of fine operation and interaction in various complex scenarios.

[0057] Furthermore, to achieve coordinated and precise control of the entire joint movement of arm component 2, the multiple drive motors corresponding to elbow joint component 24 and wrist joint component 25 can also be servo motors. Elbow joint component 24 and wrist joint component 25 can form a unified drive control system with shoulder joint component 3. Under the centralized scheduling of the control system, the three can achieve coordinated linkage of each joint, provide real-time feedback on the running posture, speed and torque information of each joint, and dynamically adjust the output parameters of each motor according to the movement requirements. This ensures that the degrees of freedom of each joint of arm component 2 are coordinated, controllable and precisely linked, enabling arm component 2 to complete more complex compound movements.

[0058] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A humanoid robot, characterized by, include: A torso assembly, an arm assembly, and a shoulder joint assembly disposed between the torso assembly and the arm assembly; The shoulder joint assembly includes: A first motor has a first output end that rotates about a first axis, the first axis extending obliquely relative to the vertical direction of the torso assembly; The second motor is installed at the first output end and is driven by the first output end to rotate around the first axis. The second motor has a second output end that rotates around a second axis, and the second axis is perpendicular to the first axis. A third motor is installed at the second output end and is driven by the second output end to rotate the whole around the second axis. The third motor has a third output end that rotates around a third axis, and the third axis is perpendicular to the second axis. Within a predetermined range of motion of the arm assembly relative to the torso assembly, the first axis and the third axis are not coaxial.

2. The humanoid robot according to claim 1, characterized by, The first axis extends obliquely upward along the extension direction of the first output end, and the angle α between the first axis and the vertical direction of the torso assembly is an acute angle.

3. The humanoid robot according to claim 2, characterized in that, The tilt angle α is in the range of 75°-85°.

4. The humanoid robot according to claim 1, characterized by, When the arm assembly moves to a horizontal position relative to the torso assembly, the third axis is perpendicular to the vertical direction of the torso assembly.

5. The humanoid robot according to claim 1, characterized by, Within a predetermined range of motion of the arm assembly relative to the torso assembly, the first axis is not parallel to the third axis.

6. The humanoid robot according to claim 1, characterized in that, The torso assembly has a first housing with an assembly port; the first motor is located inside the first housing, and the first output terminal is exposed through the assembly port.

7. The humanoid robot according to claim 6, characterized in that, The second motor is mounted on the arm assembly, and the second motor has a mounting end exposed at the end of the arm assembly, through which the arm assembly is fixedly connected to the first output end.

8. The humanoid robot according to claim 7, characterized in that, The arm assembly has a second housing, and the second output terminal and the third motor connected thereto are located inside the second housing.

9. The humanoid robot according to claim 7, characterized in that, The main body of the second motor is cylindrical, with its outer arc-shaped surface exposed to form the shoulder arc of the humanoid robot.

10. The humanoid robot according to claim 1, characterized in that, The arm assembly includes an upper arm, a forearm, and an elbow joint assembly disposed between the upper arm and the forearm. The forearm is controlled to move relative to the upper arm by the elbow joint assembly. The third motor is located inside the upper arm, and the elbow joint assembly is mounted on the third output end.

11. The humanoid robot according to claim 10, characterized in that, The arm assembly is controlled by the first motor to rotate around the first axis and by the second motor to rotate around the second axis; the elbow joint assembly is controlled by the third motor to drive the forearm to rotate synchronously around the third axis.

12. The humanoid robot according to claim 10, characterized in that, The arm assembly also includes a hand and a wrist joint assembly disposed between the forearm and the hand, the hand being controlled to rotate relative to the forearm by the wrist joint assembly; the wrist joint assembly is drive-connected to the output end of the elbow joint assembly.

13. The humanoid robot according to claim 1, characterized in that, The first motor and / or the second motor and / or the third motor are servo motors.

14. The humanoid robot according to any one of claims 1-13, characterized in that, Two arm assemblies and two shoulder joint assemblies are provided, and the two arms and two shoulder joint assemblies are respectively mirror-symmetrically arranged on the left and right sides of the torso assembly.

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