Humanoid robot

Abstract

The utility model discloses a humanoid robot, and relates to the field of robots. The humanoid robot comprises a crotch supporting piece, a waist supporting piece, a fixing piece, a rotary driving piece and a linear driving piece. A limiting hole is formed in the waist supporting piece; the limiting part of the fixing piece penetrates through the limiting hole and can move along the limiting hole, the rotary driving piece is arranged on the fixing piece, the output end of the rotary driving piece is connected with the waist supporting piece, and the rotary driving piece is used for driving the waist supporting piece to rotate; at least two linear driving pieces are arranged, one end of each linear driving piece is connected with the fixing piece through a centripetal spherical plain bearing, and the other end of each linear driving piece is connected with the crotch supporting piece through another centripetal spherical plain bearing; the first side and the second side of the fixing piece are each provided with at least one linear driving piece. According to the humanoid robot provided by the invention, various actions of the waist, such as waist rotation, forward leaning, backward leaning, left leaning, right leaning, left-side forward leaning and right-side forward leaning, can be realized, and the expected effect of bionic actions of the humanoid robot is met.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a humanoid robot. Background Art

[0002] With the development of science and technology, humanoid robots are being used more and more widely, bringing great convenience to people's lives and production.

[0003] At present, humanoid robots can imitate some simple human movements, such as bending forward, leaning backward, etc. However, the bending achieved is often relatively simple and cannot achieve the expected effect. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and provide a humanoid robot.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] The present application provides a humanoid robot, the humanoid robot comprising:

[0007] Crotch support;

[0008] The lumbar support member is provided with a limited hole;

[0009] A fixing member, wherein a limiting portion is arranged on the fixing member, the limiting portion is arranged through the limiting hole and can move along the limiting hole, and the fixing member includes a first side and a second side arranged opposite to each other;

[0010] A rotary driving member, disposed on the fixing member, wherein an output end of the rotary driving member is connected to the waist supporting member, and the rotary driving member is used to drive the waist supporting member to rotate;

[0011] At least two linear drive members are provided, one end of each of which is connected to the fixing member via a radial spherical bearing, and the other end of each of which is connected to the hip support member via another radial spherical bearing; wherein at least one linear drive member is provided on each of the first side and the second side.

[0012] In the humanoid robot provided by the present application, a rotating driving member drives the waist support member to rotate, and at the same time, under the action of the limiting portion of the fixing member and the limiting hole of the waist support member, the rotation range of the waist is limited. Since at least one linear driving member is arranged on the first side and the second side of the fixing member, when the linear driving members located on both sides of the fixing member telescope at the same time, the limiting portion interferes with the hole wall of the limiting hole, so that the waist support member can tilt forward or backward, thereby realizing the tilting forward or backward movement of the waist; when the linear driving members located on both sides of the fixing member telescope separately, the fixing member drives the waist support member to move, and under the action of the radial joint bearing, the fixing member can drive the waist support member to move toward the left and right directions, and at the same time can realize the movements of tilting forward to the left, tilting forward to the right, leaning backward to the left and leaning backward to the right, thereby realizing the multi-directional bionic movement of the human body and meeting the expected effect of the bionic movement of the humanoid robot.

[0013] In addition, the humanoid robot according to the present application may also have the following additional technical features:

[0014] In one embodiment, the humanoid robot further comprises a connecting rod mechanism, one end of the connecting rod mechanism is hinged to the fixing member, and the other end of the connecting rod mechanism is hinged to the hip supporting member.

[0015] In one embodiment, the connecting rod mechanism includes a first rod and a second rod, the first rod is hinged to the second rod, and one end of the first rod away from the second rod is fixedly connected to the crotch support member;

[0016] One end of the second rod away from the first rod is hinged to the fixing member.

[0017] In one embodiment, the linkage mechanism further includes a third rod, one end of the third rod is hinged to the fixing member, and the other end of the third rod is hinged to an end of the first rod away from the crotch support member.

[0018] In one of the embodiments, a connecting portion is provided on the fixing member;

[0019] The humanoid robot further comprises an articulated support, the articulated support comprising a support body and a U-shaped lifting lug, the support body being rotatably connected to the connecting portion, hinge shafts being respectively arranged on opposite sides of the support body, and the U-shaped lifting lug being articulated to the third rod via a rotating shaft;

[0020] Two second rods are provided, and each of the second rods is hinged to one of the hinge shafts.

[0021] In one embodiment, a U-shaped opening is provided at one end of the first rod away from the crotch support member, and one end of the third rod away from the fixing member is located in the U-shaped opening and is hinged to the first rod via a pin.

[0022] At least one connecting hole is provided on opposite sides of the first rod, and a pin is passed through the connecting hole so that each of the second rods is hinged to the first rod.

[0023] In one of the embodiments, a through hole is formed on the support body, and a fixing column is provided on the connecting portion. The fixing column passes through the through hole so that the connecting portion is rotatably connected to the support body.

[0024] In one embodiment, the axis of the fixing column is perpendicular to the axis of the hinge shaft.

[0025] In one of the embodiments, a first bearing is sleeved on the fixing column, and an outer ring of the first bearing is interference fit with the hole wall of the through hole.

[0026] In one of the embodiments, a second bearing is provided at any hinge of the connecting rod mechanism.

[0027] Furthermore, the first bearing and the second bearing are both full-fill needle roller bearings.

[0028] In one embodiment, there are three linear driving members, which are arranged in parallel, and one linear driving member is provided on each of the first side and the second side. The other linear driving member is located between the two linear driving members and is respectively connected to the fixing member and the hip support member through radial joint bearings.

[0029] In one embodiment, the limiting hole is an arc-shaped hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A partial one-view stereoscopic structural diagram of a humanoid robot provided by some embodiments of the present application is shown;

[0032] Figure 2 A schematic diagram of a partial three-dimensional structure of a humanoid robot from another perspective provided by some embodiments of the present application is shown;

[0033] Figure 3 A schematic diagram of a partial one-view structure of a humanoid robot in some embodiments of the present application is shown;

[0034] Figure 4 A schematic diagram of a partial exploded structure of a humanoid robot in some embodiments of the present application is shown;

[0035] Figure 5 A schematic diagram of the assembly structure of the connecting rod mechanism and the crotch support member in some embodiments of the present application is shown;

[0036] Figure 6 A schematic diagram of the exploded structure of the connecting rod mechanism in some embodiments of the present application is shown;

[0037] Figure 7 A schematic diagram of a three-dimensional structure of a first rod member from one perspective in some embodiments of the present application is shown;

[0038] Figure 8 A schematic diagram of the three-dimensional structure of a fixing member in some embodiments of the present application is shown;

[0039] Fig. 9 A schematic diagram of the three-dimensional structure of an articulated support in some embodiments of the present application is shown;

[0040] Fig.10 A schematic structural diagram of a lumbar support component in some embodiments of the present application is shown from one perspective.

[0041] Description of main component symbols:

[0042] 100-hip support member; 200-lumbar support member; 210-limiting hole; 300-rotating drive member; 400-fixing member; 401-first side; 402-second side; 403-through hole; 410-limiting part; 420-connecting part; 430-hinge support; 431-support body; 4311-through hole; 4312-hinge shaft; 432-U-shaped ear; 433-rotating shaft; 440-fixing column; 450-first bearing; 500-linear drive member; 600-radial spherical bearing; 700-connecting rod mechanism; 710-first rod member; 711-connecting hole; 712-U-shaped mouth; 720-second rod member; 721-bend hook portion; 722-pin hole; 730-third rod member; 740-pin shaft; 750-second bearing. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] In the related art, humanoid robots can imitate some simple human movements, such as bending forward, leaning backward, etc. However, the bending achieved is often relatively simple and fails to achieve the expected effect.

[0049] like Figures 1 to 3As shown, in order to solve the above-mentioned technical problems, an embodiment of the present application provides a humanoid robot that can realize various waist movements of the humanoid robot, such as waist rotation, leaning forward, leaning backward, leaning left, leaning right, leaning forward on the left side, leaning forward on the right side, etc.

[0050] The humanoid robot comprises: a hip support member 100 , a waist support member 200 , a fixing member 400 , a rotary driving member 300 , and a linear driving member 500 .

[0051] The crotch support member 100 is used to install the crotch of the humanoid robot and can be connected to the legs of the humanoid robot. The waist support member 200 is connected to the waist of the humanoid robot.

[0052] The lumbar support component 200 is provided with a limiting hole 210, and the fixing component 400 is provided with a limiting portion 410, the limiting portion 410 is passed through the limiting hole 210 and can move along the limiting hole 210, and the fixing component 400 includes a first side 401 and a second side 402 that are arranged opposite to each other, for example, the first side 401 is the left side of the humanoid robot, and the second side 402 is the right side of the humanoid robot.

[0053] The rotary driving member 300 is disposed on the fixing member 400 , and a through hole 403 is formed on the fixing member 400 . The output end of the rotary driving member 300 is penetrated through the through hole 403 and connected to the lumbar support member 200 . The rotary driving member 300 is used to drive the lumbar support member 200 to rotate.

[0054] Combination Figure 4 As shown, at least two linear drive members 500 are provided, one end of the linear drive member 500 is connected to the fixing member 400 through a radial spherical bearing 600, and the other end of the linear drive member 500 is connected to the hip support member 100 through another radial spherical bearing 600; wherein, at least one linear drive member 500 is provided on each of the first side 401 and the second side 402.

[0055] In this embodiment, the lumbar support member 200 is driven to rotate by the rotary driving member 300 , and at the same time, the rotation range of the waist is limited under the action of the limiting portion 410 of the fixing member 400 and the limiting hole 210 of the lumbar support member 200 . Since at least one linear driving member 500 is disposed on the first side 401 and the second side 402 of the fixing member 400, when the linear driving members 500 on both sides of the fixing member 400 simultaneously extend and retract, the limiting portion 410 interferes with the hole wall of the limiting hole 210, so that the lumbar support member 200 can be tilted forward or backward, thereby realizing the forward or backward tilting movement of the waist; when the linear driving members 500 on both sides of the fixing member 400 respectively extend and retract, the fixing member 400 drives the lumbar support member 200 to move, and under the action of the radial spherical bearing 600, the fixing member 400 can drive the lumbar support member 200 to move toward the left and right directions, that is, it can realize the left and right swinging of the waist, and at the same time, it can also realize the left-side forward tilt, right-side forward tilt, left-side backward tilt and right-side backward tilt toward the left and right directions, thereby realizing the multi-directional bionic movement of the human body and meeting the expected bionic movement effect of the humanoid robot.

[0056] For example, when the linear drive member 500 on the first side 401 extends and the linear drive member 500 on the second side 402 retracts, the fixing member 400 moves toward the second side 402, i.e., the right side, and the waist support member 200 also moves toward the right side, thereby realizing the right-side movement of the waist. The rotation drive member 300 drives the waist support member 200 to rotate, thereby realizing the right-side twisting of the waist, which has the waist movement of the bionic human body. Similarly, when the waist needs to move to the left side, the linear drive member 500 on the first side 401 retracts and the linear drive member 500 on the second side 402 extends.

[0057] It should be noted that the rotary driving component 300 may be a rotary steering gear, and the linear driving component 500 may be a linear actuator or a cylinder or other driver for linear driving.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the humanoid robot further includes a connecting rod mechanism 700 , one end of the connecting rod mechanism 700 is hinged to the fixing member 400 , and the other end of the connecting rod mechanism 700 is hinged to the hip support member 100 .

[0059] In this embodiment, a connecting rod mechanism 700 is provided to be connected to the fixing member 400 and the hip support member 100 respectively. Thus, when the linear drive member 500 is working, the connecting mechanism can limit and support the movement of the fixing member 400 relative to the hip support member 100, thereby making the waist movement more stable and achieving the stability of the overall structure.

[0060] Combination Figure 3 As shown, in the embodiment of the above-mentioned connecting rod mechanism 700, exemplarily, the connecting rod mechanism 700 includes a first rod 710 and a second rod 720, the first rod 710 is hinged to the second rod 720, and one end of the first rod 710 away from the second rod 720 is fixedly connected to the hip support member 100; and one end of the second rod 720 away from the first rod 710 is hinged to the fixing member 400.

[0061] In this embodiment, the function of the connecting rod mechanism 700 is realized by the first rod 710 and the second rod 720. Through the functions of the first rod 710 and the second rod 720 and the hip support member 100, when the fixing member 400 moves relative to the hip support member 100, it can only rotate along the fixed axis formed by the connecting rod mechanism 700, thereby realizing its forward and backward tilting movements, thereby limiting the angle range of the waist forward tilting and waist backward tilting, preventing the waist from tilting forward and backward at too large an angle.

[0062] like Figure 3 and Figure 5 As shown, in the above embodiment, further, the connecting rod mechanism 700 also includes a third rod 730, one end of the third rod 730 is hinged to the fixing member 400, and the other end of the third rod 730 is hinged to an end of the first rod 710 away from the hip support member 100.

[0063] In this embodiment, the first rod 710, the second rod 720 and the third rod 730 are provided to form a connecting rod mechanism 700. Under the hinged action of the third rod 730 and the first rod 710 and the fixing member 400 respectively, the fixing member 400 is more stable when in motion.

[0064] like Figure 8 As shown, in one embodiment, a connecting portion 420 is disposed on the fixing member 400 , and the connecting portion 420 is extended along the edge of the fixing member 400 in a direction away from the edge.

[0065] Combination Figure 4 , Figure 6 As shown, the humanoid robot further includes an articulated support 430, the articulated support 430 includes a support body 431 and a U-shaped ear 432, the support body 431 is rotatably connected to the connecting portion 420, and hinge shafts 4312 are respectively provided on opposite sides of the support body 431, and the U-shaped ear 432 is hinged to the third rod 730 through a rotating shaft 433;

[0066] Combination Figure 3 As shown, two second rods 720 are provided, and each second rod 720 is hinged to one hinge shaft 4312 accordingly.

[0067] In this embodiment, a hinge support is provided, and a connecting portion 420 connected to the hinge support 430 is provided on the fixing member 400. Specifically, the support body 431 is rotatably connected to the connecting portion 420, the U-shaped ear 432 is fixedly connected to the support body 431, the third rod 730 is hinged to the U-shaped ear 432 through the rotating shaft 433, one second rod 720 is hinged to one hinge shaft 4312, and another second rod 720 is hinged to another hinge shaft 4312, wherein the third rod 730 is located between the two second rods 720. Such a structural setting makes the connection mechanism more stable when in action.

[0068] Exemplarily, the rotating shaft 433 and the hinge shaft 4312 are both provided with full needle roller bearings to reduce friction at the rotating parts and make the rotation of each position smoother.

[0069] like Figure 6 and Figure 7 As shown, in one embodiment of the above-mentioned connecting rod mechanism 700, illustratively, the end of the first rod 710 away from the crotch support member 100 is provided with a U-shaped opening 712, and the end of the third rod 730 away from the fixing member 400 is located in the U-shaped opening 712 and is hinged to the first rod 710 through a pin 740. At least one connecting hole 711 is provided on opposite sides of the first rod 710, and the pin 740 is passed through the connecting hole 711, so that each of the second rods 720 is hinged to the first rod 710.

[0070] Specifically, a pin hole 722 is provided on the second rod 720 , and the pin shaft 740 is passed through the connecting hole 711 and the pin hole 722 to realize the hinge connection between the second rod 720 and the first rod 710 .

[0071] like Figure 7 As shown, exemplarily, two connection holes 711 are provided, a pin hole 722 is provided on the second rod 720, and a hook portion 721 is provided on the second rod 720, and two pin shafts 740 are provided. One pin shaft 740 is respectively inserted into the pin hole 722 and the connection hole 711, and the other pin shaft 740 is inserted into the connection hole 711, and the hook portion 721 partially wraps around the portion of the pin shaft 740 located outside the connection hole 711, so that the first rod 710 and the second rod 720 are hinged.

[0072] Of course, in other embodiments, the hinge structure of the first rod 710 and the second rod 720 may also be composed of other hinge structures, and is not limited to the above structure.

[0073] For example, a full needle roller bearing is sleeved on the pin shaft 740 respectively inserted into the connection hole 711 and the pin hole 722 for easy rotation. At the same time, under the same inner diameter condition, the full needle roller bearing has a smaller outer diameter, occupies a small volume, and has a larger load and rigidity. In this way, the space occupied by the connecting rod mechanism 700 is reduced, which facilitates the internal space layout of the humanoid robot.

[0074] like Figure 3 and Fig. 9 As shown, in the embodiment of the hinged support 430, illustratively, a through hole 4311 is provided on the support body 431, and a fixing column 440 is provided on the connecting portion 420, and the fixing column 440 is passed through the through hole 4311 to rotatably connect the connecting portion 420 with the support body 431. Such a configuration makes the relative rotation structure of the connecting portion 420 and the support body 431 simpler and easier to assemble.

[0075] In the above embodiment, illustratively, the axis of the fixing column 440 is perpendicular to the axis of the hinge shaft 4312 .

[0076] like Figure 6 As shown, in the above embodiment with the fixing column 440, the fixing column 440 is sleeved with a first bearing 450, and the outer ring of the first bearing 450 is interference fit with the hole wall of the through hole 4311. In this embodiment, by sleeved with the first bearing 450 on the fixing column 440, the fixing column 440 and the support body 431 are facilitated to rotate relative to each other.

[0077] Continue reading Figure 6 As shown, in any of the above embodiments with the connecting rod mechanism 700, any hinge of the connecting rod mechanism 700 is provided with a second bearing 750. The provision of the second bearing 750 facilitates the rotation of each hinge.

[0078] Exemplarily, the first bearing 450 and the second bearing 750 are both full needle roller bearings. Since full needle roller bearings have a smaller outer diameter under the same inner diameter condition, they occupy a smaller volume, and full needle roller bearings have a larger load and rigidity. In this way, the space occupied by the connecting rod mechanism 700 is reduced, which facilitates the internal space layout of the humanoid robot.

[0079] In some embodiments, the humanoid robot may not be provided with the connecting rod mechanism 700, and three linear driving members 500 are provided, and the three linear driving members 500 are arranged in parallel, and one linear driving member 500 is provided on each of the first side 401 and the second side 402, and the other linear driving member 500 is located between the two linear driving members 500, and is respectively connected to the fixing member 400 and the hip support member 100 through the radial spherical bearing 600. In this way, the linear driving member 500 located in the middle can also limit the rotation of the fixing member 400.

[0080] Of course, in other embodiments, four, five, six, etc. linear drive members 500 may be provided, such as two linear drive members 500 are provided on both the first side 401 and the second side 402 of the fixing member 400, or two linear drive members are provided on both the first side 401 and the second side 402 of the fixing member 400, and one linear drive member 500 or two linear drive members are provided between the fixing member 400 and the crotch support member 100. Therefore, the number of linear drive members 500 is not limited to the above-mentioned example number, and can be adjusted according to the actual needs of the product.

[0081] like Fig.10 As shown, in any of the above embodiments, the limiting hole 210 is an arc-shaped hole. The limiting portion 410 cooperates with the arc-shaped hole, so that when the rotary driving member 300 drives the lumbar support member 200 to rotate, the limiting portion 410 of the fixing member 400 moves along the arc-shaped hole, which is more conducive to the movement of the limiting portion 410.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0083] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A humanoid robot, characterized in that: include: Crotch support; The lumbar support member is provided with a limited hole; A fixing member, wherein a limiting portion is arranged on the fixing member, the limiting portion is arranged through the limiting hole and can move along the limiting hole, and the fixing member includes a first side and a second side arranged opposite to each other; A rotary driving member, disposed on the fixing member, wherein an output end of the rotary driving member is connected to the waist supporting member, and the rotary driving member is used to drive the waist supporting member to rotate; At least two linear drive members are provided, one end of each of which is connected to the fixing member via a radial spherical bearing, and the other end of each of which is connected to the hip support member via another radial spherical bearing; wherein at least one linear drive member is provided on each of the first side and the second side.

2. The humanoid robot according to claim 1, characterized in that: It also includes a connecting rod mechanism, one end of which is hinged to the fixing member, and the other end of which is hinged to the crotch supporting member.

3. The humanoid robot according to claim 2, characterized in that: The connecting rod mechanism comprises a first rod and a second rod, the first rod is hinged to the second rod, and one end of the first rod away from the second rod is fixedly connected to the crotch support member; One end of the second rod away from the first rod is hinged to the fixing member.

4. The humanoid robot according to claim 3, characterized in that: The connecting rod mechanism further comprises a third rod, one end of which is hinged to the fixing member, and the other end of which is hinged to an end of the first rod away from the crotch supporting member.

5. The humanoid robot according to claim 4, characterized in that: The fixing member is provided with a connecting portion; The humanoid robot further comprises an articulated support, the articulated support comprising a support body and a U-shaped lifting lug, the support body being rotatably connected to the connecting portion, hinge shafts being respectively arranged on opposite sides of the support body, and the U-shaped lifting lug being articulated to the third rod via a rotating shaft; Two second rods are provided, and each second rod is hinged to one hinge shaft accordingly.

6. The humanoid robot according to claim 5, characterized in that: A U-shaped opening is provided at one end of the first rod away from the crotch support member, and one end of the third rod away from the fixing member is located in the U-shaped opening and is hinged to the first rod via a pin shaft; At least one connecting hole is provided on opposite sides of the first rod, and a pin is passed through the connecting hole so that each of the second rods is hinged to the first rod.

7. The humanoid robot according to claim 5, characterized in that: A through hole is provided on the support body, and a fixing column is provided on the connecting portion. The fixing column passes through the through hole so that the connecting portion is rotatably connected to the support body.

8. The humanoid robot according to claim 7, characterized in that: The fixing column is sleeved with a first bearing, and the outer ring of the first bearing is interference fit with the hole wall of the through hole.

9. The humanoid robot according to any one of claims 2 to 6, characterized in that: Any hinge of the connecting rod mechanism is provided with a second bearing.

10. The humanoid robot according to claim 1, characterized in that: There are three linear drive members, which are arranged in parallel, and one linear drive member is arranged on each of the first side and the second side. Another linear drive member is located between the two linear drive members and is respectively connected to the fixing member and the hip support member through radial spherical bearings.

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