Three-degree-of-freedom waist system and humanoid robot

Abstract

The utility model discloses a three-degree-of-freedom waist system and a humanoid robot, and belongs to the technical field of robots, the three-degree-of-freedom waist system comprises a waist support frame, a waist support rod, a support plate, a thoracic cavity bracket, a rotary driving unit and more than two linear driving units, the waist support frame comprises a mounting plate and two leg connecting frames which are integrally formed; the two leg connecting frames are located on the two sides of the mounting plate. The mounting plate is connected with the supporting plate through the waist supporting rod and more than two linear driving units; the linear driving unit is used for realizing pitching and side-sway of the thoracic cavity bracket relative to the leg connecting frame; the thoracic cavity support is installed on the supporting plate through the rotary driving unit. The rotation driving unit is used for achieving rotation of the chest support relative to the leg connecting frame. Rotation, pitching and side-sway between the upper limb unit and the lower limb unit of the robot can be achieved, the working range of the robot is widened, meanwhile, the load capacity of a waist system is guaranteed, and then the universality of the humanoid robot is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a three-degree-of-freedom waist system and a humanoid robot. Background Art

[0002] As an important carrier of emerging technologies and a key piece of equipment in modern industries, intelligent robots are a strategic direction for leading the digital and intelligent development of industries, continuously giving birth to new industries, new models, and new business forms. They are an important tool and means for reshaping the competitive advantages of China's manufacturing industry and a practical choice for accelerating the transformation and upgrading of China's industry. Humanoid robots are an important embodiment and key equipment of artificial intelligence in the physical space and a typical representative of entity general artificial intelligence systems.

[0003] In the existing waist systems of humanoid robots, one is to use more than two rotary drive units connected in series to achieve multi-degree-of-freedom movement of the waist. For example, in patent CN217801734U, three rotary drive units are connected in series to achieve rotation, pitch, and yaw of the waist. Although the movement range of the waist system is large, the torque density of the rotary drive unit is far less than that of the linear drive unit, resulting in the waist system being unable to bear large loads. Another is to use more than two linear drive units connected in parallel to achieve multi-degree-of-freedom movement of the waist. For example, in patent CN219819774U, six linear drive units are connected in parallel to achieve rotation, pitch, and yaw of the waist. Although the load-bearing capacity of the waist system is strong, the movement range in three directions in this solution is small, affecting the working range of the humanoid robot. Since the waist system of the humanoid robot cannot simultaneously meet the requirements of bearing large loads and different movement ranges, the applicable scenarios of the humanoid robot are limited and lack universality. Summary of the Utility Model

[0004] In view of this, the utility model provides a three-degree-of-freedom waist system and a humanoid robot, which can achieve rotation, pitch, and yaw between the upper limb unit and the lower limb unit of the robot, improve the working range of the robot while ensuring the load-bearing capacity of the waist system, and thus improve the universality of the humanoid robot.

[0005] The utility model is realized by the following technical solutions:

[0006] A three-degree-of-freedom waist system includes: a waist support frame, a waist support rod, a support plate, a chest support frame, a rotary drive unit, and more than two linear drive units;

[0007] The waist support frame includes: a mounting plate and two leg connection frames integrally formed; the two leg connection frames are located on both sides of the mounting plate; the leg connection frames are used to connect with the lower limb unit;

[0008] The mounting plate is connected to the lower surface of the support plate through a waist support rod and more than two linear drive units; the thoracic cavity support is mounted on the upper surface of the support plate through a rotary drive unit; the thoracic cavity support is used to connect with the upper limb unit;

[0009] Among them, the waist support rod is located on one side of the leg connecting frame, and both ends of the waist support rod are hinged to the support plate and the mounting plate respectively;

[0010] More than two linear drive units are arranged in parallel and are located on the other side of the leg connecting frame; both ends of each linear drive unit are hinged to the support plate and the mounting plate respectively, and the length of each linear drive unit is variable; when all the linear drive units extend or shorten synchronously, the pitching of the thoracic cavity support relative to the leg connecting frame is realized, and when the lengths of all the linear drive units change unsynchronously, the side swing of the thoracic cavity support relative to the leg connecting frame is realized;

[0011] The rotary drive unit is used to drive the relative rotation of the thoracic cavity support and the support plate, so as to realize the rotation of the thoracic cavity support relative to the leg connecting frame.

[0012] Furthermore, each of the linear drive units includes: a telescopic rod and a fixed rod; one end of the telescopic rod is hinged to the support plate; one end of the fixed rod is hinged to the mounting plate; the other end of the telescopic rod is installed inside the other end of the fixed rod, and the length direction of the telescopic rod is the same as that of the fixed rod; the telescopic rod can perform telescopic movement relative to the fixed rod, so that the length of the linear drive unit is variable.

[0013] Furthermore, the three-degree-of-freedom waist system further includes: two spherical hinge heads and two spherical hinge seats;

[0014] The two spherical hinge seats are respectively installed on the support plate and the mounting plate of the waist support frame;

[0015] The two spherical hinge heads are respectively installed at the two ends of the waist support rod, and the waist support rod realizes the hinged connection with the support plate and the waist support frame through the cooperation of the spherical hinge heads at both ends and the corresponding spherical hinge seats.

[0016] Furthermore, the mounting plate of the waist support frame is horizontally arranged, and more than two cylindrical mounting bosses a are installed on the mounting plate; the more than two mounting bosses a are horizontally arranged and are in a symmetrical structure; the axes of the more than two mounting bosses a are parallel to each other;

[0017] More than two cylindrical mounting bosses b are installed on the support plate; the more than two mounting bosses b are horizontally arranged, and the axes of the more than two mounting bosses b are parallel to each other; the positions of the more than two mounting bosses b correspond to the positions of the more than two mounting bosses a one by one;

[0018] The waist system further includes: four spherical plain bearings;

[0019] Each end of each linear drive unit is respectively mounted on a set of opposite mounting bosses a and mounting bosses b through a spherical plain bearing in one-to-one correspondence.

[0020] Furthermore, an installation ring is machined at each end of each linear drive unit; let the two installation rings be installation ring a and installation ring b respectively; the axes of installation ring a and installation ring b are parallel to each other;

[0021] Let the spherical plain bearings at both ends of the linear drive unit be spherical plain bearing one and spherical plain bearing two respectively;

[0022] Installation ring a is mounted on mounting boss a through spherical plain bearing one; the inner circumferential surface of the installation ring a is coaxially fixed to the outer ring of spherical plain bearing one, and the outer circumferential surface of mounting boss a is coaxially fixed to the inner ring of spherical plain bearing one; installation ring b is mounted on mounting boss b through spherical plain bearing two; the inner circumferential surface of installation ring b is coaxially fixed to the outer ring of spherical plain bearing two, and the outer circumferential surface of mounting boss b is coaxially fixed to the inner ring of spherical plain bearing two.

[0023] Furthermore, the three-degree-of-freedom waist system further includes: more than four shaft end baffles and more than four locking screws two;

[0024] A shaft end baffle is coaxially fixed on each mounting boss a and each mounting boss b; the shaft end baffle is fixed to the inner ring of the spherical plain bearing through the locking screw two; the shaft end baffles respectively abut against the end faces of the inner ring of the spherical plain bearing.

[0025] Furthermore, the linear drive unit is an electric cylinder.

[0026] Furthermore, the rotary drive unit is a rotary motor.

[0027] A humanoid robot includes the above three-degree-of-freedom waist system;

[0028] The humanoid robot further includes: an upper limb unit and a lower limb unit;

[0029] The upper limb unit and the lower limb unit are connected through the three-degree-of-freedom waist system;

[0030] The three-degree-of-freedom waist system enables relative rotation, pitching and yawing between the upper limb unit and the lower limb unit of the humanoid robot.

[0031] Furthermore, the upper limb unit includes: a head component, a chest component, two double-arm components and two hand components;

[0032] The chest component is installed in the chest bracket; the head component is installed on the chest bracket, the two double-arm components are respectively installed on both sides of the chest bracket, and the two hand components are respectively installed on the two double-arm components in one-to-one correspondence;

[0033] The lower limb unit includes: two leg components and two foot components; the two leg components are respectively installed on the two leg connecting frames of the waist support frame; the two foot components are respectively installed on the two leg components.

[0034] Beneficial effects:

[0035] (1) A three-degree-of-freedom waist system of the present utility model is used to connect the upper limb unit and the lower limb unit of a robot; the mounting plate is connected to the lower surface of the support plate through a waist support rod and more than two linear drive units; when the lengths of all the linear drive units are synchronously extended or shortened, the pitch of the chest support relative to the leg connecting frame is realized, and when the lengths of more than two linear drive units change out of sync, the roll of the chest support relative to the leg connecting frame is realized; the three-degree-of-freedom waist system realizes the pitch and roll movements of the chest support relative to the leg connecting frame through the linear drive units, and is supported by the waist support assembly, greatly improving the load capacity of the waist system; at the same time, the three-degree-of-freedom waist system can realize the relative rotation of the upper chest support relative to the leg connecting frame through the rotary drive unit; since the waist system can ensure the three-degree-of-freedom movement of the robot, the robot can meet different movement ranges, and at the same time, the bearing capacity of the waist system is ensured, improving the versatility of the robot.

[0036] (2) A three-degree-of-freedom waist system of the present utility model, the waist support rod is hinged to the ball joint seats of the support plate and the waist support frame through the ball joints at both ends, so that the waist support rod can rotate in all directions, and can ensure the bearing capacity while cooperating with the pitch and roll movements of the three-degree-of-freedom waist system.

[0037] (3) A three-degree-of-freedom waist system of the present utility model, each end of the linear drive unit is respectively installed on a group of opposite mounting bosses a and mounting bosses b through spherical plain bearings, providing stable and reliable support during the pitch and roll movements of the three-degree-of-freedom waist system; at the same time, the spherical plain bearings are beneficial to improving the load capacity of the three-degree-of-freedom waist system.

[0038] (4) A three-degree-of-freedom waist system of the present utility model, an end plate is coaxially fixed to each of the mounting bosses a and each of the mounting bosses b, and the end plate can prevent the axial movement of the spherical plain bearing.

[0039] (5) A humanoid robot of the present utility model includes a three-degree-of-freedom waist system. The upper limb unit and the lower limb unit of the humanoid robot can realize the relative rotation, pitch and roll between the upper limb unit and the lower limb unit of the humanoid robot through the three-degree-of-freedom waist system, which can improve the working range of the humanoid robot, improve the load capacity of the humanoid robot, and make the humanoid robot suitable for different working environments. Description of the drawings

[0040] Figure 1 This is the overall schematic diagram of the three-degree-of-freedom waist system of the present utility model;

[0041] Figure 2 This is the exploded schematic diagram of the three-degree-of-freedom waist system of the present utility model;

[0042] Figure 3 This is the overall schematic diagram of the humanoid robot including the three-degree-of-freedom waist system of the present utility model;

[0043] Among them, 1 - three-degree-of-freedom waist system, 1.1 - waist support assembly, 1.1.1 - waist support frame, 1.1.2 - ball hinge seat, 1.1.3 - waist support rod, 1.1.4 - support plate, 1.1.5 - locking screw one, 1.2 - waist pitch and swing assembly, 1.2.1 - linear drive unit, 1.2.2 - joint bearing, 1.2.3 - shaft end baffle, 1.2.4 - locking screw two, 1.3 - waist rotation assembly, 1.3.1 - chest support, 1.3.2 - rotation drive unit, 2 - head assembly, 3 - double-arm assembly, 4 - hand assembly, 5 - chest assembly, 6 - leg assembly, 7 - foot assembly. Detailed implementation manners

[0044] The following combines the accompanying drawings and gives embodiments to describe the present utility model in detail. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0045] Embodiment 1:

[0046] This embodiment provides a three-degree-of-freedom waist system; the three-degree-of-freedom waist system 1 is used to connect the upper limb unit and the lower limb unit of the robot, and is used to realize the three-degree-of-freedom movements of pitch, swing and rotation between the upper limb unit and the lower limb unit of the robot;

[0047] The three-degree-of-freedom waist system 1 is as Figure 1 shown, and includes: a waist support assembly 1.1, a waist pitch and swing assembly 1.2 and a waist rotation assembly 1.3;

[0048] As Figure 2 shown, the waist support assembly 1.1 includes: a waist support frame 1.1.1, a waist support rod 1.1.3, a support plate 1.1.4, two ball joints, two ball hinge seats 1.1.2, and a plurality of locking screws one 1.1.5;

[0049] The waist support frame 1.1.1 includes: an integrally formed mounting plate and two leg connecting frames; the mounting plate is horizontally arranged; the two leg connecting frames are located on the left and right sides of the mounting plate; the leg connecting frames are used to connect with the lower limb unit; two or more cylindrical mounting bosses a are installed on the mounting plate; the two or more mounting bosses a are respectively horizontally arranged and are in a symmetrical structure; the axes of the two or more mounting bosses a are parallel to each other;

[0050] The support plate 1.1.4 is located above the waist support frame 1.1.1; two or more cylindrical mounting bosses b are installed on the support plate 1.1.4; the two or more mounting bosses b are respectively horizontally arranged, and the axes of the two or more mounting bosses b are parallel to each other; the positions of the two or more mounting bosses b correspond one by one to the positions of the two or more mounting bosses a;

[0051] The support plate 1.1.4 and the mounting plate of the waist support frame 1.1.1 are connected by a waist support rod 1.1.3; the waist support rod 1.1.3 is located on one side of the leg connecting frame;

[0052] Let the two spherical hinge seats 1.1.2 be spherical hinge seat one and spherical hinge seat two respectively; the spherical hinge seat one is installed on the upper end face of the mounting plate of the waist support frame 1.1.1; the spherical hinge seat two is installed on the lower end face of the support plate 1.1.4; the positions of the spherical hinge seat one and the spherical hinge seat two are opposite; in this embodiment, the spherical hinge seat one is fixedly connected to the waist support frame 1.1.1 by a locking screw 1.1.5, and the spherical hinge seat two is fixedly connected to the support plate 1.1.4 by a locking screw 1.1.5;

[0053] Two spherical hinge heads are respectively installed at the two ends of the support rod 1.1.3; in this embodiment, each spherical hinge head is threadedly connected to the end of the support rod 1.1.3;

[0054] The spherical hinge head at one end of the waist support rod 1.1.3 is hinged to the spherical hinge seat two on the support plate 1.1.4, and the spherical hinge head at the other end of the waist support rod 1.1.3 is hinged to the spherical hinge seat one on the waist support frame 1.1.1, so as to realize the universal rotation of the waist support rod 1.1.3;

[0055] The waist pitch and side swing assembly 1.2 includes: two or more linear drive units 1.2.1, four or more joint bearings 1.2.2, four or more shaft end baffles 1.2.3 and four or more locking screws two 1.2.4;

[0056] More than two linear drive units 1.2.1 are respectively installed between the waist support frame 1.1.1 and the support plate 1.1.4; More than two linear drive units 1.2.1 are arranged in parallel, presenting a symmetric structure, and are located on the other side of the leg connecting frame; In this embodiment, more than two of the linear drive units 1.2.1 are located at the rear side of the leg connecting frame, and the waist support rod 1.1.3 is located at the front side of the leg connecting frame;

[0057] Each end of each of the linear drive units 1.2.1 is respectively and correspondingly installed on a group of opposite mounting bosses a and mounting bosses b through a spherical plain bearing 1.2.2; Let the two spherical plain bearings 1.2.2 be spherical plain bearing one and spherical plain bearing two respectively; Each of the linear drive units 1.2.1 includes: a telescopic rod and a fixed rod; One end of the telescopic rod is hinged to the support plate 1.1.4; One end of the fixed rod is hinged to the mounting plate of the waist support frame 1.1.1; The other end of the telescopic rod is installed inside the other end of the fixed rod, and the length direction of the telescopic rod is the same as the length direction of the fixed rod; The telescopic rod can perform telescopic movement relative to the fixed rod, so that the length of the linear drive unit 1.2.1 is variable; An installation ring a is machined at one end of the telescopic rod, and an installation ring b is machined at one end of the fixed rod; The axes of the installation ring a and the installation ring b are parallel to each other; The installation ring a is installed on the mounting boss a through the spherical plain bearing one; The inner circumferential surface of the installation ring a is coaxially fixed to the outer ring of the spherical plain bearing one, and the outer circumferential surface of the mounting boss a is coaxially fixed to the inner ring of the spherical plain bearing one; The installation ring b is installed on the mounting boss b through the spherical plain bearing two; The inner circumferential surface of the installation ring b is coaxially fixed to the outer ring of the spherical plain bearing two, and the outer circumferential surface of the mounting boss b is coaxially fixed to the inner ring of the spherical plain bearing two; In this embodiment, preferably two of the linear drive units 1.2.1 are provided; In this embodiment, the linear drive unit 1.2.1 is an electric cylinder, the installation ring a is located at the end of the telescopic rod of the electric cylinder, and the installation ring b is located at the end of the fixed end of the electric cylinder;

[0058] An end shield 1.2.3 is coaxially fixed to each of the mounting bosses a and each of the mounting bosses b; The end shield 1.2.3 is fixed to the inner ring of the spherical plain bearing 1.2.2 through a locking screw two 1.2.4; The end shield 1.2.3 respectively abuts against the inner ring of the spherical plain bearing 1.2.2, and the end shield 1.2.3 is used to limit the axial movement of the spherical plain bearing 1.2.2;

[0059] The waist rotation assembly 1.3 includes: a thoracic cavity support frame 1.3.1 and a rotation drive unit 1.3.2;

[0060] The thoracic cavity support 1.3.1 is installed on the upper surface of the support plate 1.1.4 through the rotation drive unit 1.3.2; the thoracic cavity support 1.3.1 is used to connect with the upper limb unit; the rotation drive unit 1.3.2 is used to drive the relative rotation of the thoracic cavity support and the support plate, so as to realize the rotation of the thoracic cavity support 1.3.1 relative to the leg connecting frame;

[0061] In this embodiment, the rotation drive unit 1.3.2 is a rotary motor; the fixed end of the rotary motor is fixedly connected with the thoracic cavity support 1.3.1, and the output end of the rotary motor is fixedly connected with the support plate 1.1.4; the upper limb unit of the robot is installed on the thoracic cavity support 1.3.1, and the lower limb unit of the robot is installed on the two leg connecting frames of the waist support frame 1.1.1.

[0062] Working principle:

[0063] The three-degree-of-freedom waist system 1 in this embodiment realizes the pitching and yawing between the upper limb unit and the lower limb unit of the robot through more than two linear drive units 1.2.1; when the lengths of all the linear drive units 1.2.1 are simultaneously extended or shortened, the pitching of the thoracic cavity support 1.3.1 relative to the leg connecting frame is realized. Specifically, when the telescopic rods of all the linear drive units 1.2.1 are simultaneously extended and the extended lengths are the same, the thoracic cavity support 1.3.1 bends forward relative to the leg connecting frame, and the three-degree-of-freedom waist system 1 realizes bending forward; when the telescopic rods of all the linear drive units 1.2.1 are simultaneously shortened and the shortened lengths are the same, the thoracic cavity support 1.3.1 bends backward relative to the leg connecting frame, and the three-degree-of-freedom waist system 1 realizes bending backward; when the lengths of all the linear drive units 1.2.1 change asynchronously, the yawing of the thoracic cavity support 1.3.1 relative to the leg connecting frame is realized. Specifically, when the left linear drive unit 1.2.1 is shortened and the right linear drive unit 1.2.1 is extended, the thoracic cavity support 1.3.1 bends to the left relative to the leg connecting frame, and the three-degree-of-freedom waist system 1 yaws to the left; when the left linear drive unit 1.2.1 is extended and the right linear drive unit 1.2.1 is shortened, the thoracic cavity support 1.3.1 bends to the right relative to the leg connecting frame, and the three-degree-of-freedom waist system 1 yaws to the right; since both ends of the waist support rod 1.1.3 are respectively connected to the mounting plate and the support plate 1.1.4 of the waist support frame 1.1.1 through the ball hinge head and the ball hinge seat 1.1.2, it can cooperate with the pitching or yawing rotation and inclination of the three-degree-of-freedom waist system 1 and provide support;

[0064] The three-degree-of-freedom waist system 1 in this embodiment realizes the rotation of the thoracic cavity support 1.3.1 relative to the leg connecting frame through the rotation drive unit 1.3.2.

[0065] Embodiment 2:

[0066] This embodiment provides a humanoid robot, which includes the three-degree-of-freedom waist system 1 in Embodiment 1;

[0067] As Figure 3 shown, the humanoid robot further includes: an upper limb unit and a lower limb unit; the upper limb unit and the lower limb unit are connected by the three-degree-of-freedom waist system 1;

[0068] The upper limb unit includes: a head component 2, a chest component 5, two double-arm components 3 and two hand components 4;

[0069] The chest component 5 is installed in the chest bracket 1.3.1; the head component 2 is installed on the chest bracket 1.3.1, the two double-arm components are respectively installed on both sides of the chest bracket 1.3.1, and the two hand components 4 are correspondingly installed on the two double-arm components;

[0070] The lower limb unit includes: two leg components 6 and two foot components 7; the two leg components 6 are correspondingly installed on the two leg connecting frames of the waist support frame 1.1.1 of the waist support component 1.1; the two foot components 7 are correspondingly installed on the two leg components 6;

[0071] The three-degree-of-freedom waist system enables relative rotation, pitching, and yawing between the upper limb unit and the lower limb unit of the humanoid robot.

[0072] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0073] In addition, the terms "linear drive unit one", "locking screw one", "ball hinge seat one", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined by "linear drive unit one", "locking screw one", "ball hinge seat one", etc. may explicitly or implicitly include one or more than one of such features. In the description of the present application, "a plurality" means two or more than two, unless otherwise specifically defined.

[0074] In this application, unless otherwise clearly defined and limited, terms such as "hinged" and "fixedly connected" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0075] In summary, the above are only the preferred embodiments of the present utility model and are not intended to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A three-degree-of-freedom waist system, characterized in that: include: Lumbar support frame, lumbar support rod, support plate, thoracic support, rotary drive unit and more than two linear drive units; The waist support frame includes: an integrally formed mounting plate and two leg connecting frames; the two leg connecting frames are located on both sides of the mounting plate; the leg connecting frames are used to connect with the lower limb unit; The mounting plate is connected to the lower surface of the support plate through a waist support rod and two or more linear drive units; the thoracic support is installed on the upper surface of the support plate through a rotary drive unit; the thoracic support is used to connect with the upper limb unit; The waist support rod is located on one side of the leg connecting frame, and the two ends of the waist support rod are hinged to the support plate and the mounting plate respectively; Two or more linear drive units are arranged in parallel and located on the other side of the leg connecting frame; both ends of each linear drive unit are respectively hinged to the support plate and the mounting plate, and the length of each linear drive unit is variable; when all the linear drive units are extended or shortened synchronously, the chest support is pitched relative to the leg connecting frame, and when the lengths of all the linear drive units are not changed synchronously, the chest support is swung sideways relative to the leg connecting frame; The rotary drive unit is used to drive the chest support and the support plate to rotate relative to each other, so as to realize the rotation of the chest support relative to the leg connecting frame.

2. A three-degree-of-freedom waist system as claimed in claim 1, characterized in that: Each of the linear drive units includes: a telescopic rod and a fixed rod; one end of the telescopic rod is hinged to the support plate; one end of the fixed rod is hinged to the mounting plate; the other end of the telescopic rod is installed in the other end of the fixed rod, and the length direction of the telescopic rod is consistent with the length direction of the fixed rod; the telescopic rod can undergo telescopic movement relative to the fixed rod, so that the length of the linear drive unit can be changed.

3. A three-degree-of-freedom waist system as claimed in claim 1, characterized in that: The three-degree-of-freedom waist system also includes: two ball joint heads and two ball joint seats; Two ball joint seats are respectively mounted on the support plate and the mounting plate of the waist support frame; Two ball joints are respectively installed at two ends of the waist support rod, and the waist support rod is hinged with the support plate and the waist support frame through the cooperation of the ball joints at both ends and the corresponding ball joint seats.

4. A three-degree-of-freedom waist system as claimed in claim 3, characterized in that: The mounting plate of the waist support frame is arranged horizontally, and two or more cylindrical mounting bosses a are installed on the mounting plate; the two or more mounting bosses a are arranged horizontally and form a symmetrical structure; the axes of the two or more mounting bosses a are parallel to each other; The support plate is provided with two or more cylindrical mounting bosses b; the two or more mounting bosses b are arranged horizontally, and the axes of the two or more mounting bosses b are parallel to each other; the positions of the two or more mounting bosses b are opposite to the positions of the two or more mounting bosses a one by one; The waist system also includes: four joint bearings; Each end of each linear drive unit is mounted on a set of opposite mounting bosses a and b in a one-to-one correspondence through a spherical bearing.

5. A three-degree-of-freedom waist system as claimed in claim 4, characterized in that: Each linear drive unit has a mounting ring at both ends; the two mounting rings are mounting ring a and mounting ring b; the axes of mounting ring a and mounting ring b are parallel to each other; The joint bearings at both ends of the linear drive unit are respectively joint bearing 1 and joint bearing 2; The mounting ring a is mounted on the mounting boss a through the spherical bearing one; the inner circumferential surface of the mounting ring a is coaxially fixedly connected to the outer ring of the spherical bearing one, and the outer circumferential surface of the mounting boss a is coaxially fixedly connected to the inner ring of the spherical bearing one; the mounting ring b is mounted on the mounting boss b through the spherical bearing two; the inner circumferential surface of the mounting ring b is coaxially fixedly connected to the outer ring of the spherical bearing two, and the outer circumferential surface of the mounting boss b is coaxially fixedly connected to the inner ring of the spherical bearing two.

6. A three-degree-of-freedom waist system as claimed in claim 4 or 5, characterized in that: The three-degree-of-freedom waist system also includes: more than four shaft end baffles and more than four locking screws 2; Each mounting boss a and each mounting boss b are coaxially fixed with a shaft end baffle; the shaft end baffle is fixedly connected to the inner ring of the spherical bearing through a second locking screw; the shaft end baffles respectively abut against the end surface of the inner ring of the spherical bearing.

7. A three-degree-of-freedom waist system as claimed in claim 1, characterized in that: The linear drive unit is an electric cylinder.

8. A three-degree-of-freedom waist system as claimed in claim 1, characterized in that: The rotary drive unit is a rotary motor.

9. A humanoid robot, characterized in that: A three-degree-of-freedom waist system comprising any one of claims 1 to 8; The humanoid robot further comprises: an upper limb unit and a lower limb unit; The upper limb unit and the lower limb unit are connected via a three-degree-of-freedom waist system; The three-degree-of-freedom waist system enables relative rotation, pitch and lateral swing between the upper limb unit and the lower limb unit of the humanoid robot.

10. A humanoid robot as claimed in claim 9, characterized in that: The upper limb unit includes: a head component, a chest component, two arm components and two hand components; The chest component is installed in the chest bracket; the head component is installed on the chest bracket, the two double-arm components are installed on both sides of the chest bracket respectively, and the two hand components are installed on the two double-arm components in a one-to-one correspondence; The lower limb unit comprises: two leg assemblies and two foot assemblies; the two leg assemblies are mounted one-to-one on two leg connecting frames of the waist support frame; and the two foot assemblies are mounted one-to-one on the two leg assemblies.

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