Multi-degree-of-freedom humanoid robot

Abstract

The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom humanoid robot which comprises a chest mechanism, a head mechanism, an upper limb mechanism and a lower limb mechanism. Wherein the chest mechanism adopts a supporting framework with a hollow structure, a control module and a power supply module are integrated in the supporting framework, the layout is reasonable, and meanwhile, the working temperature of the power supply module and the control module is prevented from being too high; visual sensors are arranged at the front end of the head mechanism and the front end of the supporting framework and used for detecting the environment and improving the motion precision of the robot. The upper limb mechanism is provided with a shoulder joint assembly and an elbow joint assembly, four-axis movement of robot arms is driven, the working requirement is met, meanwhile, a direct drive structure of a motor and a connecting rod is adopted, and the transmission efficiency is high. The lower limb mechanism is provided with a hip transmission mechanism and a leg transmission mechanism, the hip transmission mechanism is designed in an orthogonalization mode and an oppositely-arranged structure, so that the transmission mechanism is highly integrated and compact in structure, and miniaturization of the robot is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-freedom humanoid robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control. With the development of research and development of robots, humanoid robots have begun to appear in recent years.

[0003] Existing robots have problems with drive structure and complex wiring. The robot's movement space is limited, it cannot move with multiple degrees of freedom, and it cannot adapt to complex motion work requirements. Utility Model Content

[0004] Based on this, the purpose of the present invention is to provide a multi-degree-of-freedom humanoid robot.

[0005] The utility model adopts the following technical solutions:

[0006] A multi-degree-of-freedom humanoid robot, comprising:

[0007] A chest mechanism, the chest mechanism comprising a support frame and connecting frames arranged on both sides of the support frame; the support frame is a hollow structure, an upper accommodating cavity and a lower accommodating cavity are arranged inside the support frame, a control module is arranged in the upper accommodating cavity, and a power module is arranged in the lower accommodating cavity; a waist visual sensor is arranged at the front end of the support frame;

[0008] A head mechanism, the head mechanism comprising a head body mounted on the upper end of the support frame, and a head vision sensor disposed inside the head body;

[0009] An upper limb mechanism, the upper limb mechanism is symmetrically connected to both sides of the chest mechanism, the upper limb mechanism comprises a shoulder joint component and an elbow joint component that are assembled and connected; the shoulder joint component is assembled and connected to the connecting frame;

[0010] The lower limb mechanism comprises an inclined hip base and two robot legs symmetrically arranged on the hip base, and the hip base is fixed to the lower end of the support frame.

[0011] Preferably, an outer baffle is provided around the outer side of the support frame, and a plurality of heat dissipation holes are opened on the outer baffle.

[0012] Preferably, a lens is embedded in the front end surface of the head body, and the sensing end of the head vision sensor is arranged toward the lens.

[0013] Preferably, a connecting plate is provided at the front end of the supporting frame, the waist vision sensor is mounted on the front end surface of the connecting plate, and the sensing end of the waist vision sensor is tilted downward.

[0014] Preferably, the shoulder joint assembly includes a first driving module, a first connecting rod drivingly connected to the first driving module, a second driving module assembled on one end of the first connecting rod, and a second connecting rod fixed to the second driving module; the first driving module drives the first connecting rod to rotate around the axis of the first driving module; the second driving module drives the second connecting rod to rotate around the axis of the second driving module; the axis of the first driving module and the axis of the second driving module are perpendicular to each other; the first connecting rod and the second connecting rod are parallel to each other;

[0015] The elbow joint assembly includes a third driving module, a third connecting rod, a fourth driving module, and a mechanical arm; the third driving module is assembled and connected to the second connecting rod; the third connecting rod is assembled at the transmission end of the third driving module, the third driving module drives the third connecting rod to rotate around the axis of the third driving module, and one end of the third connecting rod away from the third driving module is fixedly connected to the outer wall of the fourth driving module; the mechanical arm is connected to the transmission end of the fourth driving module; the fourth driving module drives the mechanical arm to rotate around the axis of the fourth driving module; the axis of the fourth driving module is perpendicular to the axis of the third driving module.

[0016] Preferably, the robot leg comprises a hip transmission mechanism and a leg transmission mechanism;

[0017] The hip transmission mechanism includes a first rotating assembly mounted on the hip base, a second rotating assembly vertically connected to a transmission end of the first rotating assembly, a first power module connected to a transmission end of the second rotating assembly, and a second power module connected to a transmission end of the second rotating assembly; the first power module and the second power module are arranged opposite to each other on both sides of the transmission end of the second rotating assembly; the first rotating assembly and the second rotating assembly drive the robot leg to perform a lateral swing movement;

[0018] The leg transmission mechanism includes a thigh support frame, a driving connecting rod movably connected to the inner side of the thigh support frame, and a calf support frame rotatably connected to the lower end of the thigh support frame; the upper end of the thigh support frame is fixedly connected to the first power module, and the first power module drives the thigh support frame to swing back and forth; the transmission end of the second power module is provided with a first eccentric connecting rod assembly, the upper end of the driving connecting rod is connected to the first eccentric connecting rod assembly, and the lower end of the driving connecting rod is rotatably connected to the calf support frame, and the second power module drives the driving connecting rod to move to drive the calf support frame to swing back and forth.

[0019] Preferably, the first rotating assembly includes a first rotating motor and a first rotating block fixed to a transmission end of the first rotating motor; and the second rotating assembly is fixed to the first rotating block.

[0020] Preferably, the second rotating assembly includes a second rotating motor and a second rotating block fixed to a transmission end of the second rotating motor; the first power module and the second power module are mounted on opposite sides of the second rotating block.

[0021] Preferably, the thigh support frame includes a first support frame and a second support frame that are assembled and connected; the first support frame is connected to the transmission end of the first power module; the second power module is fixedly connected to the second support frame, and the second support frame is provided with a through hole, and the transmission end of the second power module is connected to the drive connecting rod through the through hole.

[0022] Preferably, the lower end of the calf support frame is provided with a foot plate rotatably connected thereto, and the calf support frame is provided with a driving component; the driving component is drivingly connected to the foot plate, and the driving component drives the foot plate to move upward or downward;

[0023] The driving assembly includes a third power module fixed on the calf support frame, a second eccentric connecting rod assembly connected to the transmission end of the third power module, and a transmission straight rod having one end connected to the second eccentric connecting rod assembly; the other end of the transmission straight rod is rotatably connected to the foot plate; the third power module drives the transmission straight rod to move, so as to drive the foot plate to move upward or downward.

[0024] The beneficial effects of the utility model are:

[0025] The multi-degree-of-freedom humanoid robot involved in the utility model comprises a chest mechanism, a head mechanism, an upper limb mechanism and a lower limb mechanism; wherein the chest mechanism adopts a support frame with a hollow structure, and a control module and a power module are integrated into the support frame, with a reasonable layout, and at the same time avoiding excessive operating temperatures of the power module and the control module; visual sensors are arranged at the front ends of the head mechanism and the support frame for detecting the environment and improving the movement accuracy of the robot; the upper limb mechanism is provided with a shoulder joint assembly and an elbow joint assembly to drive the four-axis movement of the robot arm to meet work requirements, and at the same time adopts a direct drive structure of a motor and a connecting rod, with high transmission efficiency; the lower limb mechanism is provided with a hip transmission mechanism and a leg transmission mechanism, wherein the hip transmission mechanism is designed through orthogonalization and a structure designed in opposite directions, so that the transmission mechanism is highly integrated and compact in structure, thereby realizing miniaturization of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom humanoid robot of the utility model;

[0027] Figure 2 This is a schematic structural diagram of the multi-degree-of-freedom humanoid robot of the utility model from another angle;

[0028] Figure 3 for Figure 1 A schematic diagram of the structure of the chest mechanism and the head mechanism;

[0029] Figure 4 for Figure 3 Schematic diagram of the explosion of the chest mechanism and the head mechanism;

[0030] Figure 5 for Figure 1 The structural diagram of the upper limb mechanism in FIG.

[0031] Figure 6 for Figure 1 A structural diagram of the upper limb mechanism from another angle;

[0032] Figure 7 for Figure 5 Schematic diagram of the structural explosion of the upper limb mechanism;

[0033] Figure 8 for Figure 1 A schematic diagram of the structure of the lower limb mechanism;

[0034] Fig. 9 for Figure 1 A schematic diagram of the structure of the lower limb mechanism from another angle;

[0035] Fig.10 for Figure 8 Schematic diagram of the structure of the robot leg;

[0036] Fig.11 for Fig.10 Schematic diagram of the exploded structure of the robot leg;

[0037] Numbers in the figure:

[0038] 100-chest mechanism;

[0039] 11-support frame; 12-connecting frame; 13-upper accommodating chamber; 14-lower accommodating chamber;

[0040] 15-control module; 16-power module; 17-waist visual sensor; 18-outer baffle; 181-heat dissipation hole;

[0041] 200-head mechanism;

[0042] 21-head body; 211-lens; 22-head vision sensor;

[0043] 300-upper limb mechanism;

[0044] 31-shoulder joint assembly; 311-first drive module; 312-first connecting rod; 313-second drive module; 314-second connecting rod;

[0045] 32-elbow joint assembly; 321-third drive module; 322-third connecting rod; 323-fourth drive module; 324-mechanical arm;

[0046] 400-lower limb mechanism;

[0047] 41-hip base; 42-robot leg;

[0048] 43- Hip transmission mechanism;

[0049] 431-first rotating assembly; 4311-first rotating motor; 4312-first rotating block; 4313-limiting plate;

[0050] 432-second rotating assembly; 4321-second rotating motor; 4322-second rotating block;

[0051] 433-first power module; 434-second power module;

[0052] 44- leg transmission mechanism;

[0053] 441-thigh support frame; 4411-first support frame; 4412-second support frame; 4413-cavity; 4414-through hole;

[0054] 442-driving connecting rod; 443-calf support frame; 4431-connecting portion; 4432-first connecting hole; 4433-second connecting hole;

[0055] 444-foot plate; 445-driving assembly; 4451-third power module; 4452-second eccentric connecting rod group; 4453-transmission straight rod. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0057] In the description of the present invention, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] like Figures 1 to 11 As shown, the multi-degree-of-freedom humanoid robot of the present invention includes a chest mechanism 100 , a head mechanism 200 , an upper limb mechanism 300 , and a lower limb mechanism 400 .

[0060] See also Figure 3-4 , the structure of the chest mechanism 100 is described in detail below:

[0061] The chest mechanism 100 includes a support frame 11 and a connecting frame 12 arranged on both sides of the support frame 11, and the connecting frame 12 is used to connect the upper limb mechanism 300. The support frame 11 is a hollow structure, and an upper accommodating chamber 13 and a lower accommodating chamber 14 are arranged inside the support frame 11. A control module 15 is arranged in the upper accommodating chamber 13, and a power module 16 is arranged in the lower accommodating chamber 14; the control module 15 and the power module 16 will generate heat when working. The support frame 11 adopts a hollow structure, which can improve the heat dissipation efficiency of the chest mechanism 100, thereby avoiding the control module 15 and the power module 16 from being too high in temperature when the robot is working, affecting normal operation. The control module 15 is specifically a plurality of control circuit boards and a DC-DC converter; and the power module 16 is specifically a battery. In this embodiment, the battery capacity is 5300mA, and the battery capacity can be adjusted according to actual needs. At the same time, a waist visual sensor 17 is arranged at the front end of the support frame 11, and the waist visual sensor 17 is used to detect the terrain conditions at the front end of the robot.

[0062] Furthermore, an outer baffle 18 is provided on the outer side of the support frame 11 to protect the control module 15 and the power module 16 inside the support frame 11, and a plurality of heat dissipation holes 181 are provided on the outer baffle 18. A connecting plate is provided at the front end of the support frame 11, and the waist visual sensor 17 is mounted on the front end surface of the connecting plate. The connecting plate is tilted so that the sensing end of the waist visual sensor is tilted downward to facilitate the detection of the ground condition in front of the waist.

[0063] See also Figure 3-4 , the structure of the head mechanism 200 is described in detail below:

[0064] The head mechanism 200 includes a head body 21 mounted on the upper end of the support frame 11, and a head vision sensor 22 disposed inside the head body 21. Specifically, a lens 211 is embedded in the front end of the head body 21, and the sensing end of the head vision sensor 22 is disposed toward the lens 211; the head vision sensor 22 can capture environmental image information in the robot's front field of view through the lens 211. The head body 21 and the support frame 11 can be connected by rotation, and the head body 21 can rotate at the upper end of the support frame 11 to obtain more external environmental image information.

[0065] See also Figure 5-7 , the structure of the upper limb mechanism 300 is described in detail below:

[0066] The upper limb mechanism 300 is symmetrically connected to both sides of the chest mechanism 100 , and the upper limb mechanism 300 includes a shoulder joint component 31 and an elbow joint component 32 that are assembled and connected; the shoulder joint component 31 is assembled and connected to the connecting frame 12 to achieve the connection between the upper limb mechanism 300 and the chest mechanism 100 .

[0067] Specifically, the shoulder joint assembly includes a first driving module 311, a first connecting rod 312 drivingly connected to the first driving module 311, a second driving module 313 assembled on one end of the first connecting rod 312, and a second connecting rod 314 fixed to the second driving module 313; the driving axis of the first driving module 311 and the driving axis of the second driving module 313 are perpendicular to each other; the first connecting rod 312 and the second connecting rod 314 are parallel to each other;

[0068] In the working state, the first driving module 311 drives the first connecting rod 312 to rotate around the axis of the first driving module 311; the second driving module 313 drives the second connecting rod 314 to rotate around the axis of the second driving module 313. The rotational motion driven by the first driving module 311 and the second driving module 313 can realize the twisting and up and down swinging of the robot shoulder.

[0069] Specifically, the elbow joint assembly includes a third driving module 321, a third connecting rod 322, a fourth driving module 323, and a mechanical arm 324; the third driving module 321 is assembled and connected with the second connecting rod 314; the third connecting rod 322 is assembled at the transmission end of the third driving module 321, and one end of the third connecting rod 322 away from the third driving module 321 is fixedly connected to the outer wall of the fourth driving module 323; the mechanical arm 324 is connected to the transmission end of the fourth driving module 323; the driving axis of the fourth driving module 323 is perpendicular to the driving axis of the third driving module 321;

[0070] In the working state, the third driving module 321 drives the third connecting rod 322 to rotate around the axis of the third driving module 321 to realize the rotation of the robot arm. The fourth driving module 323 drives the mechanical arm 324 to rotate around the axis of the fourth driving module 323 to realize the bending of the robot elbow.

[0071] In this embodiment, the first drive module 311, the second drive module 313, the third drive module 321 and the fourth drive module 323 all use motors. The above-mentioned transmission mechanical structure can realize multi-angle movement of the robot's upper limbs, and then complete various preset movements to meet the needs of robot use scenarios such as scientific research and work. At the same time, the transmission structure of the motor and the connecting rod is adopted, so that the upper limb part is compact, which helps to realize the miniaturization of the robot.

[0072] See also Figure 8-11 , the lower limb mechanism 400 is described in detail below:

[0073] The lower limb mechanism 400 includes an inclined hip base 41 and two robot legs 42 symmetrically arranged on the hip base 41. The hip base 41 is fixed to the lower end of the support frame 11 by welding or other connection methods. The robot leg 42 includes a hip transmission mechanism 43 and a leg transmission mechanism 44.

[0074] Specifically, the hip transmission mechanism 43 includes a first rotating assembly 431 mounted on the hip base 41, a second rotating assembly 432 vertically connected to the transmission end of the first rotating assembly 431, a first power module 433 connected to the transmission end of the second rotating assembly 432, and a second power module 434 connected to the transmission end of the second rotating assembly 432; the first power module 433 and the second power module 434 are arranged oppositely on both sides of the transmission end of the second rotating assembly 432; the first rotating assembly 431 and the second rotating assembly 432 drive the robot leg 42 to perform lateral swinging motion. The first rotating assembly 431, the second rotating assembly 432, the first power module 433 and the second power module 434 are integrated in the hip transmission mechanism 43 to avoid occupying the space of the robot knee and provide space for the robot knee to bend; at the same time, the first power module 433 and the second power module 434 are arranged oppositely, so that the structure is compact and miniaturized.

[0075] The leg transmission mechanism 44 includes a thigh support frame 441, a driving link 442 movably connected to the inner side of the thigh support frame 441, and a calf support frame 443 rotatably connected to the lower end of the thigh support frame 441; the upper end of the thigh support frame 441 is fixedly connected to the first power module 433, and the first power module 433 drives the thigh support frame 441 to swing back and forth; the transmission end of the second power module 434 is provided with a first eccentric connecting rod assembly, the upper end of the driving link 442 is connected to the first eccentric connecting rod assembly, and the lower end of the driving link 442 is rotatably connected to the calf support frame 443, and the second power module 434 drives the driving link 442 to move to drive the calf support frame 443 to swing back and forth.

[0076] Regarding the transmission principle of the hip transmission mechanism 43 and the leg transmission mechanism 44:

[0077] The first rotating assembly 431 is used to drive the robot leg 42 to rotate Fig.10 The A axis rotates, and the second rotating assembly 432 is used to drive the robot leg 42 to rotate Fig.10 The B axis rotates, wherein the A axis is perpendicular to the hip base 41, and the A axis is perpendicular to the B axis. The side swing movement of the robot leg is achieved through the coordinated movement of the first rotating component 431 and the second rotating component 432; wherein the first rotating component 431 and the second rotating component 432 are perpendicular to each other, which increases the side swing range of the robot leg 42. The abduction or adduction of the robot leg 42 is achieved through the above movement.

[0078] A connecting portion 4431 extends from the upper end of the calf support frame 443. The connecting portion 4431 is provided with a first connecting hole 4432 and a second connecting hole 4433. The first connecting hole 4432 is provided at the upper end of the second connecting hole 4433. The lower end of the driving connecting rod 442 is rotatably connected to the first connecting hole 4432 via a rotating shaft, and the lower end of the thigh support frame 441 is rotatably connected to the second connecting hole 4433 via a rotating shaft. When the upper end of the driving connecting rod 442 rotates eccentrically, the lower end of the driving connecting rod 442 moves up and down accordingly, thereby driving the calf support frame 443 to rotate around the central axis of the second connecting hole 4433, so as to realize the forward and backward swinging of the calf support frame 443.

[0079] The transmission end of the first power module 433 is connected to the upper end of the thigh support frame 441, so the first power module 433 can drive the thigh support frame 441 to swing forward and backward. The upper end of the driving connecting rod 442 is connected to the second power module 434 through the first eccentric connecting rod assembly, and the second power module 434 drives the upper end of the driving connecting rod 442 to rotate eccentrically, thereby driving the calf support frame 443 to rotate relative to the thigh support frame 441. Through the above movement, the robot leg 42 can take steps.

[0080] Further, the first rotating assembly 431 includes a first rotating motor 4311 and a first rotating block 4312 fixed to the transmission end of the first rotating motor 4311; the second rotating assembly 432 is fixed to the first rotating block 4312. The second rotating assembly 432 includes a second rotating motor 4321 and a second rotating block 4322 fixed to the transmission end of the second rotating motor 4321; the first power module 433 and the second power module 434 are mounted on both sides of the second rotating block 4322 opposite to each other. The first rotating motor 4311 and the first rotating block 4312, the second rotating motor 4321 and the second rotating block 4322 all adopt a direct drive transmission mode, and the transmission efficiency is high. In addition, a fan-shaped limiting plate 4313 is provided on the first rotating motor 4311 and the second rotating motor 4321, and the limiting plate 4313 is used to limit the rotation angle of the first rotating block 4312 and the second rotating block 4322, thereby limiting the side swing angle of the robot. In this embodiment, the limiting angle is -30° to 30°.

[0081] Furthermore, the thigh support frame 441 includes a first support frame 4411 and a second support frame 4412 that are assembled and connected; the first support frame 4411 is connected to the transmission end of the first power module 433; the second power module 434 is fixedly connected to the second support frame 4412, and the second support frame 4412 is provided with a through hole, and the transmission end of the second power module 434 passes through the through hole and is connected to the driving connecting rod 442. A cavity 4413 is provided on the inner side of the thigh support frame 441, and the driving connecting rod 442 is movably connected in the cavity 4413, and the cavity 4413 provides a movable space for the driving connecting rod 442; a plurality of through holes 4414 connected to the cavity 4413 are provided on the side of the thigh support frame 441, so that the thigh support frame 441 is in a hollow state, which can improve the heat dissipation performance on the one hand, and reduce the weight of the thigh support frame 441 on the other hand.

[0082] Furthermore, the lower end of the calf support frame 443 is provided with a foot plate 444 rotatably connected thereto. Regarding the rotating structure, the lower end of the calf support frame 443 is provided with a U-shaped connection position, and a rotation hole is opened on the connection position. The foot plate 444 is provided with a rotation shaft extending toward both sides, and the rotation shaft is inserted into the rotation hole. The calf support frame 443 is provided with a driving component 445; the driving component 445 is drivingly connected to the foot plate 444, and the driving component 445 drives the foot plate 444 to move upward or downward. Specifically, the driving component 445 includes a third power module 4451 fixed to the calf support frame 443, a second eccentric connecting rod group 4452 connected to the transmission end of the third power module 4451, and a transmission straight rod 4453 having one end connected to the second eccentric connecting rod group 4452; the other end of the transmission straight rod 4453 is rotatably connected to the foot plate 444. In this embodiment, the third power module 4451 adopts a motor, and the third power module 4451 drives the upper end of the transmission straight rod 4453 to rotate eccentrically. At the same time, the lower end of the transmission straight rod 4453 drives the foot plate 444 to rotate around the rotation axis, thereby realizing the upward or downward movement of the foot plate 444.

[0083] Compared with the prior art, the multi-degree-of-freedom humanoid robot involved in the utility model includes a chest mechanism 100, a head mechanism 200, an upper limb mechanism 300 and a lower limb mechanism 400; wherein the chest mechanism 100 adopts a hollow structure support frame 11, and the control module 15 and the power module 16 are integrated into the support frame 11, with a reasonable layout, while avoiding the working temperature of the power module 16 and the control module 15 being too high; visual sensors are arranged at the front ends of the head mechanism 200 and the support frame 11 for detecting the environment and improving the movement accuracy of the robot; the upper limb mechanism 300 is provided with a shoulder joint assembly and an elbow joint assembly to drive the four-axis movement of the robot arm to meet the working requirements, and at the same time adopts a direct drive structure of a motor and a connecting rod, with high transmission efficiency; the lower limb mechanism 400 is provided with a hip transmission mechanism 43 and a leg transmission mechanism 44, wherein the hip transmission mechanism 43 is designed through orthogonalization and a structure designed in opposite directions, so that the transmission mechanism is highly integrated and compact in structure, thereby realizing the miniaturization of the robot.

[0084] The above only expresses the preferred technical solution of the utility model, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and the utility model is also intended to include these modifications and modifications.

Claims

1. A multi-degree-of-freedom humanoid robot, characterized in that: include: A chest mechanism, the chest mechanism comprising a support frame and connecting frames arranged on both sides of the support frame; the support frame is a hollow structure, an upper accommodating cavity and a lower accommodating cavity are arranged inside the support frame, a control module is arranged in the upper accommodating cavity, and a power module is arranged in the lower accommodating cavity; a waist visual sensor is arranged at the front end of the support frame; A head mechanism, the head mechanism comprising a head body mounted on the upper end of the support frame, and a head vision sensor disposed inside the head body; An upper limb mechanism, the upper limb mechanism is symmetrically connected to both sides of the chest mechanism, the upper limb mechanism comprises a shoulder joint component and an elbow joint component that are assembled and connected; the shoulder joint component is assembled and connected to the connecting frame; The lower limb mechanism comprises an inclined hip base and two robot legs symmetrically arranged on the hip base, and the hip base is fixed to the lower end of the support frame.

2. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: An outer baffle is arranged around the outer side of the support frame, and a plurality of heat dissipation holes are opened on the outer baffle.

3. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: A lens is embedded in the front end surface of the head body, and the sensing end of the head vision sensor is arranged toward the lens.

4. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: A connecting plate is provided at the front end of the supporting frame, the waist visual sensor is mounted on the front end surface of the connecting plate, and the sensing end of the waist visual sensor is tilted downward.

5. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The shoulder joint assembly includes a first driving module, a first connecting rod drivingly connected to the first driving module, a second driving module assembled on one end of the first connecting rod, and a second connecting rod fixed to the second driving module; the first driving module drives the first connecting rod to rotate around the axis of the first driving module; the second driving module drives the second connecting rod to rotate around the axis of the second driving module; the axis of the first driving module and the axis of the second driving module are perpendicular to each other; the first connecting rod and the second connecting rod are parallel to each other; The elbow joint assembly includes a third driving module, a third connecting rod, a fourth driving module, and a mechanical arm; the third driving module is assembled and connected to the second connecting rod; the third connecting rod is assembled at the transmission end of the third driving module, the third driving module drives the third connecting rod to rotate around the axis of the third driving module, and one end of the third connecting rod away from the third driving module is fixedly connected to the outer wall of the fourth driving module; the mechanical arm is connected to the transmission end of the fourth driving module; the fourth driving module drives the mechanical arm to rotate around the axis of the fourth driving module; the axis of the fourth driving module is perpendicular to the axis of the third driving module.

6. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The robot leg comprises a hip transmission mechanism and a leg transmission mechanism; The hip transmission mechanism includes a first rotating assembly mounted on the hip base, a second rotating assembly vertically connected to a transmission end of the first rotating assembly, a first power module connected to a transmission end of the second rotating assembly, and a second power module connected to a transmission end of the second rotating assembly; the first power module and the second power module are arranged opposite to each other on both sides of the transmission end of the second rotating assembly; the first rotating assembly and the second rotating assembly drive the robot leg to perform a lateral swing movement; The leg transmission mechanism includes a thigh support frame, a driving connecting rod movably connected to the inner side of the thigh support frame, and a calf support frame rotatably connected to the lower end of the thigh support frame; the upper end of the thigh support frame is fixedly connected to the first power module, and the first power module drives the thigh support frame to swing back and forth; the transmission end of the second power module is provided with a first eccentric connecting rod assembly, the upper end of the driving connecting rod is connected to the first eccentric connecting rod assembly, and the lower end of the driving connecting rod is rotatably connected to the calf support frame, and the second power module drives the driving connecting rod to move to drive the calf support frame to swing back and forth.

7. The multi-degree-of-freedom humanoid robot according to claim 6, characterized in that: The first rotating assembly includes a first rotating motor and a first rotating block fixed to a transmission end of the first rotating motor; the second rotating assembly is fixed to the first rotating block.

8. The multi-degree-of-freedom humanoid robot according to claim 6, characterized in that: The second rotating assembly includes a second rotating motor and a second rotating block fixed to a transmission end of the second rotating motor; the first power module and the second power module are mounted on opposite sides of the second rotating block.

9. The multi-degree-of-freedom humanoid robot according to claim 6, characterized in that: The thigh support frame includes a first support frame and a second support frame that are assembled and connected; the first support frame is connected to the transmission end of the first power module; the second power module is fixedly connected to the second support frame, and the second support frame is provided with a through hole, and the transmission end of the second power module is connected to the driving connecting rod through the through hole.

10. The multi-degree-of-freedom humanoid robot according to claim 6, characterized in that: The lower end of the calf support frame is provided with a foot plate rotatably connected thereto, and the calf support frame is provided with a driving component; the driving component is drivingly connected to the foot plate, and the driving component drives the foot plate to move upward or downward; The driving assembly includes a third power module fixed on the calf support frame, a second eccentric connecting rod assembly connected to the transmission end of the third power module, and a transmission straight rod having one end connected to the second eccentric connecting rod assembly; the other end of the transmission straight rod is rotatably connected to the foot plate; the third power module drives the transmission straight rod to move, so as to drive the foot plate to move upward or downward.

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