Big arm lower connecting assembly and shoulder structure of humanoid robot, humanoid robot and robot

Abstract

The utility model relates to the technical field of robots, and discloses a big arm lower connecting assembly and a shoulder structure of a humanoid robot, the humanoid robot and a robot. The large arm lower connecting assembly comprises an assembling flange and a connecting piece, the assembling flange is provided with a plurality of first via holes and a plurality of first fixing holes, the extending direction of the first via holes is roughly parallel to a rotating shaft of the assembling flange, and the extending direction of the first fixing holes is roughly perpendicular to the rotating shaft of the assembling flange. The first connecting end is provided with a plurality of second via holes. The first via hole is used for being connected with an output flange of the shoulder rolling joint module, and the second via holes and the first fixing holes are arranged in an aligned mode. According to the invention, the assembly efficiency of the assembly flange can be improved.

Description

Technical Field

[0001] This application relates to the field of robot technology, and relates to a lower connecting component of the upper arm, a shoulder structure, a humanoid robot, and a robot of a humanoid robot. Background Art

[0002] In robot technology, the research and development of humanoid robots with a human-like form is a hot topic in the industry. The upper body of a humanoid robot often has a double-arm structure imitating the human upper arm and a shoulder joint structure connecting the double arms. The shoulder joint structure can usually drive the arm to swing or rotate, realizing the human-like movement of the humanoid robot.

[0003] In the prior art, the connection structure between the shoulder joint and the upper arm is not beautiful and is not easy to assemble. For example, in the published text of the invention patent CN114347006A, the upper arm has two plate structures arranged opposite to each other and is fixed to the output shaft of the third motor of the shoulder joint mechanism by bolts. The shape design of this upper arm has low aesthetic degree, does not conform to the human body aesthetic design, and it is not easy to assemble the upper arm with the output shaft of the third motor. Utility Model Content

[0004] This application provides a lower connecting component of the upper arm, a shoulder structure, a humanoid robot, and a robot of a humanoid robot, aiming to solve the problem that the existing connection structure between the shoulder joint and the upper arm is not beautiful and is not easy to assemble.

[0005] In one aspect, a lower connecting component of the upper arm of a humanoid robot is provided, including:

[0006] An assembly flange, provided with a plurality of first through holes and a plurality of first fixing holes. The extending direction of the first through holes is substantially parallel to the rotation axis of the assembly flange, and the extending direction of the first fixing holes is substantially perpendicular to the rotation axis of the assembly flange. The assembly flange is used for assembly connection to the output flange of the shoulder roll joint module;

[0007] A connecting piece, having a first connection end and a second connection end. The first connection end is connected to the assembly flange, and the second connection end is used for connection to the elbow joint module. The connecting piece is substantially in a hollow cylindrical shape, and the first connection end is provided with a plurality of second through holes;

[0008] The first through holes are used for connection to the output flange of the shoulder roll joint module, and each second through hole is arranged in alignment with each first fixing hole.

[0009] In one aspect, the internal hollow structure of the connecting piece forms an installation cavity, and the assembly flange is installed in the installation cavity.

[0010] In one aspect, a plurality of first bumps are provided on the outer side wall of the assembly flange, and a plurality of clamping grooves are provided on the inner side wall of the connecting piece, and each first bump is clamped and fixed with each clamping groove.

[0011] In one embodiment, the first bump and the card slot are generally dovetail-shaped.

[0012] In one embodiment, a plurality of second bumps are further provided on the outer sidewall of the assembly flange, the second bumps are in contact with the inner sidewall of the connecting member, and the first fixing holes are provided on the second bumps.

[0013] In one embodiment, the second bumps are arranged at intervals from the first bumps;

[0014] In the extending direction of the first fixing hole, the width of the second bump is smaller than the width of the first bump.

[0015] In one embodiment, in the direction of the rotation axis of the assembly flange, the thickness of the second bump is greater than the thickness of the first bump.

[0016] In one embodiment, the connecting member includes:

[0017] A connecting body, generally a hollow cylinder with an open sidewall;

[0018] A connecting cover plate, detachably covering the open sidewall of the connecting body, the shape of the connecting cover plate is adapted to the shape of the open sidewall of the connecting body, and second through holes are provided on both the connecting body and the connecting cover plate.

[0019] In one embodiment, a first wire passing opening is formed on the sidewall of the connecting member, and the first wire passing opening communicates with the internal hollow of the connecting member.

[0020] In one embodiment, a first wire passing groove and a second wire passing groove are formed on the sidewall of the assembly flange, and the first wire passing groove and the second wire passing groove are used to provide wire passing spaces for connecting wires with different orientations.

[0021] In one embodiment, the lower connecting assembly of the upper arm further includes electronic components, and the electronic components are assembled in the internal hollow of the connecting member.

[0022] In one embodiment, a shoulder structure of a humanoid robot is provided, including a shoulder roll joint module and the lower connecting assembly of the upper arm of the humanoid robot as described above;

[0023] A plurality of second fixing holes are provided on the output flange of the shoulder roll joint module, and each second through hole is arranged in alignment with each second fixing hole.

[0024] In one embodiment, the first fastener passes through the first through hole and is connected to the second fixing hole, the second fastener passes through the second through hole and is connected to the first fixing hole, and the extending directions of the first fastener and the second fastener are substantially perpendicular.

[0025] In one embodiment, a humanoid robot is provided, including:

[0026] The lower connecting component of the large arm of the humanoid robot as described above or the shoulder structure of the humanoid robot.

[0027] In one solution, a robot is provided, including:

[0028] The lower connecting component of the large arm of the humanoid robot as described above or the shoulder structure of the humanoid robot as described above.

[0029] Advantages of the present application:

[0030] In the embodiment of the present application, the connecting piece is designed to be generally hollow cylindrical. This shape design not only provides a simple and smooth appearance, but also its internal hollow structure can provide installation space for components such as the mounting flange, making the overall layout of the lower connecting component of the large arm more compact and improving the space utilization efficiency. Secondly, the internal hollow of the connecting piece can also be used as a heat dissipation channel to help dissipate the heat generated by components such as the mounting flange, keep the entire assembly structure at an appropriate working temperature, and improve the reliability and lifespan of the structure.

[0031] In addition, the extending direction of the first through hole on the mounting flange is generally parallel to the rotation axis of the mounting flange, while the extending direction of the first fixing hole is generally perpendicular to the rotation axis. This design allows technicians to select the most suitable assembly angle for assembly according to the specific positions and directions of the shoulder roll joint module, the mounting flange, and the connecting piece during assembly, and there is no interference between them, thereby optimizing the assembly process, reducing the assembly difficulty, and improving the assembly efficiency. Moreover, the different through hole directions provide more installation options for the assembly of the mounting flange, enabling it to adapt to different space layouts and design requirements, and improving the flexibility of assembly. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a schematic structural diagram of the lower connecting component of the large arm in an embodiment of the present application;

[0034] Figure 2 It is an exploded schematic diagram of the lower connecting component of the large arm in an embodiment of the present application;

[0035] Figure 3 It is a schematic structural diagram of the mounting flange in an embodiment of the present application;

[0036] Figure 4 It is a top view of the mounting flange in an embodiment of the present application;

[0037] Figure 5 is a schematic structural view of the connection body in an embodiment of the present application;

[0038] Figure 6 is a cross-sectional view of the connection between the assembly flange and the connecting member in an embodiment of the present application;

[0039] Figure 7 is the front view of the assembly flange in an embodiment of the present application;

[0040] Figure 8 is a schematic structural view of the shoulder structure in an embodiment of the present application;

[0041] Figure 9 is a schematic structural view of a humanoid robot or a robot in an embodiment of the present application.

[0042] Each reference numeral in the figure:

[0043] 1. Lower arm connection assembly; 11. Assembly flange; 111. First through hole; 112. First fixing hole; 113. First convex block; 114. Second convex block; 115. First wire passing groove; 116. Second wire passing groove; 12. Connecting member; 121. Connection body; 122. Connection cover plate; 123. Second through hole; 124. Installation cavity; 125. Wire passing opening; 126. Electronic component; 127. First connection end; 128. Second connection end; 129. Card slot; 13. Second fastener;

[0044] 2. Shoulder roll joint module.

[0045] Axis A is shown as the rotation axis of the assembly flange. Detailed implementation manners

[0046] The following will further describe in detail specific embodiments of the present application in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application. Similarly, the following embodiments are only partial embodiments of the present application rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0047] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0048] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0049] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0051] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] In the present invention, the term "substantially in the shape of" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall characteristics and can therefore be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object, it is stated as "substantially circular", meaning that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, it is stated as "substantially cubic", meaning that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0053] In the prior art, the connection structure between the shoulder joint and the upper arm is not aesthetically pleasing and is not easy to assemble.

[0054] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0055] In some embodiments, please refer to Figure 1 and Figure 2 , the embodiment of the present application provides a lower connecting component 1 of the upper arm of a humanoid robot, including an assembly flange 11 and a connecting member 12. Although only one-sided lower connecting component 1 of the upper arm is schematically shown in the figure, it can be understood that in this embodiment, the lower connecting component 1 of the upper arm is a connecting component between the shoulder roll joint module of the humanoid robot and the upper arm (refer to Figure 8 and Figure 9 ). Because a robot generally has a pair of arms, the lower connecting components 1 of the upper arm of the humanoid robot in the embodiment are generally provided in pairs.

[0056] The assembly flange 11 is provided with a plurality of first through holes 111 and a plurality of first fixing holes 112. The extending direction of the first through holes 111 is substantially parallel to the rotation axis A of the assembly flange 11, and the extending direction of the first fixing holes 112 is substantially perpendicular to the rotation axis A of the assembly flange 11. The assembly flange 11 is used for assembling and connecting to the output flange of the shoulder roll joint module 2.

[0057] The connecting member 12 has a first connecting end 127 and a second connecting end 128. The first connecting end 127 is connected to the mounting flange 11, and the second connecting end 128 is used to connect to the elbow joint module. The connecting member 12 is generally in a hollow cylindrical shape, and the first connecting end 127 is provided with a plurality of second through holes 123.

[0058] The first through hole 111 is used to connect to the output flange of the shoulder roll joint module 2, and each second through hole 123 is arranged in alignment with each first fixing hole 112.

[0059] In the embodiment of the present application, the connecting member 12 is designed to be generally in a hollow cylindrical shape. This shape design not only provides a simple and smooth appearance, but also its internal hollow structure can provide an installation space for components such as the mounting flange 11, making the overall layout of the lower connecting component 1 of the upper arm more compact and improving the space utilization efficiency. Secondly, the internal hollow of the connecting member 12 can also be used as a heat dissipation channel to help dissipate the heat generated by components such as the mounting flange 11, maintaining a suitable working temperature for the entire structure and improving the reliability and lifespan of the structure.

[0060] In addition, the extending direction of the first through hole 111 on the mounting flange 11 is generally parallel to the rotation axis A of the mounting flange 11, while the extending direction of the first fixing hole 112 is generally perpendicular to the rotation axis A. This design allows technicians to select the most suitable assembly angle for assembly according to the specific positions and directions of the shoulder roll joint module 2, the mounting flange 11, and the connecting member 12 during assembly, without interference with each other, thereby optimizing the assembly process, reducing the assembly difficulty, and improving the assembly efficiency. Moreover, the different through hole directions provide more installation options for the assembly of the mounting flange 11, enabling it to adapt to different space layouts and design requirements and improving the flexibility of assembly.

[0061] In one embodiment, please refer to Figure 1 and Figure 2 , the internal hollow structure of the connecting member 12 forms an installation cavity 124, and the mounting flange 11 is installed in the installation cavity 124. The mounting flange 11 can be installed in the area of the installation cavity 124 close to the shoulder roll joint module 2. In the embodiment of the present application, the connecting member 12 can be used as the upper arm of a humanoid robot.

[0062] In the embodiment of the present application, by installing the mounting flange 11 in the installation cavity 124 formed by the internal hollow of the connecting member 12, the connection structure between the connecting member 12 and the mounting flange 11 is generally not directly visible when observed from the outside, thereby making the appearance of the lower connecting component 1 of the upper arm more neat and smooth. This hidden installation method reduces the mechanical components visible from the outside and improves the overall aesthetic appearance of the humanoid robot, meeting the trend in modern industrial design towards a simple and smooth appearance.

[0063] In addition, the installation cavity 124 provides a stable support environment for the assembly flange 11. Since the assembly flange 11 is completely wrapped inside the connecting member 12, this structure can effectively reduce the impact of external shocks and vibrations on the assembly flange 11 and improve the stability of the shoulder joint during movement. In addition, the internal hollow structure can also serve as a stress buffer zone to disperse and absorb the forces generated by movement and reduce the direct impact on the assembly flange 11.

[0064] In one embodiment, please refer to Figures 3 to 7 , a plurality of first bumps 113 are provided on the outer sidewall of the assembly flange 11, and a plurality of card slots 129 are provided on the inner sidewall of the connecting member 12. Each first bump 113 is fixedly engaged with each card slot 129. The shape and size of the first bump 113 are adapted to those of the card slot 129.

[0065] In this embodiment, the engagement and fixation mechanism between the first bump 113 and the card slot 129 provides a simple and effective connection method. This connection method can not only withstand a high load, but also simplifies the assembly process by reducing additional fasteners. In practical applications, when the first bump 113 is accurately engaged in the card slot 129, the interaction between them can form a self-locking mechanism, thereby ensuring the reliability and stability of the connection between the assembly flange 11 and the connecting member 12.

[0066] In one embodiment, the first bump 113 and the card slot 129 are generally in a dovetail shape. The first bump 113 can be formed by extending outward from a partial area of the outer sidewall of the assembly flange 11. When extending, the dimension of the first bump 113 in the circumferential direction of the assembly flange 11 gradually increases, thus forming a dovetail-shaped structure with a larger extension end. The shape of the card slot 129 is adapted to the shape of the first bump 113. The card slot 129 can be formed by subtracting material from a partial area of the inner sidewall of the connecting member 12. In this embodiment, the dovetail design helps to improve the stability and firmness of the engagement between the first bump 113 and the card slot 129.

[0067] In one embodiment, please refer to Figure 3 , Figure 4 , Figure 6 and Figure 7, there are also multiple second protrusions 114 provided on the outer sidewall of the assembly flange 11. The second protrusions 114 abut against the inner sidewall of the connecting member 12, and the first fixing holes 112 are provided on the second protrusions 114. The outer edge of the second protrusion 114 can be generally arc-shaped to be adapted to the inner sidewall of the connecting member 12. The radian of the outer edge of the second protrusion 114 can be approximately equal to the radian of the inner sidewall of the connecting member 12 to improve the fit between the two and increase the contact area between the two, thereby enhancing the uniformity and stability of the abutment between the second protrusion 114 and the inner sidewall of the connecting member 12. The multiple second protrusions 114 can be generally evenly distributed on the outer sidewall of the assembly flange 11 to ensure the uniformity of the acting force between the inner sidewall of the assembly flange 11 and the connecting member 12.

[0068] In this embodiment, the first fixing holes 112 are provided on the second protrusions 114, and the abutment of the second protrusions 114 against the inner sidewall of the connecting member 12 and the use of the first fixing holes 112 form a locking mechanism with higher structural strength, which can prevent the connecting member 12 from loosening under high load or vibration environment.

[0069] In one embodiment, please refer to Figure 3 and Figure 4 , the second protrusions 114 and the first protrusions 113 are arranged at intervals. In the extending direction of the first fixing holes 112, the width of the second protrusions 114 is smaller than the width of the first protrusions 113.

[0070] In this embodiment, the first protrusions 113 are engaged and fixed with the card slots 129 on the connecting member 12 to form locking points. The first fixing holes 112 are provided on the second protrusions 114, and the first fixing holes 112 and the second through holes 123 on the connecting member 12 can be connected by the second fasteners 13 (see Figure 2 ) to form connection points. The fixed points and the connection points are distributed at intervals, which can effectively improve the uniformity of the stress distribution between the assembly flange 11 and the connecting member 12 and reduce the material fatigue or damage that may be caused by local stress concentration.

[0071] In one embodiment, please refer to Figure 3 and Figure 7 , in the direction of the rotating shaft A of the assembly flange 11, the thickness of the second protrusions 114 is greater than the thickness of the first protrusions 113.

[0072] In this embodiment, the larger thickness significantly improves the structural strength of the second protrusions 114, enabling them to withstand greater loads and working stresses, especially in the direction of the rotating shaft of the assembly flange 11, which is crucial for maintaining the stability and reliability of the connection of the assembly flange 11. Secondly, the increase in thickness provides more space for the design of the second fixing holes, allowing the use of larger or deeper fixing holes to adapt to fasteners of different sizes, thereby improving the firmness of the connection between the assembly flange 11 and the connecting member 12.

[0073] In one embodiment, refer to Figure 2 and Figure 5 , the connecting member 12 includes a connecting body 121 and a connecting cover plate 122. The connecting body 121 is generally a hollow cylinder with an opening on its side wall. The connecting cover plate 122 is detachably disposed on the opening of the side wall of the connecting body 121. The shape of the connecting cover plate 122 is adapted to the shape of the opening of the side wall of the connecting body 121. Second through holes 123 are provided on both the connecting body 121 and the connecting cover plate 122. The opening on the side wall of the connecting body 121 is located at the upper end of the connecting body 121, that is, the end close to the shoulder roll joint module 2. The size of the opening can be designed according to the size of the components to be installed in the installation cavity 124 of the connecting member 12, etc.

[0074] In this embodiment, the connecting member 12 adopts a split design of the connecting body 121 and the connecting cover plate 122, reflecting a modular structure design concept. The design of the opening on the side wall of the connecting body 121 and the detachable design of the connecting body 121 and the connecting cover plate 122 not only provide a more convenient installation channel for the installation of components such as the mounting flange 11, but also help technicians to repair and maintain the components such as the mounting flange 11 inside.

[0075] In one embodiment, refer to Figure 1 and Figure 2 , a first wire passing opening 125 is formed on the side wall of the connecting member 12, and the first wire passing opening 125 communicates with the internal hollow of the connecting member 12.

[0076] In this embodiment, the internal hollow shape of the connecting member 12 not only provides an installation space for the mounting flange 11, but also allows cables or other lines to be hidden in the space, thus ensuring the neatness of the outside and the compact layout inside. The wire passing opening 125 directly communicates with the internal hollow part of the connecting member 12, providing a direct and smooth channel for the cable, making the wiring work more efficient and orderly.

[0077] In one embodiment, refer to Figure 3 and Figure 4 , a first wire passing groove 115 and a second wire passing groove 116 are formed on the side wall of the mounting flange 11. The first wire passing groove 115 and the second wire passing groove 116 are used to provide wire passing spaces for connecting lines with different directions. For example, the first wire passing groove 115 is used to provide a wire passing space for the connecting line going upward, and the second wire passing groove 116 is used to provide a wire passing space for the connecting line going downward. The connecting lines may include electric wires or cables, etc.

[0078] In this embodiment, the design of the first wire-passing groove 115 and the second wire-passing groove 116 helps to better manage and organize the connecting wires, ensuring a clear and orderly wire layout and avoiding wire chaos or entanglement. Moreover, the space within the groove can protect the connecting wires from mechanical damage or wear, especially during assembly or transportation, which helps to extend the service life of the connecting wires.

[0079] In one embodiment, please refer to Figure 2 , the lower arm connecting component 1 further includes an electronic component 126, which is assembled in the inner hollow of the connecting member 12. The electronic component 126 can be a power conversion board, but is not limited thereto. In this embodiment, assembling the electronic component 126 in the inner hollow of the connecting member 12 improves the utilization rate of the inner space of the connecting member 12.

[0080] In one embodiment, please refer to Figure 2 and Figure 8 , the embodiment of the present application provides a shoulder structure of a humanoid robot, including a shoulder roll joint module 2 and the lower arm connecting component 1 of the humanoid robot in any of the above embodiments.

[0081] A plurality of second fixing holes are provided on the output flange of the shoulder roll joint module 2, and each second through hole 123 is arranged in alignment with each second fixing hole.

[0082] In one embodiment, the first fastener passes through the first through hole 111 and then connects to the second fixing hole, and the second fastener 13 passes through the second through hole 123 and then connects to the first fixing hole 112. The extending direction of the first fastener and the extending direction of the second fastener 13 are substantially perpendicular.

[0083] In one embodiment, please refer to Figure 9 , the embodiment of the present application provides a humanoid robot, including the lower arm connecting component 1 of the humanoid robot in any of the above embodiments or the shoulder structure of the humanoid robot.

[0084] In one embodiment, please refer to Figure 9 , the embodiment of the present application provides a robot, including the lower arm connecting component 1 of the humanoid robot in any of the above embodiments or the shoulder structure of the humanoid robot.

[0085] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. The lower connecting component of the large arm of a humanoid robot, characterized in that, Comprising: An assembly flange, provided with a plurality of first through-holes and a plurality of first fixing holes, the extending direction of the first through-holes is substantially parallel to the rotation axis of the assembly flange, the extending direction of the first fixing holes is substantially perpendicular to the rotation axis of the assembly flange, and the assembly flange is used for assembling and connecting to the output flange of the shoulder roll joint module; A connecting member, having a first connection end and a second connection end, the first connection end is connected to the assembly flange, the second connection end is used for connecting to the elbow joint module, the connecting member is substantially in a hollow cylindrical shape, and the first connection end is provided with a plurality of second through-holes; The first through-holes are used for connecting to the output flange of the shoulder roll joint module, and each of the second through-holes is arranged in alignment with each of the first fixing holes.

2. The lower connecting component of the upper arm of the humanoid robot according to claim 1, characterized in that, The internal hollow structure of the connecting member forms an installation cavity, and the assembly flange is installed in the installation cavity.

3. The lower connecting component of the upper arm of the humanoid robot according to claim 2, characterized in that, A plurality of first bumps are provided on the outer side wall of the assembly flange, and a plurality of clamping grooves are provided on the inner side wall of the connecting member, and each of the first bumps is clamped and fixed with each of the clamping grooves.

4. The lower connecting component of the large arm of the humanoid robot according to claim 3, characterized in that, The first bumps and the clamping grooves are substantially in a dovetail shape.

5. The lower connecting component of the upper arm of the humanoid robot according to claim 3, characterized in that A plurality of second bumps are further provided on the outer side wall of the assembly flange, the second bumps are in contact with the inner side wall of the connecting member, and the first fixing holes are arranged on the second bumps.

6. The lower connecting component of the upper arm of the humanoid robot according to claim 5, characterized in that, The second bumps and the first bumps are arranged at intervals; In the extending direction of the first fixing holes, the width of the second bumps is smaller than the width of the first bumps.

7. The lower connecting component of the large arm of the humanoid robot according to claim 5, characterized in that, In the direction of the rotation axis of the assembly flange, the thickness of the second bumps is greater than the thickness of the first bumps.

8. The lower connecting component of the large arm of the humanoid robot according to claim 1, characterized in that, The connecting member includes: A connecting main body, substantially in a hollow cylindrical shape with a side wall opening; A connecting cover plate, detachably covering the side wall opening of the connecting main body, the shape of the connecting cover plate is adapted to the shape of the side wall opening of the connecting main body, and the second through-holes are provided on both the connecting main body and the connecting cover plate.

9. The lower connecting component of the large arm of the humanoid robot according to claim 1, characterized in that, A first wire passing opening is formed on the side wall of the connecting member, and the first wire passing opening communicates with the internal hollow of the connecting member.

10. The lower connecting component of the upper arm of the humanoid robot according to claim 1, characterized in that A first wire passing groove and a second wire passing groove are formed on the side wall of the assembly flange, and the first wire passing groove and the second wire passing groove are used to provide a wire passing space for connecting wires with different running directions.

11. The lower connecting component of the large arm of the humanoid robot according to claim 1, characterized in that, The lower arm connecting assembly further includes electronic components, and the electronic components are assembled in the internal hollow of the connecting member.

12. Shoulder structure of a humanoid robot, characterized in that, Comprising a shoulder roll joint module and the lower arm connecting assembly of a humanoid robot according to any one of claims 1 to 9; A plurality of second fixing holes are provided on the output flange of the shoulder roll joint module, and each of the second through-holes is arranged in alignment with each of the second fixing holes.

13. The shoulder structure of the humanoid robot according to claim 12, characterized in that, A first fastener passes through the first through-hole and then is connected to the second fixing hole, and a second fastener passes through the second through-hole and then is connected to the first fixing hole, and the extending directions of the first fastener and the second fastener are substantially perpendicular.

14. Humanoid robot, characterized in that, Comprising: The lower arm connecting assembly of a humanoid robot according to any one of claims 1-11; Or The shoulder structure of a humanoid robot according to claim 12 or 13.

15. A robot, characterized in that, Comprising: The lower arm connecting assembly of a humanoid robot according to any one of claims 1-11; Or The shoulder structure of the humanoid robot according to claim 12 or 13.

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