Humanoid robot bus system and humanoid robot

Abstract

The utility model relates to a humanoid robot bus system and a humanoid robot, the system comprises a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem and a body subsystem, the left arm subsystem is connected to the body subsystem through a left arm fusion bus; the right arm subsystem is connected to the body subsystem through a right arm fusion bus; the left leg subsystem is connected to the body subsystem through a left leg fusion bus; the right leg subsystem is connected to the body subsystem through a right leg fusion bus; the waist subsystem is connected to the body subsystem through a waist fusion bus; the head subsystem is connected to the body subsystem through a head fusion bus. According to the utility model, the humanoid robot can communicate with each subsystem of the humanoid robot through the bus in each subsystem, and the control of each subsystem is realized.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a humanoid robot bus system and a humanoid robot. Background Technology

[0002] Humanoid robots are increasingly being used in various fields, such as service robots and industrial robots, due to their flexibility and multi-degree-of-freedom structure.

[0003] For robot systems with multi-degree-of-freedom structures, stable and rapid data exchange and control signal transmission are required between their joints, actuators, and sensors. However, traditional communication methods are inefficient when dealing with complex multi-node control and cannot meet the demands of high-speed synchronous control. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this utility model provides a humanoid robot bus system and a humanoid robot.

[0005] In a first aspect, this utility model provides a humanoid robot bus system, the system comprising: a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem, and a body subsystem.

[0006] The left arm subsystem is connected to the body subsystem via a left arm fusion bus;

[0007] The right arm subsystem is connected to the body subsystem via the right arm fusion bus;

[0008] The left leg subsystem is connected to the body subsystem via a left leg fusion bus;

[0009] The right leg subsystem is connected to the body subsystem via a right leg fusion bus;

[0010] The lumbar subsystem is connected to the body subsystem via a lumbar fusion bus;

[0011] The head subsystem is connected to the body subsystem via a head fusion bus.

[0012] Optionally, the body subsystem includes:

[0013] A body adapter plate, wherein the left arm port of the body adapter plate is connected to the left arm fusion bus, the right arm port of the body adapter plate is connected to the right arm fusion bus, the left leg port of the body adapter plate is connected to the left leg fusion bus, the right leg port of the body adapter plate is connected to the right leg fusion bus, the waist port of the body adapter plate is connected to the waist fusion bus, the head port of the body adapter plate is connected to the head fusion bus, and the first power port of the body adapter plate is connected to a power source;

[0014] The main control board has its network port connected to the network port of the body adapter board, and its power port is connected to the second power port of the body adapter board.

[0015] Optionally, the left arm subsystem includes:

[0016] The front and rear motors of the left arm are connected to the left arm fusion bus via the front and rear wiring terminals of the left arm.

[0017] The left and right motors of the left arm are connected to the left arm fusion bus via the left and right wiring terminals of the left arm.

[0018] The left arm rotation motor is connected to the left arm fusion bus via the left arm rotation terminal block.

[0019] The left arm linear motor is connected to the left arm fusion bus via the left arm linear terminal block.

[0020] The left forearm rotation motor is connected to the left arm fusion bus via the rotation of the left forearm.

[0021] A left wrist harness adapter board is used to divide the left arm fusion bus into a first left arm branch bus, a second left arm branch bus, and a third left arm branch bus. The first end of the left wrist harness adapter board is connected to the first left arm branch bus, the second end of the left wrist harness adapter board is connected to the second left arm branch bus, the third end of the left wrist harness adapter board is connected to the third left arm branch bus, and the fourth end of the left wrist harness adapter board is connected to the left arm fusion bus.

[0022] The first linear motor of the left wrist is connected to the first left arm branch bus via the first linear terminal of the left wrist.

[0023] The second linear motor of the left wrist is connected to the second left arm branch bus via the second linear terminal of the left wrist.

[0024] The left-hand six-dimensional force sensor is connected to the third left-hand branch bus via the left-hand six-dimensional force terminal;

[0025] The left-hand component is connected to the third left-hand branch bus via the left-hand terminal block.

[0026] Optionally, the right arm subsystem includes:

[0027] The front and rear motors of the right arm are connected to the right arm fusion bus via the front and rear wiring terminals of the right arm.

[0028] The left and right motors of the right arm are connected to the right arm fusion bus via the left and right wiring terminals of the right arm.

[0029] The right arm rotation motor is connected to the right arm fusion bus via the right arm rotation terminal block.

[0030] The right arm linear motor is connected to the right arm fusion bus via the right arm linear terminal block.

[0031] The right forearm rotation motor is connected to the right arm fusion bus via the rotation of the right forearm.

[0032] A right wrist harness adapter board is used to divide the right arm fusion bus into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus. The first end of the right wrist harness adapter board is connected to the first right arm branch bus, the second end of the right wrist harness adapter board is connected to the second right arm branch bus, the third end of the right wrist harness adapter board is connected to the third right arm branch bus, and the fourth end of the right wrist harness adapter board is connected to the right arm fusion bus.

[0033] The first linear motor of the right wrist is connected to the first right arm branch bus via the first linear terminal of the right wrist.

[0034] The second linear motor of the right wrist is connected to the second right arm branch bus via the second linear terminal of the right wrist.

[0035] The right-hand six-dimensional force sensor is connected to the third right-arm branch bus via the right-hand six-dimensional force terminal block.

[0036] The right-hand component is connected to the third right-arm branch bus via the right-hand terminal block.

[0037] Optionally, the left leg subsystem includes:

[0038] The left and right motors of the left leg are connected to the left leg fusion bus via the left and right wiring terminals of the left leg.

[0039] The left leg rotation motor is connected to the left leg fusion bus via the left leg rotation terminal block.

[0040] The left leg tension / pressure motor is connected to the left leg fusion bus via the left leg tension / pressure wiring terminal;

[0041] A linear motor in the left hip is connected to the left leg fusion bus via a linear terminal block in the left hip.

[0042] The left knee linear motor is connected to the left leg fusion bus via the left knee linear terminal block.

[0043] The first linear motor of the left lower leg is connected to the left leg fusion bus via the first linear terminal of the left lower leg.

[0044] The second linear motor of the left lower leg is connected to the left leg fusion bus via the second linear terminal of the left lower leg.

[0045] The left leg six-dimensional force sensor is connected to the left leg fusion bus via the left leg six-dimensional force terminal.

[0046] Optionally, the right leg subsystem includes:

[0047] The left and right motors of the right leg are connected to the right leg fusion bus via the left and right wiring terminals of the right leg.

[0048] The right leg rotation motor is connected to the right leg fusion bus via the right leg rotation terminal block.

[0049] The right leg tension / pressure motor is connected to the right leg fusion bus via the right leg tension / pressure wiring terminal;

[0050] A linear motor in the right hip is connected to the right leg fusion bus via a linear terminal block in the right hip.

[0051] The right knee linear motor is connected to the right leg fusion bus via the right knee linear terminal block.

[0052] The first linear motor of the right lower leg is connected to the right leg fusion bus via the first linear terminal of the right lower leg.

[0053] The second linear motor of the right lower leg is connected to the right leg fusion bus via the second linear terminal of the right lower leg.

[0054] The right leg six-dimensional force sensor is connected to the right leg fusion bus via the right leg six-dimensional force terminal block.

[0055] Optionally, the head subsystem includes:

[0056] The display control board is connected to the head fusion bus via the head port.

[0057] Optionally, the waist subsystem includes:

[0058] A waist rotation motor is connected to the waist fusion bus via waist rotation terminals;

[0059] The left and right waist motors are connected to the waist fusion bus via left and right waist wiring terminals.

[0060] Optionally, any merge line includes:

[0061] Communication cables are used to transmit communication data.

[0062] Power cable, used for power supply;

[0063] A communication shielding layer is wrapped around the communication cable;

[0064] A power insulation layer is wrapped around the power cable;

[0065] The power cable, which is wrapped by the communication shielding layer and the power cable, which is wrapped by the power insulation layer, is wound together into a single cable.

[0066] Sheath, wrapped around the winding tape;

[0067] The wiring terminals are integrally injection molded with the corresponding fusion wires;

[0068] Wherein, any of the aforementioned terminals includes:

[0069] The communication port connects to the communication cable in the corresponding fusion cable and provides an external communication interface.

[0070] The power connector connects to the power cable in the corresponding fusion shield and provides an external power supply interface.

[0071] Secondly, a humanoid robot is provided, including the humanoid robot bus system described above.

[0072] This invention provides a humanoid robot bus system and a humanoid robot. The system includes: a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem, and a body subsystem. The left arm subsystem is connected to the body subsystem via a left arm fusion bus; the right arm subsystem is connected to the body subsystem via a right arm fusion bus; the left leg subsystem is connected to the body subsystem via a left leg fusion bus; the right leg subsystem is connected to the body subsystem via a right leg fusion bus; the waist subsystem is connected to the body subsystem via a waist fusion bus; and the head subsystem is connected to the body subsystem via a head fusion bus. In this embodiment, each subsystem is connected to the body subsystem via a fusion bus, enabling the humanoid robot to communicate with and control each subsystem through the buses within each subsystem. Attached Figure Description

[0073] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0074] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 The diagram shown is a structural block diagram of the humanoid robot bus system according to an embodiment of this utility model;

[0076] Figure 2 The diagram shown is a structural block diagram of the humanoid robot bus system according to an embodiment of this utility model;

[0077] Figure 3 The figure shown is a cross-sectional schematic diagram of the fusion bus according to an embodiment of the present invention;

[0078] Figure 4 The diagram shown is a structural schematic of the wiring terminal of an embodiment of this utility model. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0080] Figure 1 , Figure 2 The diagram shown is a structural block diagram of the humanoid robot bus system according to an embodiment of this utility model.

[0081] like Figure 1 , Figure 2 As shown, the humanoid robot bus system includes: a left arm subsystem 110, a right arm subsystem 120, a left leg subsystem 130, a right leg subsystem 140, a waist subsystem 150, a head subsystem 160, and a body subsystem 170.

[0082] The left arm subsystem 110 is connected to the body subsystem 170 via the left arm fusion bus 111;

[0083] The right arm subsystem 120 is connected to the body subsystem 170 via the right arm fusion bus 121;

[0084] The left leg subsystem 130 is connected to the body subsystem 170 via the left leg fusion bus 131;

[0085] The right leg subsystem 140 is connected to the body subsystem 170 via 141;

[0086] The lumbar subsystem 150 is connected to the body subsystem 170 via a lumbar fusion bus 151;

[0087] The head subsystem 160 is connected to the body subsystem 170 via a head fusion bus 161.

[0088] In this utility model embodiment, each subsystem is connected to the body subsystem via a fusion bus, enabling the humanoid robot to communicate with and control each subsystem through the bus in each subsystem.

[0089] In this embodiment of the present invention, the body subsystem 170 includes:

[0090] A body adapter plate, wherein the left arm port of the body adapter plate is connected to the left arm fusion bus 111, the right arm port of the body adapter plate is connected to the right arm fusion bus 121, the left leg port of the body adapter plate is connected to the left leg fusion bus 131, the right leg port of the body adapter plate is connected to 141, the waist port of the body adapter plate is connected to the waist fusion bus 151, the head port of the body adapter plate is connected to the head fusion bus 161, and the first power port of the body adapter plate is connected to a power source;

[0091] The main control board has its network port connected to the network port of the body adapter board, and its power port is connected to the second power port of the body adapter board.

[0092] In this embodiment of the invention, each subsystem is connected to the body subsystem 170 via a fusion bus, and the body subsystem 170 is connected to each fusion bus via a body adapter board, and finally connected to the main control board. The main control board can communicate with each subsystem of the humanoid robot and control each subsystem through the body adapter board and the buses in each subsystem.

[0093] In this embodiment of the present invention, the left arm subsystem 110 includes:

[0094] The left arm front and rear motors 1102 are connected to the left arm fusion bus 111 via the left arm front and rear wiring terminals 1112;

[0095] The left arm left and right motors 1103 are connected to the left arm fusion bus 111 via the left arm left and right wiring terminals 1113;

[0096] The left arm rotation motor 1104 is connected to the left arm fusion bus 111 via the left arm rotation terminal 1114;

[0097] The left arm linear motor 1105 is connected to the left arm fusion bus 111 via the left arm linear terminal block 1115.

[0098] The left forearm rotation motor 1106 is connected to the left arm fusion bus 111 via the left forearm rotation 1116;

[0099] A left wrist harness adapter board 1107 is used to divide the left arm fusion bus 111 into a first left arm branch bus 11101, a second left arm branch bus 11102, and a third left arm branch bus 11103. The first end of the left wrist harness adapter board is connected to the first left arm branch bus 11101, the second end of the left wrist harness adapter board is connected to the second left arm branch bus 11102, the third end of the left wrist harness adapter board is connected to the third left arm branch bus 11103, and the fourth end of the left wrist harness adapter board is connected to the left arm fusion bus 111.

[0100] The first linear motor 1108 of the left wrist is connected to the first left arm branch bus 11101 via the first linear terminal 1118 of the left wrist.

[0101] The second linear motor 1109 of the left wrist is connected to the second left arm branch bus 11102 via the second linear terminal 1119 of the left wrist.

[0102] The left-hand six-dimensional force sensor 1110 is connected to the third left-hand branch bus 11103 via the left-hand six-dimensional force terminal 1120;

[0103] The left-hand component 1111 is connected to the third left-hand branch bus 11103 via the left-hand terminal 1121.

[0104] The right arm subsystem is completely symmetrical to the left arm subsystem, therefore Figure 2 The labels for the motors, sensors, and terminals of the right arm subsystem are not shown in the diagram. The right arm subsystem can be referenced from [reference needed]. Figure 1 , Figure 2 As shown.

[0105] In this embodiment of the present invention, the right arm subsystem 120 includes:

[0106] The front and rear motors of the right arm are connected to the right arm fusion bus 121 via the front and rear wiring terminals of the right arm.

[0107] The left and right motors of the right arm are connected to the right arm fusion bus 121 via the left and right wiring terminals of the right arm.

[0108] The right arm rotation motor is connected to the right arm fusion bus 121 via the right arm rotation terminal block.

[0109] The right arm linear motor is connected to the right arm fusion bus 121 via the right arm linear terminal block.

[0110] The right forearm rotation motor is connected to the right arm fusion bus 121 via the rotation of the right forearm.

[0111] A right wrist harness adapter board is used to divide the right arm fusion bus 121 into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus. The first end of the right wrist harness adapter board is connected to the first right arm branch bus, the second end of the right wrist harness adapter board is connected to the second right arm branch bus, the third end of the right wrist harness adapter board is connected to the third right arm branch bus, and the fourth end of the right wrist harness adapter board is connected to the right arm fusion bus 121.

[0112] The first linear motor of the right wrist is connected to the first right arm branch bus via the first linear terminal of the right wrist.

[0113] The second linear motor of the right wrist is connected to the second right arm branch bus via the second linear terminal of the right wrist.

[0114] The right-hand six-dimensional force sensor is connected to the third right-arm branch bus via the right-hand six-dimensional force terminal block.

[0115] The right-hand component is connected to the third right-arm branch bus via the right-hand terminal block.

[0116] In this embodiment of the present invention, the left leg subsystem 130 includes:

[0117] The left leg left and right motors 1301 are connected to the left leg fusion bus 131 via the left leg left and right wiring terminals 1311;

[0118] The left leg rotation motor 1302 is connected to the left leg fusion bus 131 via the left leg rotation terminal 1312;

[0119] The left leg tension / pressure motor 1303 is connected to the left leg fusion bus 131 via the left leg tension / pressure terminal 1313;

[0120] The left hip linear motor 1304 is connected to the left leg fusion bus 131 via the left hip linear terminal 1314;

[0121] The left knee linear motor 1305 is connected to the left leg fusion bus 131 via the left knee linear terminal 1315;

[0122] The first linear motor 1306 of the left lower leg is connected to the left leg fusion bus 131 via the first linear terminal 1316 of the left lower leg.

[0123] The second linear motor 1307 of the left lower leg is connected to the left leg fusion bus 131 via the second linear terminal 1317 of the left lower leg.

[0124] The left leg six-dimensional force sensor 1308 is connected to the left leg fusion bus 131 via the left leg six-dimensional force terminal 1318.

[0125] The right leg subsystem is completely symmetrical to the left leg subsystem, therefore Figure 2 The labels for the motors, sensors, and terminals of the right leg subsystem are not shown in the diagram. The right leg subsystem can be referenced from [reference needed]. Figure 1 , Figure 2 As shown.

[0126] In this embodiment of the present invention, the right leg subsystem 140 includes:

[0127] The left and right motors of the right leg are connected to the right leg fusion bus 141 via the left and right wiring terminals of the right leg.

[0128] The right leg rotation motor is connected to the right leg fusion bus 141 via the right leg rotation terminal block.

[0129] The right leg tension / pressure motor is connected to the right leg fusion bus 141 via the right leg tension / pressure wiring terminal;

[0130] The right hip linear motor is connected to the right leg fusion bus 141 via the right hip linear terminal block;

[0131] The right knee linear motor is connected to the right leg fusion bus 141 via the right knee linear terminal block.

[0132] The first linear motor of the right lower leg is connected to the right leg fusion bus 141 via the first linear terminal of the right lower leg.

[0133] The second linear motor of the right lower leg is connected to the right leg fusion bus 141 via the second linear terminal of the right lower leg.

[0134] The right leg six-dimensional force sensor is connected to the 141 via the right leg six-dimensional force terminal block.

[0135] In this embodiment of the present invention, the head subsystem 160 includes:

[0136] The display control board is connected to the head fusion bus 161 via the head port 1601.

[0137] In this embodiment of the present invention, the waist subsystem 150 includes:

[0138] The waist rotation motor 1501 is connected to the waist fusion bus 151 via the waist rotation terminal 1511;

[0139] The waist left and right motors 1502 are connected to the waist fusion bus 151 via waist left and right wiring terminals 1512.

[0140] In the above embodiments of this utility model, the functional units such as motors, components, and sensors can be arranged sequentially in the humanoid robot according to the above order, or their positions can be changed as needed, or they can be replaced with other functional units such as motors, components, and sensors as needed.

[0141] In other embodiments of this utility model, there are other functional units, which can also be connected to the corresponding fusion bus through the corresponding wiring terminals, and will not be described in detail here.

[0142] Figure 3 The figure shown is a cross-sectional schematic diagram of the fusion bus according to an embodiment of the present invention. Figure 4 The diagram shown is a structural schematic of the wiring terminal of an embodiment of this utility model.

[0143] like Figure 3 , Figure 4 As shown in the embodiments of this utility model, any fusion line includes:

[0144] Communication cable 310 is used for transmitting communication data;

[0145] 320 power cable, used for power supply;

[0146] Communication shielding layer 330 is wrapped around the communication cable;

[0147] A power insulation layer 340 is wrapped around the power cable;

[0148] The winding tape 350 is used to wind the power cable wrapped by the communication shielding layer and the power cable wrapped by the power insulation layer 340 into a single cable.

[0149] The sheath 360° wraps around the winding tape;

[0150] Terminal 370 is integrally injection molded with the corresponding fusion wire;

[0151] Wherein, any of the aforementioned terminals includes:

[0152] Communication port 371 is connected to the communication cable in the corresponding fusion cable and provides an external communication interface.

[0153] The power connector 372 is connected to the power cable in the corresponding fusion shield and provides an external power supply interface.

[0154] In this embodiment of the invention, the power cable and communication cable are integrated into a single cable, forming a converged bus. The communication shielding layer in the converged bus can be wrapped with a high-strength shielding material to ensure that the power cable does not cause electromagnetic interference to high-speed communication signals; while the power insulation layer can also prevent leakage. In addition, the wrapping tape, sheath, and other materials used on the outside of the converged bus are made of flexible materials, which can enhance the durability and bending performance of the converged bus at the robot joints.

[0155] In this embodiment of the utility model, the wiring terminals adopt a modular design, which facilitates robot assembly and maintenance. In particular, when replacing motors or sensors, it is only necessary to simply plug and unplug, which improves the maintainability of the system.

[0156] This utility model embodiment also provides a humanoid robot, including the humanoid robot bus system described above.

[0157] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0158] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A humanoid robot bus system, characterized in that, The system includes: a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem, and a body subsystem. The left arm subsystem is connected to the body subsystem via a left arm fusion bus; The right arm subsystem is connected to the body subsystem via the right arm fusion bus; The left leg subsystem is connected to the body subsystem via a left leg fusion bus; The right leg subsystem is connected to the body subsystem via a right leg fusion bus; The lumbar subsystem is connected to the body subsystem via a lumbar fusion bus; The head subsystem is connected to the body subsystem via a head fusion bus, wherein the body subsystem includes: A body adapter plate, wherein the left arm port of the body adapter plate is connected to the left arm fusion bus, the right arm port of the body adapter plate is connected to the right arm fusion bus, the left leg port of the body adapter plate is connected to the left leg fusion bus, the right leg port of the body adapter plate is connected to the right leg fusion bus, the waist port of the body adapter plate is connected to the waist fusion bus, the head port of the body adapter plate is connected to the head fusion bus, and the first power port of the body adapter plate is connected to a power source. The main control board has its network port connected to the network port of the body adapter board, and its power port is connected to the second power port of the body adapter board.

2. The system according to claim 1, characterized in that, The left arm subsystem includes: The front and rear motors of the left arm are connected to the left arm fusion bus via the front and rear wiring terminals of the left arm. The left and right motors of the left arm are connected to the left arm fusion bus via the left and right wiring terminals of the left arm. The left arm rotation motor is connected to the left arm fusion bus via the left arm rotation terminal block. The left arm linear motor is connected to the left arm fusion bus via the left arm linear terminal block. The left forearm rotation motor is connected to the left arm fusion bus via the rotation of the left forearm. A left wrist harness adapter board is used to divide the left arm fusion bus into a first left arm branch bus, a second left arm branch bus, and a third left arm branch bus. The first end of the left wrist harness adapter board is connected to the first left arm branch bus, the second end of the left wrist harness adapter board is connected to the second left arm branch bus, the third end of the left wrist harness adapter board is connected to the third left arm branch bus, and the fourth end of the left wrist harness adapter board is connected to the left arm fusion bus. The first linear motor of the left wrist is connected to the first left arm branch bus via the first linear terminal of the left wrist. The second linear motor of the left wrist is connected to the second left arm branch bus via the second linear terminal of the left wrist. The left-hand six-dimensional force sensor is connected to the third left-hand branch bus via the left-hand six-dimensional force terminal; The left-hand component is connected to the third left-hand branch bus via the left-hand terminal block.

3. The system according to claim 1, characterized in that, The right arm subsystem includes: The front and rear motors of the right arm are connected to the right arm fusion bus via the front and rear wiring terminals of the right arm. The left and right motors of the right arm are connected to the right arm fusion bus via the left and right wiring terminals of the right arm. The right arm rotation motor is connected to the right arm fusion bus via the right arm rotation terminal block. The right arm linear motor is connected to the right arm fusion bus via the right arm linear terminal block. The right forearm rotation motor is connected to the right arm fusion bus via the rotation of the right forearm. A right wrist harness adapter board is used to divide the right arm fusion bus into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus. The first end of the right wrist harness adapter board is connected to the first right arm branch bus, the second end of the right wrist harness adapter board is connected to the second right arm branch bus, the third end of the right wrist harness adapter board is connected to the third right arm branch bus, and the fourth end of the right wrist harness adapter board is connected to the right arm fusion bus. The first linear motor of the right wrist is connected to the first right arm branch bus via the first linear terminal of the right wrist. The second linear motor of the right wrist is connected to the second right arm branch bus via the second linear terminal of the right wrist. The right-hand six-dimensional force sensor is connected to the third right-arm branch bus via the right-hand six-dimensional force terminal block. The right-hand component is connected to the third right-arm branch bus via the right-hand terminal block.

4. The system according to claim 1, characterized in that, The left leg subsystem includes: The left and right motors of the left leg are connected to the left leg fusion bus via the left and right wiring terminals of the left leg. The left leg rotation motor is connected to the left leg fusion bus via the left leg rotation terminal block. The left leg tension / pressure motor is connected to the left leg fusion bus via the left leg tension / pressure wiring terminal; A linear motor in the left hip is connected to the left leg fusion bus via a linear terminal block in the left hip. The left knee linear motor is connected to the left leg fusion bus via the left knee linear terminal block. The first linear motor of the left lower leg is connected to the left leg fusion bus via the first linear terminal of the left lower leg. The second linear motor of the left lower leg is connected to the left leg fusion bus via the second linear terminal of the left lower leg. The left leg six-dimensional force sensor is connected to the left leg fusion bus via the left leg six-dimensional force terminal.

5. The system according to claim 1, characterized in that, The right leg subsystem includes: The left and right motors of the right leg are connected to the right leg fusion bus via the left and right wiring terminals of the right leg. The right leg rotation motor is connected to the right leg fusion bus via the right leg rotation terminal block. The right leg tension / pressure motor is connected to the right leg fusion bus via the right leg tension / pressure wiring terminal; A linear motor in the right hip is connected to the right leg fusion bus via a linear terminal block in the right hip. The right knee linear motor is connected to the right leg fusion bus via the right knee linear terminal block. The first linear motor of the right lower leg is connected to the right leg fusion bus via the first linear terminal of the right lower leg. The second linear motor of the right lower leg is connected to the right leg fusion bus via the second linear terminal of the right lower leg. The right leg six-dimensional force sensor is connected to the right leg fusion bus via the right leg six-dimensional force terminal block.

6. The system according to claim 1, characterized in that, The head subsystem includes: The display control board is connected to the head fusion bus via the head port.

7. The system according to claim 1, characterized in that, The lumbar subsystem includes: A waist rotation motor is connected to the waist fusion bus via waist rotation terminals; The left and right waist motors are connected to the waist fusion bus via left and right waist wiring terminals.

8. The system according to claim 1, characterized in that, Any fusion line includes: Communication cables are used to transmit communication data. Power cable, used for power supply; A communication shielding layer is wrapped around the communication cable; A power insulation layer is wrapped around the power cable; The power cable, which is wrapped by the communication shielding layer and the power cable, which is wrapped by the power insulation layer, is wound together into a single cable. Sheath, wrapped around the winding tape; The wiring terminals are integrally injection molded with the corresponding fusion wires; Wherein, any of the aforementioned terminals includes: The communication port connects to the communication cable in the corresponding fusion cable and provides an external communication interface. The power connector connects to the power cable in the corresponding fusion shield and provides an external power supply interface.

9. A humanoid robot, characterized in that, Including the humanoid robot bus system as described in any one of claims 1 to 7.

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