Humanoid robot
By using a compact design and multi-degree-of-freedom servo motor drive, combined with an aluminum alloy structure, the humanoid robot's arms and legs are simplified, solving the problems of complex structure and high cost of traditional humanoid robots, and realizing a highly flexible and low-cost humanoid robot.
Patent Information
- Application Number
- CN202520278919.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-20
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-02-20
AI Technical Summary
Traditional small humanoid robots have complex structures, high costs, low structural strength, and poor reliability.
It features a compact design, uses universal servos, sheet metal and control circuit boards to simplify the arm and leg structure, achieves multiple degrees of freedom of movement through multiple servos, combines aluminum alloy structure to improve strength, simplifies unnecessary wrist structure and adds anti-slip layer.
It has achieved a humanoid robot with a simple structure, low cost and high flexibility, capable of performing complex movements and fine operations, with an aesthetically pleasing appearance and suitable for various skin shapes.
Smart Images
Figure CN223671247U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of robot, concretely relates to a humanoid robot. BACKGROUND
[0002] With the continuous development of science and technology, humanoid robots have shown great application potential in many fields, such as education, entertainment, service, etc. The traditional small humanoid robot structure is relatively complex, and the cost is relatively high. INVENTION CONTENTS
[0003] The utility model provides a humanoid robot to overcome at least one deficiency for the above problems.
[0004] The technical scheme adopted by the utility model is as follows:
[0005] A humanoid robot, comprising a trunk, two supporting legs installed below the trunk, and two arms installed above the trunk on the left and right sides respectively, the arm comprising:
[0006] A first shoulder joint support frame fixed on the trunk;
[0007] A sixth servo motor having a sixth output disc, the body of the sixth servo motor being fixed on the first shoulder joint support frame, and the axis of the sixth output disc being arranged horizontally;
[0008] A second shoulder joint support frame fixed with the sixth output disc;
[0009] A seventh servo motor having a seventh output disc, the seventh output disc being fixed on the second shoulder joint support frame, and the axis of the seventh output disc being perpendicular to the axis of the sixth output disc;
[0010] A large arm support, the upper end of which is fixed with the body of the seventh servo motor;
[0011] An eighth servo motor having an eighth output disc, the body of the eighth servo motor being fixed on the lower end of the large arm support;
[0012] A small arm support having a main body part and an extension part, the upper end of the extension part being connected with the side part of the main body part, the lower end of the extension part extending obliquely downward, the projection of the small arm support on the coronal plane of the humanoid robot being in an inverted Y-shaped structure when the arm is in an upright state, the upper end of the main body part being fixed on the eighth output disc, and the lower end of the main body part forming a hand structure;
[0013] A ninth servo motor having a ninth output disc, the body of the ninth servo motor being fixed on the region where the extension part of the small arm support is located;
[0014] A thumb support fixed on the ninth output disc, the thumb support corresponding to the hand structure.
[0015] In the application, the forearm and the palm are combined into one, unnecessary wrist structures are removed, and the structure is simplified. The thumb support can be driven to rotate by the ninth steering engine, so as to cooperate with the hand structure, and the clamping action can be realized. The shoulder joint support frame can be used as an auxiliary fixing structure, and the support structure of the arm can be greatly simplified, so that the purpose of simple structure and low cost is achieved.
[0016] The arm has 8 degrees of freedom, and each arm has 4 degrees of freedom. The sixth steering engine to the ninth steering engine can be controlled to work, and fine actions such as stretching, bending, gripping and the like can be realized.
[0017] In one embodiment of the application, the projection of the thumb support on the coronal plane of the humanoid robot is a broken line, the broken line has two branches, and the angle between the center lines of the two branches is greater than or equal to 90°.
[0018] The coronal plane is a human anatomy term, which is the plane that cuts the human body into two halves. That is, the thumb support has two parts with obtuse angles, which facilitates the formation of a clamping space between the thumb support and the hand structure, facilitates the better cooperation between the thumb support and the hand structure, and can realize reliable clamping and release actions.
[0019] In one embodiment of the application, the axis of the eighth output disc is perpendicular to the axis of the seventh output disc, and the axis of the ninth output disc is parallel to the axis of the eighth output disc.
[0020] The second shoulder joint support frame has a fifth U-shaped part, the sixth steering engine has two sixth output discs, and the two sixth output discs are fixed on the two side walls of the fifth U-shaped part, respectively. The seventh output disc is fixed on the middle side wall of the fifth U-shaped part.
[0021] The arm has a sixth U-shaped part, and the ninth steering engine has two ninth output discs, and the two ninth output discs are fixed on the two side walls of the sixth U-shaped part, respectively.
[0022] The hand structure is fixed with a second anti-skid layer, and the thumb support is fixed with a third anti-skid layer.
[0023] The second anti-skid layer and the third anti-skid layer can improve the friction force, and facilitate the cooperation between the hand structure and the thumb support to grasp the articles.
[0024] In one embodiment of the application, the support leg comprises a hip joint assembly, and the hip joint assembly comprises:
[0025] The first steering engine is fixed below the torso, and the first steering engine has a first output disc, and the axis of the first output disc is vertically arranged.
[0026] A first hip joint support frame, an upper part of which is fixed with the first output disc;
[0027] A second steering engine, having a second output disc, the second output disc is fixed with the lower part of the first hip joint support frame, the axis of the second output disc is perpendicular to the axis of the first output disc;
[0028] A second hip joint support frame, which is fixed on the body of the second steering engine;
[0029] A third steering engine, having a third output disc, the third output disc is fixed with the second hip joint support frame, in the initial state, the axis of the third output disc is perpendicular to the axis of the second output disc, and the axis of the third output disc is perpendicular to the axis of the first output disc;
[0030] In the projection of the first steering engine, the second steering engine and the third steering engine on the ground in the upright state, at least two projections have overlapping parts.
[0031] The hip joint assembly of the application is arranged in such a way that, under the premise of ensuring multiple degrees of freedom of the leg, the positions of the three steering engines of the hip joint are arranged to be slender and compact in the vertical direction. Specifically, the first steering engine, the second steering engine and the third steering engine are arranged in a stacked manner in the vertical direction, so that the appearance of the robot is more similar to the proportion of the human body structure, the hip joint assembly is more suitable as a skeleton, and it is convenient to add various skins to realize various character modeling designs. In addition, the hip joint can better simulate the activity state of the human hip joint by using three steering engines, and more human-like postures can be realized. In one embodiment, among the first steering engine, the second steering engine and the third steering engine arranged from top to bottom, the first steering engine realizes the torsion of the supporting leg, the second steering engine realizes the left and right swing of the supporting leg, and the third steering engine realizes the forward and backward swing of the supporting leg.
[0032] The hip joint support frame of the application can be used as an auxiliary fixing structure, which can greatly simplify the supporting structure of the leg, so as to achieve the purposes of simple structure and low cost.
[0033] In one embodiment of the application, the first hip joint support frame includes a first U-shaped part at the upper part and a second U-shaped part at the lower part, and the second hip joint support frame has a fixing part at the upper part and a third U-shaped part at the lower part;
[0034] The first steering engine has two first output discs, and the two first output discs are fixed on the two side walls of the first U-shaped part, respectively. The second steering engine has two second output discs, and the two second output discs are fixed on the two side walls of the second U-shaped part, respectively.
[0035] The fixed part is fixed with the body of the third steering engine, and the third steering engine has two third output discs fixed on two side walls of a third U-shaped part.
[0036] In this way, the corresponding steering engine is not directly exposed and can be half-covered by the corresponding U-shaped part, so that the structure is more beautiful, that is, the flexibility of the robot can be ensured, and the appearance of the hip joint of the robot can be considered.
[0037] In one of the embodiments of the utility model, the support leg further comprises:
[0038] The first fixing frame is fixed on the body of the third steering engine.
[0039] The upper end of the thigh support is fixed with the first fixing frame.
[0040] The fourth steering engine has a fourth output disc, and the fourth output disc is fixed with the lower end of the thigh support.
[0041] The upper end of the calf support is fixed with the body of the fourth steering engine.
[0042] The fifth steering engine has a fifth output disc, and the body of the fifth steering engine is fixed on the lower end of the calf support.
[0043] The foot is located below the calf support, and the fifth output disc is fixed with the foot.
[0044] In the initial state, the axes of the fourth output disc and the fifth output disc are horizontally arranged.
[0045] The single support leg of the application can realize five degrees of freedom through five steering engines (the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine), and can realize complex actions such as knee bending, leg lifting and rotation to ensure flexible movement.
[0046] In one of the embodiments of the utility model, the foot has a fourth U-shaped part above, the fifth steering engine has two fifth output discs, and the two fifth output discs are fixed on two side walls of the fourth U-shaped part.
[0047] In one of the embodiments of the utility model, the lower end of the foot is fixed with a first anti-skid layer, the lower end of the torso is fixed with a hip joint connecting frame, and the body of the first steering engine is fixed with the hip joint connecting frame.
[0048] The first protective layer can improve the friction and prevent the robot from slipping. In actual application, the protective layer can be soft glue.
[0049] In one of the embodiments of the utility model, the trunk comprises a body, the hip joint connecting frame is fixed below the body, the body is internally provided with a control mainboard and a battery pack, and the battery pack is located at the lower part of the body.
[0050] In terms of layout, the mainboard is above the battery pack, which is conducive to lowering the center of gravity of the robot.
[0051] In one of the embodiments of the utility model, the body is externally provided with a connecting interface, and the humanoid robot further comprises an expansion pack, which is detachably connected with the body through the connecting interface.
[0052] In actual application, the expansion pack can be an AI backpack.
[0053] In the prior art, a large number of plastic products are used, and the structural strength of the product is low and the reliability is poor. In actual application, the main body structure of the first hip joint support frame, the second hip joint support frame, the thigh support, the first fixing frame, the calf support, the foot, the hip joint connecting frame, the first shoulder joint support frame, the second shoulder joint support frame, the large arm support, the small arm support and the thumb support is made of aluminum alloy. The structural cooperation of the aluminum alloy, the double output disc and the U-shaped part can effectively improve the structural strength.
[0054] The application uses general servos, sheet metal and control circuit boards and other parts, adopts a compact design, the limbs are slender, the structural strength and product appearance are considered, the product structural strength is ensured while the product cost is reduced.
[0055] The whole machine has 18 degrees of freedom, wherein the double legs have 10 degrees of freedom (5 degrees of freedom of each supporting leg, complex actions such as knee bending, leg lifting and rotating are realized to ensure flexible movement), and the arms have 8 degrees of freedom (4 degrees of freedom of each arm, fine operations such as stretching, bending and gripping are met). A small humanoid robot with a total of 18 degrees of freedom and driven by 18 servos.
[0056] The utility model has the advantages that: in the application, the small arm and the palm are integrated, unnecessary wrist structures are removed, and the structure is simplified. The thumb support can be driven to rotate by the ninth servo, so as to cooperate with the hand structure, and clamping actions can be realized; the shoulder joint support frame of the application can be used as an auxiliary fixing structure, and the support structure of the arm can be greatly simplified, so that the structure is simple and the cost is low. BRIEF DESCRIPTION OF DRAWINGS
[0057] Figure 1 is a schematic view of the front of the humanoid robot;
[0058] Figure 2 is a schematic view of the back of the humanoid robot;
[0059] Figure 3is a schematic view of the body of the trunk;
[0060] Figure 4 is a schematic view of the hip joint assembly;
[0061] Figure 5 is a schematic view of the support leg;
[0062] Figure 6 is an exploded view of the support leg;
[0063] Figure 7 is a schematic view of the arm;
[0064] Figure 8 is an exploded view of the arm;
[0065] Figure 9 is a schematic view of the humanoid robot of embodiment 2 with an extension package.
[0066] The reference signs in the drawings are as follows:
[0067] 1, trunk; 11, body; 12, hip joint connecting frame; 13, control mainboard; 14, battery pack; 15, connecting interface; 2, support leg; 21, hip joint assembly; 211, first steering engine; 2111, first output disc; 212, first hip joint support frame; 2121, first U-shaped part; 2122, second U-shaped part; 213, second steering engine; 2131, second output disc; 214, second hip joint support frame; 2141, fixed part; 2142, third U-shaped part; 215, third steering engine; 2151, third output disc; 22, first fixed frame; 23, thigh support; 24, fourth steering engine; 241, fourth output disc; 25, shank support; 26, fifth steering engine; 261, fifth output disc; 27, foot; 271, fourth U-shaped part; 272, first anti-skid layer; 3, arm; 31, first shoulder joint support frame; 32, sixth steering engine; 321, sixth output disc; 33, second shoulder joint support frame; 331, fifth U-shaped part; 34, seventh steering engine; 341, seventh output disc; 35, large arm support; 36, eighth steering engine; 361, eighth output disc; 37, small arm support; 370, main body part; 371, hand structure; 372, second anti-skid layer; 373, extension part; 38, ninth steering engine; 381, ninth output disc; 39, thumb support; 391, sixth U-shaped part; 392, third anti-skid layer; 4, extension package. DETAILED DESCRIPTION
[0068] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.
[0069] In the description of the present application, it should be noted that the positions or location relationships indicated by the terms "inner", "outer" and the like are based on the positions or location relationships shown in the drawings or the positions or location relationships commonly placed when the products of the present application are used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.
[0070] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0071] The present utility model will be described in detail below with reference to the drawings.
[0072] Embodiment 1
[0073] As shown in Figure 1 and 2 A humanoid robot, comprising a torso 1, two supporting legs 2 installed below the torso 1, and two arms 3 respectively installed on the left and right sides above the torso 1.
[0074] As shown in Figure 1 , 3 and 4, the supporting leg 2 comprises a hip joint assembly 21, and the hip joint assembly 21 comprises:
[0075] A first steering wheel 211 is fixed below the torso 1, and the first steering wheel 211 has a first output disc 2111, and the axis of the first output disc 2111 is vertically arranged;
[0076] A first hip joint support frame 212 is fixed to the upper part of the first output disc 2111;
[0077] The second servo motor 213 has a second output disk 2131, which is fixed to the lower part of the first hip joint support frame 212. The axis of the second output disk 2131 intersects perpendicularly with the axis of the first output disk 2111.
[0078] The second hip joint support frame 214 is fixed to the fuselage of the second servo motor 213;
[0079] The third servo 215 has a third output disk 2151, which is fixed to the second hip joint support frame 214. When the support leg 2 is in the initial state, the axis of the third output disk 2151 is perpendicular to the axis of the second output disk 2131, and the axis of the third output disk 2151 intersects perpendicularly with the axis of the first output disk 2111.
[0080] When the humanoid robot is in an upright position, at least two of the projections of the first servo motor, the second servo motor, and the third servo motor on the ground have overlapping portions.
[0081] The hip joint assembly 21 of this application is configured such that, while ensuring multiple degrees of freedom for the leg, the three servo motors of the hip joint are arranged in a slender and compact vertical direction. Specifically, the first servo motor 211, the second servo motor 213, and the third servo motor 215 are stacked vertically, which makes the robot's appearance more similar to the proportions of the human body. The hip joint assembly 21 is more suitable as a skeleton, making it easier to add various skins to achieve various character designs. In addition, by using three servo motors, the hip joint can better simulate the activity state of the human hip joint, achieving more anthropomorphic postures. In one specific embodiment, of the first servo motor 211, the second servo motor 213, and the third servo motor 215 arranged from top to bottom, the first servo motor 211 realizes the torsion of the supporting leg 2, the second servo motor 213 realizes the left and right swing of the supporting leg 2, and the third servo motor 215 realizes the forward and backward swing of the supporting leg 2.
[0082] The hip joint support frame of this application can serve as an auxiliary fixation structure, which can greatly simplify the support structure of the leg, thereby achieving the purpose of simple structure and low cost.
[0083] like Figure 6 As shown, in this embodiment, the first hip joint support frame 212 includes a first U-shaped portion 2121 located at the upper part and a second U-shaped portion 2122 located at the lower part, and the second hip joint support frame 214 has a fixing portion 2141 located at the upper part and a third U-shaped portion 2142 located at the lower part.
[0084] The first steering engine 211 has two first output discs 2111 fixed on two side walls of the first U-shaped part 2121 respectively, and the second steering engine 213 has two second output discs 2131 fixed on two side walls of the second U-shaped part 2122 respectively.
[0085] The fixed part 2141 is fixed with the body of the third steering engine 215, and the third steering engine 215 has two third output discs 2151 fixed on two side walls of the third U-shaped part 2142 respectively.
[0086] In this way, the corresponding steering engine is not directly exposed and can be half-covered by the corresponding U-shaped part, so that the structure is more beautiful, that is, the flexibility of the robot can be ensured, and the appearance of the hip joint of the robot can be considered.
[0087] As shown in Figure 5 and 6 , in the embodiment, the support leg 2 further comprises:
[0088] The first fixing frame 22 is fixed on the body of the third steering engine 215;
[0089] The thigh support 23 is fixed at the upper end of the first fixing frame 22;
[0090] The fourth steering engine 24 has a fourth output disc 241 fixed with the lower end of the thigh support 23;
[0091] The lower leg support 25 is fixed at the upper end of the body of the fourth steering engine 24;
[0092] The fifth steering engine 26 has a fifth output disc 261, and the body of the fifth steering engine 26 is fixed at the lower end of the lower leg support 25;
[0093] The foot 27 is located below the lower leg support 25, and the fifth output disc 261 is fixed with the foot 27;
[0094] In the initial state, the axes of the fourth output disc 241 and the fifth output disc 261 are horizontally arranged.
[0095] In the embodiment, a single support leg 2 can realize five degrees of freedom through five steering engines (the first steering engine 211, the second steering engine 213, the third steering engine 215, the fourth steering engine 24 and the fifth steering engine 26), and can realize complex actions such as knee bending, leg lifting and rotating to ensure flexible movement.
[0096] As shown in Figure 6 , in the embodiment, the foot 27 has a fourth U-shaped part 271 above it, and the fifth steering engine 26 has two fifth output discs 261 fixed on two side walls of the fourth U-shaped part 271 respectively.
[0097] As shown in the embodiment, the lower part of the foot 27 is fixed with a first anti-skid layer 272. Figure 6
[0098] The first protective layer can improve the friction and prevent the robot from slipping. In actual application, the protective layer can be soft glue.
[0099] As shown in the embodiment, the lower part of the trunk 1 is fixed with a hip joint connecting frame 12, and the body of the first steering engine 211 is fixed with the hip joint connecting frame 12. Figure 1 4 As shown in the embodiment, the arm 3 comprises:
[0100] As shown in the embodiment, the arm 3 comprises: Figure 7 8 As shown in the embodiment, the arm 3 comprises:
[0101] The first shoulder joint support frame 31 is fixed on the trunk 1;
[0102] The sixth steering engine 32 has a sixth output disc 321, the body of the sixth steering engine 32 is fixed on the first shoulder joint support frame 31, and the axis of the sixth output disc 321 is horizontally arranged;
[0103] The second shoulder joint support frame 33 is fixed with the sixth output disc 321;
[0104] The seventh steering engine 34 has a seventh output disc 341, the seventh output disc 341 is fixed on the second shoulder joint support frame 33, and the axis of the seventh output disc 341 is perpendicular to the axis of the sixth output disc 321;
[0105] The upper end of the large arm support 35 is fixed with the body of the seventh steering engine 34;
[0106] The eighth steering engine 36 has an eighth output disc 361, the body of the eighth steering engine 36 is fixed on the lower end of the large arm support 35;
[0107] The small arm support 37 has a main body part 370 and an extension part 373, the upper end of the extension part 373 is connected with the side part of the main body part 370, the lower end of the extension part 373 extends obliquely downward, the projection of the small arm support 37 on the coronal plane of the humanoid robot is inverted Y-shaped structure when the arm 3 is in the vertical state, the upper end of the main body part 370 is fixed on the eighth output disc 361, and the lower end of the main body part 370 forms a hand structure 371;
[0108] The ninth steering engine 38 has a ninth output disc 381, the body of the ninth steering engine 38 is fixed on the small arm support 37;
[0109] The thumb support 39 is fixed on the ninth output disc 381, and the thumb support 39 corresponds to the hand structure 371.
[0110] In the present application, the forearm and palm are integrated, unnecessary wrist structure is removed, and the structure is simplified. The ninth steering wheel 38 can drive the thumb support 39 to rotate, thereby cooperating with the hand structure 371 to achieve clamping action; the shoulder joint support frame of the present application can serve as an auxiliary fixing structure, which can greatly simplify the support structure of the arm 3, thereby achieving the purpose of simple structure and low cost.
[0111] The arm 3 has a total of 8 degrees of freedom, and each arm 3 has 4 degrees of freedom, which can control the sixth steering wheel 32 to the ninth steering wheel 38 to work, and can realize fine actions such as stretching, bending, gripping, etc.
[0112] As shown in Figure 7 and Figure 8 In the present embodiment, the projection of the thumb support 39 on the coronal plane of the humanoid robot is a broken line, and the broken line has two branches, and the angle between the center lines of the two branches is greater than or equal to 90°.
[0113] The coronal plane is a term in human anatomy, which is the plane that cuts the human body into two halves. That is, the thumb support 39 has two parts shaped with obtuse angles, which facilitates the formation of a clamping space between the thumb support 39 and the hand structure 371, and facilitates the better cooperation between the thumb support 39 and the hand structure 371, and can realize reliable clamping and releasing action.
[0114] As shown in Figure 8 In the present embodiment, the axis of the eighth output disc 361 is perpendicular to the axis of the seventh output disc 341, and the axis of the ninth output disc 381 is parallel to the axis of the eighth output disc 361.
[0115] The second shoulder joint support frame 33 has a fifth U-shaped part 331, and the sixth steering wheel 32 has two sixth output discs 321, which are respectively fixed on the two side walls of the fifth U-shaped part 331, and the seventh output disc 341 is fixed on the middle side wall of the fifth U-shaped part 331.
[0116] The arm has a sixth U-shaped part 391, and the ninth steering wheel 38 has two ninth output discs 381, which are respectively fixed on the two side walls of the sixth U-shaped part 391.
[0117] The hand structure 371 is fixed with a second anti-skid layer 372, and the thumb support 39 is fixed with a third anti-skid layer 392.
[0118] The second anti-skid layer 372 and the third anti-skid layer 392 can improve the friction, and facilitate the cooperation between the hand structure 371 and the thumb support 39 to grasp the articles.
[0119] As shown in Figure 3As shown, in the embodiment, the trunk 1 comprises a body 11, a hip joint connecting frame 12 is fixed below the body 11, a control mainboard 13 and a battery pack 14 are installed in the body 11, and the battery pack 14 is located at the lower part of the body 11.
[0120] In terms of layout, the mainboard is above the battery pack 14, which is beneficial to move the center of gravity of the robot downward.
[0121] In the prior art, a large number of plastic products are used, and the structural strength of the product is low, and the reliability is poor. In actual use, the main body structures of the first hip joint support frame 212, the second hip joint support frame 214, the thigh support 23, the first fixing frame 22, the calf support 25, the foot 27, the hip joint connecting frame 12, the first shoulder joint support frame 31, the second shoulder joint support frame 33, the large arm support 35, the small arm support 37 and the thumb support 39 are made of aluminum alloy. The structural cooperation of the aluminum alloy, the double output disc and the U-shaped part can effectively improve the structural strength.
[0122] The application uses general-purpose steering engines, sheet metal and control circuit boards and other parts, adopts a compact design method, and the limbs are slender and fine, which takes into account the structural strength and product appearance, reduces the product cost while ensuring the product structural strength. The humanoid robot in the embodiment has 18 degrees of freedom in total, of which the two legs have 10 degrees of freedom (each supporting leg has 5 degrees of freedom, which realizes complex actions such as knee bending, leg lifting and rotating to ensure flexible movement), and the arms 3 have 8 degrees of freedom (each arm 3 has 4 degrees of freedom, which meets fine operations such as stretching, bending and gripping).
[0123] Embodiment 2
[0124] As Figure 9 In the embodiment, the body 11 has a connecting interface 15 outside, and the humanoid robot further comprises an expansion pack 4, which is detachably connected with the body 11 through the connecting interface 15.
[0125] In actual use, the expansion pack 4 can be an AI backpack.
[0126] The above only describes the preferred embodiments of the application, and does not limit the patent protection range of the application, and any equivalent structural transformation, direct or indirect application in other related technical fields, are all included in the protection range of the application.
Claims
1. A humanoid robot comprising a trunk, two support legs installed below the trunk, and two arms installed above the trunk on the left and right sides, respectively, characterized in that, The arm comprises: a first shoulder joint support frame fixed on the torso; a sixth steering engine with a sixth output disc, the body of the sixth steering engine being fixed on the first shoulder joint support frame, and the axis of the sixth output disc being arranged horizontally; a second shoulder joint support frame fixed with the sixth output disc; a seventh steering engine with a seventh output disc, the seventh output disc being fixed on the second shoulder joint support frame, and the axis of the seventh output disc being perpendicular to the axis of the sixth output disc; an upper arm support fixed with the body of the seventh steering engine; an eighth steering engine with an eighth output disc, the body of the eighth steering engine being fixed on the lower end of the upper arm support; a forearm support having a main body and an extension, the upper end of the extension being connected with the side of the main body, and the lower end of the extension extending obliquely downward, the projection of the forearm support on the coronal plane of the humanoid robot in the upright state being an inverted Y-shaped structure, the upper end of the main body being fixed on the eighth output disc, and the lower end of the main body forming a hand structure; a ninth steering engine with a ninth output disc, the body of the ninth steering engine being fixed on the area where the extension of the forearm support is located; a thumb support fixed on the ninth output disc, the thumb support corresponding to the hand structure.
2. The humanoid robot of claim 1, wherein, The projection of the thumb support on the coronal plane of the humanoid robot is a broken line shape, the broken line shape having two branches, and the angle between the center lines of the two branches being greater than or equal to 90°.
3. The humanoid robot of claim 1, wherein, The axis of the eighth output disc is perpendicular to the axis of the seventh output disc, and the axis of the ninth output disc is parallel to the axis of the eighth output disc; The second shoulder joint support frame has a fifth U-shaped part, the sixth steering engine has two sixth output discs, the two sixth output discs being fixed on the two side walls of the fifth U-shaped part respectively, and the seventh output disc being fixed on the middle side wall of the fifth U-shaped part; The arm has a sixth U-shaped part, and the ninth steering engine has two ninth output discs, the two ninth output discs being fixed on the two side walls of the sixth U-shaped part respectively; A second anti-skid layer is fixed on the hand structure, and a third anti-skid layer is fixed on the thumb support.
4. The humanoid robot of claim 1, wherein, The support leg comprises a hip joint assembly, the hip joint assembly comprising: a first steering engine fixed below the torso, the first steering engine having a first output disc, the axis of the first output disc being arranged vertically; a first hip joint support frame, the upper part of the first hip joint support frame being fixed with the first output disc; a second steering engine having a second output disc, the second output disc being fixed with the lower part of the first hip joint support frame, and the axis of the second output disc being perpendicular to the axis of the first output disc; a second hip joint support frame fixed on the body of the second steering engine; a third steering engine having a third output disc, the third output disc being fixed with the second hip joint support frame, and the axis of the third output disc being perpendicular to the axis of the second output disc and perpendicular to the axis of the first output disc in the initial state of the support leg; In the upright state of the humanoid robot, at least two projections of the first steering engine, the second steering engine and the third steering engine on the ground have overlapping parts.
5. The humanoid robot of claim 4, wherein, The first hip joint support frame comprises a first U-shaped part at the upper part and a second U-shaped part at the lower part, and the second hip joint support frame comprises a fixed part at the upper part and a third U-shaped part at the lower part; The first steering engine has two first output discs fixed on the two side walls of the first U-shaped part, and the second steering engine has two second output discs fixed on the two side walls of the second U-shaped part; The fixed part is fixed with the body of the third steering engine, and the third steering engine has two third output discs fixed on the two side walls of the third U-shaped part.
6. The humanoid robot of claim 4, wherein, The support leg further comprises: A first fixed frame fixed on the body of the third steering engine; A thigh support with the upper end fixed with the first fixed frame; A fourth steering engine with a fourth output disc fixed with the lower end of the thigh support; A lower leg support with the upper end fixed with the body of the fourth steering engine; A fifth steering engine with a fifth output disc, and the body of the fifth steering engine is fixed on the lower end of the lower leg support; A foot part below the lower leg support, and the fifth output disc is fixed with the foot part; In the initial state, the axes of the fourth output disc and the fifth output disc are horizontally arranged.
7. The humanoid robot of claim 6, wherein, The foot part has a fourth U-shaped part above, and the fifth steering engine has two fifth output discs fixed on the two side walls of the fourth U-shaped part.
8. The humanoid robot of claim 6, wherein, The foot part is fixed with a first anti-skid layer below, the torso is fixed with a hip joint connecting frame below, and the body of the first steering engine is fixed with the hip joint connecting frame.
9. The humanoid robot of claim 8, wherein, The torso comprises a main body, the hip joint connecting frame is fixed below the main body, and the main body is internally installed with a control mainboard and a battery pack, and the battery pack is located at the lower part of the main body.
10. The humanoid robot of claim 9, wherein, The main body is externally provided with a connecting interface, and the humanoid robot further comprises an expansion pack which is detachably connected with the main body through the connecting interface.