A humanoid robot driven by 16 servomotors

Abstract

The utility model relates to robot technical field discloses a kind of humanoid robots driven by 16 steering engines, including head mechanism, upper limb mechanism, chest mechanism and leg mechanism;The head mechanism is arranged on the upside of chest mechanism, and head mechanism includes voice recognition module, ultrasonic ranging sensor and gesture recognition sensor;The upper limb mechanism is symmetrically arranged on the left and right sides of chest mechanism, and upper limb mechanism sequentially includes shoulder joint assembly, mechanical arm outer connection baffle, elbow joint assembly and palm;The chest mechanism includes support framework, and the inside of support framework is hollow to form accommodating cavity, and accommodating cavity inside is provided with main control board, steering engine control panel and expansion board;The leg mechanism is symmetrically arranged on the downside of chest mechanism in pair, and single side leg mechanism includes at least four steering engine steering wheel groups and several connecting housings or connecting frames.The utility model provides a kind of 16 degrees of freedom humanoid robot, which can realize multi-modal interaction, high integration and compact layout.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a humanoid robot driven by 16 servo motors. Background Technology

[0002] Humanoid robots, as humanoid automated machines, mimic human structure and movement patterns. With technological advancements, the design of humanoid robots has become more complex and sophisticated, with continuously improving mobility, perception, and intelligence levels, leading to their widespread application in service, rescue, entertainment, and research fields. The control system of a humanoid robot directly influences its motion implementation, overall structural design, secondary development difficulty, and human-robot interaction implementation. Perception and interaction capabilities enable humanoid robots to understand and adapt to complex environments. However, due to the complexity of their drive structures and wiring, existing robots are limited by their movement space and interaction capabilities, hindering the efficient realization of multi-degree-of-freedom motion and making it difficult to adapt to diverse work requirements. Utility Model Content

[0003] To address the existing problems, this utility model provides a humanoid robot driven by 16 servo motors. The purpose is to provide a 16-DOF humanoid robot that can achieve multimodal interaction, has high integration, and a compact layout, in order to make up for the shortcomings of humanoid robots, such as low degrees of freedom, lack of weight distribution design, and inability to take into account perception, interaction and movement capabilities.

[0004] To achieve the above objectives, the present invention provides the following technical solution.

[0005] A humanoid robot driven by 16 servo motors includes a head mechanism, upper limb mechanism, chest mechanism, and leg mechanism. The head mechanism is located above the chest mechanism and includes a voice recognition module, an ultrasonic ranging sensor, and a gesture recognition sensor. The upper limb mechanism is symmetrically arranged on the left and right sides of the chest mechanism and includes, in sequence, a shoulder joint assembly, a robotic arm external connecting baffle, an elbow joint assembly, and a hand. The chest mechanism includes a supporting skeleton with a hollow cavity inside, where a main control board, a servo motor control board, and an expansion board are arranged. The leg mechanism is symmetrically arranged in pairs below the chest mechanism. Each leg mechanism includes at least four servo motor disk assemblies and several connecting shells or connecting frames. The uppermost servo motor disk assembly of the leg mechanism is connected to the chest mechanism, and the lowermost servo motor disk assembly of the leg mechanism is connected to the connecting shell.

[0006] As a further improvement of this utility model, the shoulder joint assembly is symmetrically arranged on the left and right sides of the chest mechanism. The single-sided shoulder joint assembly includes at least two servo spool groups and a shoulder connecting bracket between the servo spool groups. The innermost servo spool group is aligned and connected with the groove provided on the support frame.

[0007] As a further improvement of this utility model, the elbow joint assembly includes at least one servo motor and servo disc assembly and a connecting bracket, wherein the servo motor and servo disc assembly is aligned and connected to the palm.

[0008] As a further improvement of this utility model, the chest mechanism also includes a front chest connecting frame and a back connecting frame respectively arranged on the front and rear sides of the supporting frame; a dot matrix screen and an MPS module are arranged in sequence on the front chest connecting frame, and an LED star ring and a switch are arranged in sequence on the back connecting frame.

[0009] As a further improvement of this utility model, it also includes a hip mechanism; the leg mechanism is connected to the support frame of the chest mechanism through the hip mechanism; the hip mechanism is a symmetrical structure, including at least two servo rudder disk assemblies and at least two connecting shells symmetrically arranged.

[0010] As a further improvement of this utility model, a battery is installed inside the connecting housing that connects to the lowest layer of the leg mechanism's servo motor and servo disc assembly.

[0011] As a further improvement of this utility model, an observation port is provided on the connecting housing to which the lowest layer of the leg mechanism connects to the servo motor servo disk assembly.

[0012] As a further improvement of this utility model, the connecting shell of the lowest layer of the leg mechanism connecting the servo motor and servo disk assembly adopts a semi-enclosed structure, and the connecting shell is provided with a cable outlet and a heat dissipation gap.

[0013] As a further improvement of this utility model, the main control board adopts an Arduino development board; the main control board communicates with the servo servo disk group through the servo control board.

[0014] As a further improvement of this utility model, the servo motor and servo disc assembly includes at least one servo motor and at least two servo discs arranged opposite each other; the servo motor drives the two servo discs in the same group; the servo motors are all LX-824HV type serial bus servo motors, and are connected in series with three interfaces.

[0015] This utility model has the following beneficial effects:

[0016] The head mechanism integrates a voice recognition module, ultrasonic ranging sensor, and gesture recognition sensor, enabling the robot to perform voice interaction, environmental perception, and gesture recognition, enriching human-computer interaction methods and enhancing user experience. Driven by multiple servo motors and meticulously designed shoulder and elbow joints, the robot's upper limbs and legs can perform complex and precise movements, simulating human limb movements, suitable for various scenarios such as dance, performance, and service. The chest mechanism adopts a hollow support frame design, centrally housing core components such as the main control board, servo control board, and expansion board, facilitating maintenance and upgrades. This structure also enhances the robot's overall stability. The chest mechanism has reserved expansion board interfaces, allowing for the addition of more functional modules, such as cameras and sensors, to meet the needs of different application scenarios. The leg mechanism employs a design with at least four servo motor servo groups, each servo independently controlled, enabling precise control of complex leg movements and improving the robot's motion coordination and stability. Several connecting shells connect the servo motor servo groups, ensuring the robustness of the leg structure while facilitating servo motor installation and debugging.

[0017] Preferably, the design of the two servo disk groups of the shoulder joint assembly and the shoulder connecting bracket enables multi-degree-of-freedom control of shoulder movement (such as lifting and rotation); the innermost servo disk group is aligned and connected with the groove of the support frame, which enhances structural stability, avoids loosening or falling off due to frequent movements, and ensures the accuracy and durability of shoulder movement.

[0018] Preferably, the elbow joint assembly drives the palm through a servo motor servo disk assembly and utilizes a connecting bracket to achieve flexible bending; this design simplifies the elbow transmission structure, reduces mechanical complexity, and at the same time ensures the independent control capability of the palm (such as gripping objects or making gestures), thereby improving the operational flexibility of the humanoid robot.

[0019] Preferably, the front connecting frame integrates a dot matrix screen (for displaying status or interaction) and an MPS module (possibly a motion processing unit) to enhance human-computer interaction and motion control capabilities; the rear connecting frame is equipped with an LED star ring (visual feedback or decoration) and a switch (emergency stop or mode switching) to optimize the safety and visual management of equipment operation.

[0020] Preferably, the leg mechanism is connected to the chest support frame through the hip mechanism to ensure balanced force on both legs and improve stability when walking or jumping; the symmetrical design of the servo rudder assembly and connecting shell also facilitates modular assembly and maintenance, reducing the failure rate.

[0021] Preferably, the battery is placed inside the connecting shell at the bottom of the leg, which optimizes the center of gravity by utilizing gravity distribution, making the robot more stable when standing. At the same time, since there are many motors distributed in the leg, the battery can be close to the leg motors to shorten the power supply line, reduce energy loss, and extend the battery life.

[0022] Preferably, the observation port on the connecting housing allows users to visually check the internal battery status (such as power indicator lights or physical interfaces), facilitating quick replacement or maintenance without disassembling the entire structure, thus improving user experience and maintenance efficiency.

[0023] Preferably, the cable outlet facilitates wiring and supports signal and power transmission; the heat dissipation gap helps to accelerate heat dissipation, prevent the leg motor or battery from overheating, and extend the hardware life.

[0024] Preferably, a layered architecture of Arduino main control board and servo control board is adopted. The Arduino ecosystem is relatively mature, which simplifies the system development difficulty. At the same time, the servo control board centrally manages the servo signals, reducing the load on the main control board and improving the response speed and reliability.

[0025] Preferably, the servo drives the dual servo discs, reducing the number of servos and saving leg space; the LX-824HV servo features high torque and low power consumption, making it suitable for the complex motion requirements of humanoid robots; the three-interface serial wiring can reduce the number of cables, simplify wiring, reduce the risk of electromagnetic interference, and improve system reliability. Attached Figure Description

[0026] The accompanying drawings described herein are for illustrative purposes only and do not limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. In the drawings:

[0027] Figure 1 This is a front view of the overall structure of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0028] Figure 2 This is a rear view of the overall structure of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0029] Figure 3 This is a schematic diagram of the upper limb structure of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0030] Figure 4 This is a front view of the lower limb structure of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0031] Figure 5 This is a rear view of the lower limb structure of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0032] Figure 6 This is a control connection diagram of a humanoid robot driven by 16 servo motors, as described in the embodiment.

[0033] The components include: 1. Hip servo; 2. Hip front rudder; 3. Hip rear rudder; 4. Hip connecting shell; 5. Leg fourth servo; 6. Leg fourth left rudder; 7. Leg fourth right rudder; 8. Leg upper connecting shell; 9. Leg third servo; 10. Leg third left rudder; 11. Leg third right rudder; 12. Leg middle connecting shell; 13. Leg second servo; 14. Leg second left rudder; 15. Leg second right rudder; 6. Ankle connector; 17. First leg servo; 18. First front leg servo disc; 19. First rear leg servo disc; 20. Foot connector shell; 50. Shoulder joint servo disc assembly; 51. Elbow joint servo disc assembly; 52. Hand joint servo disc assembly; 53. Shoulder connector bracket; 54. External connector baffle for robotic arm; 55. Hand; 100. Support frame; 101. Front chest connector; 102. Back connector; 103. Head mechanism. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this utility model, 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 embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0035] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0036] Unless otherwise defined below, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] like Figure 1As shown, a humanoid robot driven by 16 servo motors includes a head mechanism 103, an upper limb mechanism, a chest mechanism, and a leg mechanism. The head mechanism 103 is located on the upper side of the chest mechanism and includes a voice recognition module, an ultrasonic ranging sensor, and a gesture recognition sensor. The chest mechanism includes a support frame 100, the interior of which is hollow to form a receiving cavity. The receiving cavity houses a main control board, a servo motor control board, and an expansion board.

[0038] The upper limb mechanism is symmetrically arranged on the left and right sides of the chest mechanism. The upper limb mechanism includes, in sequence, a shoulder joint assembly, a robotic arm external connecting baffle 54, an elbow joint assembly, and a hand 55. The shoulder joint assembly is assembled and connected to the support frame 100 to realize the connection between the upper limb mechanism and the chest mechanism.

[0039] Specifically, the shoulder joint assembly includes a shoulder joint servo servo disk assembly 50, which includes at least one servo and at least two servo disks arranged opposite each other. The servo drives the two servo disks in the same group. One servo disk is aligned and connected with a groove provided on the support frame 100, and the other servo disk faces outward to facilitate connection with the elbow joint assembly.

[0040] In operation, the shoulder connecting bracket 53 rotates around the axis of the servo disk of the shoulder joint servo motor assembly 50. The rotational motion of the shoulder connecting bracket 53 enables the twisting of the robot's shoulder.

[0041] like Figure 3As shown, the shoulder joint assembly includes at least two servo servo disk assemblies (elbow joint servo disk assembly 51 and hand joint servo disk assembly 52) and a shoulder connecting bracket 53 between the servo disk assemblies. The innermost servo disk assembly is aligned with a groove on the support frame 100. The shoulder connecting bracket 53 is U-shaped and connected to the elbow joint servo disk assembly 51. The elbow joint servo disk assembly 51 includes at least one servo and at least two opposing servo disks. The two sides of the shoulder connecting bracket 53 are respectively connected to the main and auxiliary servo disks of the elbow joint servo disk assembly 51. Specifically, two opposing circular frames are provided on both sides of the shoulder connecting bracket 53. The circular frames are cylindrical servo disk grooves corresponding to the servo disks. The elbow joint servo disk assembly 51 is connected to the outer connecting baffle 54 of the robotic arm. Specifically, the servo of the elbow joint servo disk assembly 51 is located on the robotic arm. Inside the outer connecting baffle 54 of the arm, the servo disk of the elbow joint servo disk assembly 51 is mounted on the disc frame of the shoulder connecting bracket 53; the outer connecting baffle 54 of the robotic arm is cuboid in shape and has an internal space for accommodating; the hand joint servo disk assembly 52 is also connected to the outer connecting baffle 54 of the robotic arm, and the elbow joint servo disk assembly 51 and the hand joint servo disk assembly 52 are respectively installed on both sides of the outer connecting baffle 54 of the robotic arm; the hand joint servo disk assembly 52 includes at least one servo and at least two servo disks arranged opposite each other, and the palm 55 is connected to the main and auxiliary servo disks of the hand joint servo disk assembly 52.

[0042] In operation, the servo motors of the elbow joint servo motor assembly 51 connected to the shoulder connecting bracket 53 drive the elbow joint servo motor assembly 51 to rotate around the axis of the servo motor assembly 51, thereby enabling the robot's arm to bend. The servo motors of the hand joint servo motor assembly 52 drive the hand 55 to rotate around the axis of the servo motor assembly 52, thereby enabling the robot to bend the hand.

[0043] The chest mechanism also includes a front chest connecting frame 101 and a back connecting frame 102 respectively provided on the front and rear sides of the support frame 100; a dot matrix screen and an MPS module are arranged in sequence on the front chest connecting frame 101, and an LED star ring and a switch are arranged in sequence on the back connecting frame 102.

[0044] The lower limb mechanism includes a hip mechanism and a leg mechanism in sequence.

[0045] The leg mechanism is connected to the support frame 100 of the chest mechanism via the hip mechanism; the hip mechanism is a symmetrical structure, including at least two servo rudder disk assemblies and at least two connecting shells symmetrically arranged.

[0046] Specifically, the hip mechanism includes a hip servo 1, a front hip servo disc 2, a rear hip servo disc 3, and a hip connecting housing 4, all mounted on the lower side of the chest mechanism. The hip connecting housing 4 is cubic in shape, with two parallel and opposing disc frames extending upwards. The two disc frames are provided with opposing servo disc grooves, which are used to connect the front hip servo disc 2 and the rear hip servo disc 3, respectively. A fourth leg servo 5 is installed inside the hip connecting housing 4, and a corresponding servo disc is installed on the outside of the fourth leg servo 5.

[0047] In operation, the hip servo motor 1 drives the front hip servo disk 2 and the rear hip servo disk 3, and the hip connecting shell 4 swings left and right around the axis of the front hip servo disk 2 and the rear hip servo disk 3, so that the robot's leg mechanism can lift its legs to the left and right sides from 0° to 90°.

[0048] The leg mechanisms are arranged symmetrically in pairs on the lower side of the chest mechanism. Each leg mechanism includes at least four servo spools and several connecting housings or connecting frames. The uppermost servo spool of the leg mechanism is connected to the chest mechanism; the lowermost servo spool of the leg mechanism is connected to the connecting housing.

[0049] Specifically, the leg mechanism includes a fourth leg servo disc assembly, an upper leg connecting shell 8, a third leg servo disc assembly, a middle leg connecting shell 12, a second leg servo disc assembly, an ankle connecting frame 16, a first leg servo disc assembly, and a foot connecting shell 20.

[0050] Specifically, the leg-mounted fourth servo assembly includes a leg-mounted fourth servo 5, a leg-mounted fourth left servo 6, and a leg-mounted fourth right servo 7 mounted on the leg-mounted fourth servo 5. The upper leg-mounted connecting housing 8 is cubic in shape, with two parallel, opposing disc frames extending upwards from the upper leg-mounted connecting housing 8. The two disc frames have opposing servo disc grooves, used to connect the leg-mounted fourth left servo 6 and the leg-mounted fourth right servo 7, respectively. A leg-mounted third servo 9 is located inside the upper leg-mounted connecting housing 8. It is noteworthy that the axes of the leg-mounted fourth left servo 6 and leg-mounted fourth right servo 7 are perpendicular to the axes of the hip-mounted front servo 2 and hip-mounted rear servo 3, ensuring that the leg mechanism has degrees of freedom in two vertical directions, which helps improve the efficiency of mechanical movement.

[0051] In operation, the fourth servo motor 5 of the leg drives the fourth left servo disk 6 and the fourth right servo disk 7 of the leg. The upper connecting shell 8 of the leg moves back and forth and bends around the axis of the fourth left servo disk 6 and the fourth right servo disk 7 of the leg, so that the robot's leg mechanism can realize the action of swinging and lifting the thigh from 0° to 270°.

[0052] Specifically, the third leg servo assembly includes a third leg servo 9, a third left leg servo 10 mounted on the third leg servo 9, and a third right leg servo 11. The middle leg connecting housing 12 is cubic in shape, with two parallel and opposing disc frames extending upward from the middle leg connecting housing 12. The two disc frames are provided with opposing servo disc grooves, which are used to connect the third left leg servo 10 and the third right leg servo 11, respectively. A second leg servo 13 is disposed inside the middle leg connecting housing 12.

[0053] In operation, the third leg servo motor 9 drives the third left leg servo disk 10 and the third right leg servo disk 11. The middle connecting shell 12 of the leg moves back and forth and bends around the axis of the third left leg servo disk 10 and the third right leg servo disk 11, enabling the robot's leg mechanism to bend the knee, squat, raise the lower leg, and swing the knee back and forth from 0° to 270°.

[0054] Specifically, the leg-mounted second servo rotor assembly includes a leg-mounted second servo 13, a leg-mounted second left servo rotor 14, and a leg-mounted second right servo rotor 15 mounted on the leg-mounted second servo 13. The ankle connector 16 includes a connecting plate and several disc frames. The connecting plate extends two parallel and opposing disc frames to the upper and lower sides respectively. Both the upper and lower disc frames are provided with opposing servo rotor grooves, but the planes of the upper and lower disc frames are perpendicular to each other. The two upper disc frames are used to connect the leg-mounted second left servo rotor 14 and the leg-mounted second right servo rotor 15 respectively. The two lower disc frames are used to connect the leg-mounted first front servo rotor 18 and the leg-mounted first rear servo rotor 19 respectively. The foot-mounted connecting housing 20 is provided with a leg-mounted first servo 17.

[0055] In operation, the second leg servo motor 13 drives the second left leg servo disk 14 and the second right leg servo disk 15. The ankle connecting frame 16 moves back and forth and bends around the axis of the second left leg servo disk 14 and the second right leg servo disk 15, enabling the robot's leg mechanism and ankle to bend and swing back and forth from 0° to 270°.

[0056] Specifically, the first leg servo assembly includes a first leg servo 17 and a first front leg servo 18 and a first rear leg servo 19 mounted on the first leg servo 17. The foot connecting shell 20 is cubic in shape, larger in volume than the upper leg connecting shell 8 and the middle leg connecting shell 12, and also heavier for the same material. Notably, the axes of the first front leg servo 18 and the first rear leg servo 19 are perpendicular to the axes of the second left leg servo 14 and the second right leg servo 15, to prevent the robot's center of gravity from having only one degree of adjustment freedom in the lower part of the leg mechanism, thus helping to maintain the overall balance of the robot's center of gravity.

[0057] In operation, the first leg servo motor 17 drives the first front leg servo disk 18 and the first rear leg servo disk 19, and the foot connecting shell 20 moves back and forth and bends around the axis of the first front leg servo disk 18 and the first rear leg servo disk 19, so that the robot's foot connecting shell 20 can perform horizontal rotation within the range of 0° to 180°.

[0058] The robot's lower limb design in this embodiment mainly uses a servo motor servo disk assembly and a connecting shell. Holes adapted to the servo disk are reserved on the connecting shell to facilitate the fastening of screws for fixation, making the overall structure flexible and more compact.

[0059] The motion principle of the robot's lower limb design in this embodiment is as follows: the corresponding part of the servo motor servo disk group drives the corresponding part of the connecting shell or connecting frame to perform a preset motion, so that the motion remains uniform and the adjustment process is more convenient.

[0060] In the robot's lower limb design of this embodiment, the fourth servo motor 5 of the leg is designed to be placed horizontally, while the third servo motor 9 and the second servo motor 13 of the leg are designed to be placed vertically. This reasonably controls the length of the robot's leg mechanism and ensures the aesthetics of the robot design.

[0061] In the robot's lower limb design of this embodiment, the first servo motor 17 of the leg is designed to be placed horizontally, which allows the servo motor to be more stably fixed to the foot connecting shell 20.

[0062] In the robot's lower limb design of this embodiment, all connecting shells adopt a semi-enclosed structure. The connecting shells reserve the necessary cable outlets and also leave gaps on some mating surfaces to improve the heat dissipation of the servo motors during operation.

[0063] In the robot's lower limb design of this embodiment, all connecting shells have large clearances inside, providing sufficient space for the corresponding servo motor cables to be fixed, while ensuring the safety of robot movement and the aesthetics of the design.

[0064] In this embodiment of the robot's lower limb design, the foot-connecting shell 20 is designed as a slightly larger cuboid. The space inside the foot-connecting shell 20 is used to install the 12V battery that drives the servo motor, and an observation port is provided in the foot-connecting shell 20. Fixing the battery inside the foot-connecting shell 20 lowers the robot's center of gravity to the foot position, which helps the robot to complete a series of actions smoothly. The reserved observation port facilitates real-time monitoring of the battery level and also plays a certain role in heat dissipation.

[0065] In the robot's lower limb design of this embodiment, the foot connecting shell 20 is designed with a large length redundancy, which provides sufficient space for fixing the battery extension wires to prevent the robot from being tripped by the wires, causing movement interruption or even damage to the servo motors, thus ensuring the robot's rationality and overall aesthetics.

[0066] In this embodiment, the main control board uses an Arduino development board; the main control board communicates with the servo servo assembly via a servo control board. Specifically, as shown... Figure 6 As shown, the Arduino development board controls a dot matrix screen, speaker module, LED aperture, and laser rangefinder sensor via an expansion board. The expansion board also connects to a servo control board and an ICC expansion board. The servo control board controls eight servo spool groups, each group consisting of at least one servo and at least two oppositely arranged spools. Each servo drives the two spools in the same group. All servos are LX-824HV type serial bus servos, connected in series with three interfaces. The ICC expansion board controls an OLED display, a voice recognition sensor, and a gesture recognition sensor.

[0067] In this embodiment, the servos of the shoulder joint servo disk group 50, elbow joint servo disk group 51, hand joint servo disk group 52, hip servo 1, and leg mechanism are all LX-824HV model serial bus servos. Compared with the traditional 7.4V LX-824 servo, the robot's endurance is significantly improved. The three-interface serial connection reduces messy wiring, making the wiring of the entire system more beautiful and concise, which helps to realize the miniaturization of the robot.

[0068] The mechanical transmission mechanism designed above enables multi-angle rotation of the robot's upper limbs, thereby completing various preset movements and meeting the needs of various robot application scenarios. Simultaneously, the use of servo motors and connecting structural components for transmission results in a compact upper limb structure, contributing to the miniaturization of the robot.

[0069] The above embodiments are merely one of the implementation methods for achieving the technical solution of this utility model. The scope of protection claimed by this utility model is not limited to this embodiment, but also includes any variations, substitutions, and other implementation methods that are easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various variations, modifications, substitutions, and alterations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot driven by 16 servomotors, characterized by, The system includes a head mechanism (103), an upper limb mechanism, a chest mechanism, and a leg mechanism. The head mechanism (103) is located on the upper side of the chest mechanism and includes a voice recognition module, an ultrasonic ranging sensor, and a gesture recognition sensor. The upper limb mechanism is symmetrically located on the left and right sides of the chest mechanism and includes, in sequence, a shoulder joint assembly, a robotic arm external connecting baffle (54), an elbow joint assembly, and a hand (55). The chest mechanism includes a support frame (100), which has a hollow interior forming a receiving cavity. The receiving cavity contains a main control board, a servo control board, and an expansion board. The leg mechanisms are symmetrically located in pairs on the lower side of the chest mechanism. Each leg mechanism includes at least four servo rudder disk assemblies and several connecting shells or connecting frames. The uppermost servo rudder disk assembly of the leg mechanism is connected to the chest mechanism. The lowermost servo rudder disk assembly of the leg mechanism is connected to the connecting shell.

2. The humanoid robot driven by 16 servomotors according to claim 1, wherein, The shoulder joint assembly is symmetrically arranged on the left and right sides of the chest mechanism. The single-sided shoulder joint assembly includes at least two servo spools and a shoulder connection bracket (53) between the servo spools. The innermost servo spool is aligned and connected to the groove provided on the support frame (100).

3. The humanoid robot driven by 16 servomotors according to claim 1, wherein, The elbow joint assembly includes at least one servo spool assembly and a connecting bracket, the servo spool assembly being aligned and connected to the palm (55).

4. The humanoid robot driven by 16 servomotors according to claim 1, wherein, The chest mechanism also includes a front chest connecting frame (101) and a back connecting frame (102) respectively provided on the front and back sides of the support frame (100); a dot matrix screen and an MPS module are arranged in sequence on the front chest connecting frame (101), and an LED star ring and a switch are arranged in sequence on the back connecting frame (102).

5. The humanoid robot driven by 16 servomotors according to claim 1, wherein, It also includes a hip mechanism; the leg mechanism is connected to the support frame (100) of the chest mechanism via the hip mechanism; the hip mechanism is a symmetrical structure, including at least two servo rudder disk assemblies and at least two connecting housings symmetrically arranged.

6. The humanoid robot driven by 16 servomotors according to claim 1, wherein, A battery is installed inside the connecting housing that connects to the lowest layer of the leg mechanism's servo rotor assembly.

7. The humanoid robot driven by 16 servomotors according to claim 1, wherein, An observation port is provided on the connecting housing to the lowest layer of the leg mechanism's servo motor and servo disc assembly.

8. The humanoid robot driven by 16 servomotors according to claim 1, wherein, The connecting housing of the lowest layer of the leg mechanism's servo motor and servo disc assembly adopts a semi-enclosed structure, and the connecting housing is provided with a cable outlet and a heat dissipation gap.

9. The humanoid robot driven by 16 servomotors according to claim 1, wherein, The main control board uses an Arduino development board; the main control board communicates with the servo servo disk assembly through the servo control board.

10. A humanoid robot driven by 16 servo motors according to claim 1, characterized in that, The servo servo group includes at least one servo and at least two servo discs arranged opposite each other; the servo drives the two servo discs in the same group; the servos are all LX-824HV type serial bus servos, and are connected in series with three interfaces.

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