A multi-degree-of-freedom humanoid robot

Abstract

This utility model relates to the field of robotics technology, specifically a multi-degree-of-freedom humanoid robot, comprising a head structure, a torso structure, an upper limb structure, and a lower limb structure. The torso structure is an I-shaped structure composed of a horizontal plate, a torso support rod, a waist rotation joint, and a waist platform. The horizontal plate is mounted on the top of the torso support rod. The waist rotation joint is rotatably connected to the bottom of the torso support rod, and the bottom of the waist rotation joint is connected to the middle of the top of the waist platform. The head structure is mounted on the middle of the top of the horizontal plate. The left and right sides of the top of the horizontal plate are the mounting areas for the first drive motors of the upper limb structure, respectively. This design solves the problem of complex and relatively bulky structures in existing robots when the waist swings with multiple degrees of freedom, and also solves the problem of complex installation and disassembly of the head and upper limb structures.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-degree-of-freedom humanoid robot. Background Technology

[0002] Humanoid robots are robots that mimic human appearance and behavior. With the development of technology, robots are often used to replace humans in special environments.

[0003] To enable robots to perform high-precision tasks effectively, they need to achieve multiple degrees of freedom. However, achieving multiple degrees of freedom in robots results in complex structures and a relatively heavy overall weight, especially in the waist area. To achieve multi-degree-of-freedom swinging of the waist, complex gear transmissions and electric actuators are required, making it difficult to achieve lightweight design.

[0004] At the same time, due to the complexity of its structure, the robot is very difficult to install, and it is difficult to disassemble and repair it when problems occur. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a multi-degree-of-freedom humanoid robot that solves the problems of complex structure and relative bulkiness of existing robots when the waist swings with multiple degrees of freedom, while also solving the problem of complex installation and disassembly of the head and upper limb structures.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A multi-degree-of-freedom humanoid robot, comprising a head structure, a torso structure, an upper limb structure, and a lower limb structure;

[0008] The torso structure is an I-shaped structure composed of a horizontal plate, a torso support rod, a lumbar rotation joint, and a lumbar platform. The horizontal plate is mounted on the top of the torso support rod, a power module is mounted on the front side of the torso support rod, and a control module is mounted on the rear side of the torso support rod. The lumbar rotation joint is rotatably connected to the bottom of the torso support rod, and the bottom of the lumbar rotation joint is connected to the middle of the top of the lumbar platform. A first swing drive motor is mounted on one side of the upper section of the torso support rod, and a second swing drive motor is mounted on the other side of the upper section of the torso support rod. Both the first and second swing drive motors are located directly below the horizontal plate. The output ends of the first and second swing drive motors are rotatably connected to the lumbar rotation joint via lumbar tie rods. The left and right sides of the top of the lumbar platform are the mounting areas for the first hip motor of the lower limb structure.

[0009] The head structure is installed in the middle of the top of the horizontal plate; the left and right sides of the top of the horizontal plate are the mounting areas of the first drive motor of the upper limb structure.

[0010] The upper limb structure includes a shoulder joint assembly, an elbow joint assembly, and a wrist joint assembly connected in sequence, with the shoulder joint assembly assembled and connected to the horizontal plate;

[0011] The lower limb structure includes a hip assembly, a knee joint assembly, and an ankle joint assembly connected in sequence, with the hip assembly assembled and connected to the lumbar platform.

[0012] Preferably, the shoulder joint assembly includes a first drive motor and a shoulder support, the first drive motor passing through the shoulder support, and the shoulder joint assembly being detachably connected to the cross plate via the shoulder support;

[0013] The head structure includes a head support, and the head structure is connected to the horizontal plate via the head support;

[0014] The horizontal plate is provided with a plurality of shoulder positioning holes and a plurality of head positioning holes. The shoulder positioning holes correspond to the through holes of the shoulder support and are used to detachably connect the shoulder joint assembly. The head positioning holes correspond to the through holes of the frame bracket and are used to detachably connect the head structure.

[0015] The horizontal plate has two square holes in the middle, and the square holes are located directly below the first drive motor.

[0016] Furthermore, the head support is a frame structure, and the head support is vertically fixed to the middle of the top of the horizontal plate.

[0017] Furthermore, the head structure also includes a bracket, a speaker, and a vision sensor. The bracket is fixed to the top of the head support, the vision sensor is fixed to the upper part of the bracket, the vision sensor is connected to the control module, and a speaker is provided in the middle of the bracket.

[0018] Preferably, the wrist joint assembly further includes a hand assembly, which includes a motor mounting block, a gripper housing, a hand motor, and a gripper connecting rod. One end of the motor mounting block is fixedly connected to the wrist support, and the other end of the motor mounting block is fixedly connected to the gripper housing. The hand motor is located in the middle of the motor mounting block, and the hand motor is drivenly connected to the gripper connecting rod.

[0019] Furthermore, a vision camera is provided on the outside of the gripper housing.

[0020] Preferably, the waist rotation joint includes a cross pivot and a base, the torso support rod is a hollow cuboid, the symmetrical ends of the cross pivot are rotatably connected to the two sides of the torso support rod, the other symmetrical ends of the cross pivot are connected to the base, the waist tie rod is rotatably connected to the base, and the base is fixedly connected to the waist platform.

[0021] Preferably, the shoulder joint assembly further includes a second drive motor, a shoulder support, an upper arm support, and a third drive motor. The output end of the first drive motor is driven to the shoulder support, the second drive motor is assembled and connected in the shoulder support, the output end of the second drive motor is driven to the upper arm support, the other end of the upper arm support is assembled and connected to the third drive motor, a first connecting plate is connected between the shoulder joint assembly and the elbow joint assembly, and the output end of the third drive motor is driven to the first connecting plate.

[0022] The elbow joint assembly includes a fourth drive motor, a first mounting component, and a forearm bracket. The first mounting component is fixedly connected to the first connecting plate. The fourth drive motor is assembled and connected to the first mounting component. The output end of the fourth drive motor is driven and connected to the forearm bracket.

[0023] The wrist joint assembly further includes a fifth drive motor, a second mounting component, a sixth drive motor, and a wrist support. The fifth drive motor is mounted and connected to the end of the forearm support away from the fourth drive motor. The output end of the fifth drive motor is driven and connected to the second mounting component. The sixth drive motor is mounted and connected to the second mounting component. The output end of the sixth drive motor is driven and connected to the wrist support.

[0024] Preferably, the hip joint includes a first hip motor, a first hip support, a second hip motor, a second hip support, a third hip motor, and a third hip support. The output end of the first hip motor is driven to the first hip support. The second hip motor is assembled and connected to the first hip support. The second hip motor is driven to the second hip support via a connecting rod. The third hip motor is assembled and connected to the second hip support. The output end of the third hip motor is driven to the third hip support.

[0025] The knee joint assembly includes a knee joint bracket, a knee joint motor, and a knee rotation joint. The knee joint bracket is fixedly connected to the third hip bracket and rotatably connected to the knee rotation joint. The knee joint motor is assembled and connected to the middle of the knee joint bracket and is connected to the knee rotation joint via a bending link.

[0026] The ankle joint assembly includes a first ankle joint motor, a second ankle joint motor, a calf plate, and a foot. The first ankle joint motor is mounted and connected to the knee joint bracket and is connected to the knee rotation joint via a linkage. The calf plate is fixedly connected to the bottom of the knee rotation joint. The second ankle joint motor is mounted and connected to the calf plate and is connected to the foot via a linkage.

[0027] The technical solution provided by this utility model can include the following beneficial effects:

[0028] It is equipped with a torso structure, a head structure, an upper limb structure, and a lower limb structure. The torso structure is rationally laid out, and the waist rotation joint realizes the degree of freedom of the waist, while also achieving the lightweighting of the robot's waist. The head structure and upper limb structure are detachably connected to the horizontal plate of the torso structure. The horizontal plate has a large operating space, and the head structure and upper limb structure are easy to install and disassemble. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0030] Figure 2 This is a structural schematic diagram of one embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the upper limb structure according to an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the lower limb structure according to one embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of a portion of the torso structure according to an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the structure of the horizontal plate and the head support of one embodiment of the present invention.

[0035] The components include: power module 2, control module 3, waist platform 4, horizontal plate 11, shoulder positioning hole 111, head positioning hole 112, square hole 113, torso support rod 12, waist rotation joint 121, base 1211, first swing drive motor 5, second swing drive motor 14, waist tie rod 6, shoulder joint assembly 7, first drive motor 71, shoulder support 72, second drive motor 73, shoulder bracket 74, upper arm bracket 75, third drive motor 76, first connector 77, elbow joint assembly 8, fourth drive motor 81, first mounting piece 82, forearm bracket 83, wrist joint assembly 9, fifth drive motor 91, second mounting piece 92, and sixth drive motor 9. 3. Wrist support 94. Motor mounting block 95. Gripper housing 96. Hand motor 97. Gripper link 98. Vision camera 99. Hip assembly 10. First hip motor 101. First hip support 102. Second hip motor 103. Second hip support 104. Third hip motor 105. Third hip support 106. Knee joint assembly 15. Knee joint support 151. Knee joint motor 152. Knee rotation joint 153. Ankle joint assembly 16. First ankle joint motor 161. Second ankle joint motor 162. Lower leg plate 163. Foot 163. Head structure 13. Support 131. Speaker 132. Vision sensor 133. Head support 134. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] A multi-degree-of-freedom humanoid robot includes a head structure 13, a torso structure, an upper limb structure, and a lower limb structure;

[0040] The torso structure is an I-shaped structure composed of a horizontal plate 11, a torso support rod 12, a waist rotation joint 121, and a waist platform 4. The horizontal plate 11 is mounted on the top of the torso support rod 12. A power module 2 is mounted on the front side of the torso support rod 12, and a control module 3 is mounted on the rear side of the torso support rod 12. The waist rotation joint 121 is rotatably connected to the bottom of the torso support rod 12, and the bottom of the waist rotation joint 121 is connected to the middle of the top of the waist platform 4. The upper part of the torso support rod 12... A first swing drive motor 5 is installed on one side of the upper section of the torso support rod 12, and a second swing drive motor 14 is installed on the other side of the upper section of the torso support rod 12. Both the first swing drive motor 5 and the second swing drive motor 14 are located directly below the horizontal plate 11. The output ends of the first swing drive motor 5 and the second swing drive motor 14 are respectively rotatably connected to the waist rotation joint 121 through the waist tie rod 6. The left and right sides of the top of the waist platform 4 are the mounting areas of the first hip motor 101 of the lower limb structure.

[0041] The head structure 13 is installed in the middle of the top of the horizontal plate 11; the left and right sides of the top of the horizontal plate 11 are the mounting areas of the first drive motor 71 of the upper limb structure.

[0042] The upper limb structure includes a shoulder joint assembly 7, an elbow joint assembly 8 and a wrist joint assembly 9 connected in sequence, with the shoulder joint assembly 7 assembled and connected to the horizontal plate 11.

[0043] The lower limb structure includes a hip assembly 10, a knee joint assembly 15, and an ankle joint assembly 16 connected in sequence, with the hip assembly 10 assembled and connected to the lumbar platform 4.

[0044] Existing robots with multi-degree-of-freedom waist swinging mechanisms are complex and relatively bulky. Therefore, this technical solution proposes a multi-degree-of-freedom humanoid robot, including a head structure 13, a torso structure, an upper limb structure, and a lower limb structure. The torso structure is an I-shaped structure composed of a horizontal plate 11, a torso support rod 12, a waist rotation joint 121, and a waist platform 4. The torso structure is lightweight. The output ends of the first swing drive motor 5 and the second swing drive motor 14 are each individually rotatably connected to the waist rotation joint 121 via a waist tie rod 6. The first swing drive motor 5 and the second swing drive motor 14 drive the waist tie rod 6 to deflect, thereby driving the waist rotation joint 121. When section 121 rotates, the bottom of the torso support rod 12 is rotatably connected to the waist rotation joint 121. The pulling force of the waist tie rod 6 causes the torso support rod 12 to change position relative to the waist platform 4. The foot rotation joint 121 realizes the forward and backward and left and right swinging movements of the waist through the cross joint structure, so that the torso structure has two degrees of freedom, which can complete the basic requirements of robot work, grasping, bending over and other tasks. That is, without affecting the robot's working effect, under the premise of having the required degrees of freedom, the robot's waist is made lightweight, which can more efficiently replace humans to work in special environments, and solve the problem that the current humanoid robot has a complex structure and is relatively bulky when the waist swings with multiple degrees of freedom.

[0045] Meanwhile, the torso structure is an I-shaped structure composed of a horizontal plate 11, a torso support rod 12, a waist rotation joint 121, and a waist platform 4. The I-shaped torso structure provides sufficient space to install the power module 2, the control module 3, the first swing drive motor 5, and the second swing drive motor 14 on the torso structure. The head structure 13 is installed in the middle of the top of the horizontal plate 11. The left and right sides of the top of the horizontal plate 11 are the installation areas for the first drive motor 71 of the upper limb structure, respectively. The top of the horizontal plate 11 provides sufficient installation space for the head structure 13 and the upper limb structure. When it is necessary to install or disassemble the upper limb structure and the head structure 13, it is only necessary to operate on the horizontal plate 11 to remove the entire head structure 13 or the upper limb structure, which greatly reduces the difficulty of installing and disassembling the head structure 13 and the upper limb structure. Moreover, the head structure 13 and the upper limb structure do not interfere with each other, thus solving the problem of complex installation and disassembly of the head structure and the upper limb structure.

[0046] Furthermore, the power module 2 is located on the front side of the torso support rod 12, and the control module 3 is located on the rear side of the torso support rod 12. Separating these two modules effectively reduces the working temperature of the robot during operation and extends the robot's service life.

[0047] Preferably, the shoulder joint assembly 7 includes a first drive motor 71 and a shoulder support 72, the first drive motor 71 is inserted through the shoulder support 72, and the shoulder joint assembly 7 is detachably connected to the cross plate 11 through the shoulder support 72;

[0048] The head structure 13 includes a head support 134, and the head structure 13 is connected to the horizontal plate 11 through the head support 134;

[0049] The horizontal plate 11 is provided with a plurality of shoulder positioning holes 111 and a plurality of head positioning holes 112. The shoulder positioning holes 111 correspond to the through holes of the shoulder support 72 and are used to detachably connect the shoulder joint assembly 7. The head positioning holes 112 correspond to the through holes of the frame bracket 134 and are used to detachably connect the head structure 13.

[0050] The horizontal plate 11 has two square holes 113 in the middle, and the square holes 113 are located directly below the first drive motor 71.

[0051] Specifically, the horizontal plate 11 is provided with a plurality of shoulder positioning holes 111 and head positioning holes 112. The shoulder positioning holes 111 and the head positioning holes 112 enable the installation and removal of the head structure 13 and the upper limb structure. When it is necessary to install or remove the head structure 13 from the upper limb structure, the upper limb structure includes a shoulder joint assembly 7, an elbow joint assembly 8, and a wrist joint assembly 9 connected in sequence. The shoulder joint assembly 7 is connected to the horizontal plate 11 through the shoulder support 72, that is, the upper limb structure is... Since the shoulder support 72 is detachably connected to the horizontal plate 11, the entire upper limb structure can be disassembled or installed simply by operating the shoulder positioning hole 111 of the horizontal plate 11. Correspondingly, the head structure 13 is connected to the horizontal plate 11 through the head bracket 134. The head positioning hole 112 corresponds to the through hole of the head bracket 134. The entire head structure 13 can be disassembled or installed simply by operating the head positioning hole 112 of the horizontal plate 11. The overall operation is convenient.

[0052] Meanwhile, the regular shape of the square hole 113 provides uniform structural strength, making the horizontal plate 11 more stable when bearing the weight and operational vibration of the upper limb structure and head structure 13. Furthermore, the square hole 113 is located directly below the first drive motor 71, which is conducive to air circulation and can effectively improve the heat dissipation efficiency of the first drive motor 71, keeping the temperature of the first drive motor 71 stable during operation.

[0053] Furthermore, the head support 134 is a frame structure, and the head support 134 is vertically fixed to the middle of the top of the horizontal plate 11.

[0054] Specifically, the head support 134 is a frame structure, which can optimize space utilization. The head support 134 is vertically fixed to the middle of the top of the horizontal plate 11. When the first drive motors 71 on the left and right sides are installed, the head support 134 will not affect their installation. When disassembling, the shoulder positioning hole 111 is operated. The frame structure can ensure that the operator has a large operating space when disassembling the upper limb structure, allowing the operator to better install or disassemble the upper limb structure.

[0055] Meanwhile, the frame structure provides more installation positions, does not affect the installation of the first drive motors 71 on both sides, and is also conducive to the installation of other components of the head structure 13, ensuring the overall stability of the head structure 13.

[0056] In addition, the open design of the frame structure is conducive to air circulation, which can effectively improve the heat dissipation efficiency of the first drive motor 71 and keep the temperature of the first drive motor 71 stable during operation.

[0057] Furthermore, the head structure 13 also includes a bracket 131, a speaker 132, and a vision sensor 133. The bracket 131 is fixed to the top of the head support 134, the vision sensor 133 is fixed to the upper part of the bracket 131, the vision sensor 133 is connected to the control module 3, and the speaker 132 is provided in the middle of the bracket 131.

[0058] Specifically, the visual sensor 133 can acquire environmental images in real time, helping the robot to perform environmental perception and path planning. The visual sensor 133 is connected to the control module 3, providing real-time feedback to assist the robot in performing tasks in complex environments. The speaker 132 enables the robot to interact with the outside world through sound, which is beneficial for cooperating with humans and communicating with them during work.

[0059] Preferably, the bracket 131 is tilted towards the ground, that is, the angle between the bracket 131 and the vertical head bracket 134 is 50-70°, to ensure that the visual sensor 133 can receive information from the ground and see the things that need to be operated at hand.

[0060] Preferably, the wrist joint assembly 9 further includes a hand assembly, which includes a motor mounting block 95, a gripper housing 96, a hand motor 97, and a gripper connecting rod 98. One end of the motor mounting block 95 is fixedly connected to the wrist support 94, and the other end of the motor mounting block 95 is fixedly connected to the gripper housing 96. The hand motor 97 is located in the middle of the motor mounting block 95, and the hand motor 97 is operatively connected to the gripper connecting rod 98.

[0061] Specifically, the hand motor 97 is connected to the gripper link 98, and the hand motor 97 can drive the gripper link 98 to perform grasping and putting down operations. In conjunction with the wrist joint assembly 9, the angle can be adjusted to achieve precise grasping of objects. Under the premise of achieving multiple degrees of freedom, the accuracy is improved and complex tasks can be completed more efficiently.

[0062] Furthermore, a vision camera 99 is provided on the outside of the gripper housing 96.

[0063] During operation, the vision camera 99 moves together with the hand assembly, which can capture the relative position and posture changes of the gripper link 98 and the object in real time, enabling the robot to adjust its actions in a timely manner based on visual feedback, thereby improving the flexibility and adaptability of the operation.

[0064] Preferably, the waist rotation joint 121 includes a cross pivot and a base 1211, the torso support rod 12 is a hollow cuboid, the symmetrical ends of the cross pivot are rotatably connected to the two sides of the torso support rod 12, the other symmetrical ends of the cross pivot are connected to the base 1211, the waist pull rod 6 is rotatably connected to the base 1211, and the base 1211 is fixedly connected to the waist platform 4.

[0065] Specifically, the symmetrical ends of the cross-shaped pivot are rotatably connected to both sides of the torso support rod 12. When the first swing drive motor 5 and the second swing drive motor 14 rotate simultaneously in the same direction, they pull the waist lever 6, causing the robot's upper body to pitch back and forth according to the axis of the symmetrical ends of the cross-shaped pivot. The other symmetrical ends of the cross-shaped pivot are connected to the base 1211. When the first swing drive motor 5 and the second swing drive motor 14 rotate simultaneously in opposite directions, they pull the waist lever 6, causing the upper body to rotate according to the axis of the corresponding ends of the base 1211, thus achieving left and right tilting of the upper body and realizing two degrees of freedom of the waist.

[0066] Preferably, the shoulder joint assembly 7 further includes a second drive motor 73, a shoulder support 74, an upper arm support 75, and a third drive motor 76. The output end of the first drive motor 71 is connected to the shoulder support 74. The second drive motor 73 is assembled and connected in the shoulder support 74. The output end of the second drive motor 73 is connected to the upper arm support 75. The other end of the upper arm support 75 is assembled and connected to the third drive motor 76. A first connecting plate is connected between the shoulder joint assembly 7 and the elbow joint assembly 8. The output end of the third drive motor 76 is connected to the first connecting plate.

[0067] The elbow joint assembly 8 includes a fourth drive motor 81, a first mounting component 82, and a forearm support 83. The first mounting component 82 is fixedly connected to the first connecting plate. The fourth drive motor 81 is assembled and connected to the first mounting component 82. The output end of the fourth drive motor 81 is driven and connected to the forearm support 83.

[0068] The wrist joint assembly 9 also includes a fifth drive motor 91, a second mounting member 92, a sixth drive motor 93, and a wrist support 94. The fifth drive motor 91 is mounted and connected to the end of the forearm support 83 away from the fourth drive motor 81. The output end of the fifth drive motor 91 is driven and connected to the second mounting member 92. The sixth drive motor 93 is mounted and connected to the second mounting member 92. The output end of the sixth drive motor 93 is driven and connected to the wrist support 94.

[0069] Specifically, the first drive motor 71 drives the shoulder support 72, which is fixed to the horizontal plate 11. The shoulder support 72 serves to fix the first drive motor 71. The output end of the first drive motor 71 is connected to the shoulder bracket 74, and the first output motor drives the shoulder bracket 74 to rotate, thereby causing the entire upper limb structure to rotate. The second drive motor 73 is assembled and connected in the shoulder bracket 74, and the shoulder bracket 74 serves to limit the movement of the second drive motor 73. The output end of the second drive motor 73 is connected to the upper arm bracket 75, and the second drive motor 73 drives the upper arm bracket 75 to rotate. The other end of the bracket 75 is assembled and connected to the third drive motor 76. The output end of the third drive motor 76 is connected to the first connecting plate. The third drive motor 76 drives the first connecting plate to rotate. Therefore, the first drive motor 71, the second drive motor 73, and the third drive motor 76 realize the three degrees of freedom of the shoulder. The first drive motor 71 controls the pitch of the shoulder, the second drive motor 73 controls the roll direction of the shoulder, and the third drive motor 76 controls the deflection. The three degrees of freedom of the shoulder are realized through direct motor drive, which reduces the use of transmission structures (such as chains, gears, etc.), reduces the gaps in the robot, and better utilizes the driving role of the motor to meet the requirements of humanoid robot industrialization.

[0070] The fourth drive motor 81 is assembled and connected to the first mounting member 82. The first mounting member 82 limits the position of the fourth drive motor 81. The output end of the fourth drive motor 81 is connected to the forearm bracket 83. The forearm bracket 83 rotates under the drive of the fourth drive motor 81, that is, the forearm bracket 83 rotates around the axis of the fourth drive motor 81, realizing one degree of freedom of the elbow joint assembly 8. In the working state, the elbow joint assembly 8 can realize a bending movement similar to that of a human arm.

[0071] The output end of the fifth drive motor 91 is connected to the second mounting member 92. The second mounting member 92 rotates under the drive of the fifth drive motor 91. The sixth drive motor 93 drives the wrist support 94 to rotate around the axis of the sixth drive motor 93. The axes of the fifth drive motor 91 and the sixth drive motor 93 are perpendicular to each other. Therefore, the fifth drive motor 91 can drive the second mounting member 92, thereby causing the sixth drive motor 93 and the wrist support 94 to rotate, realizing the rotation or roll movement of the robot's wrist.

[0072] The sixth drive motor 93 is assembled and connected to the second mounting component 92, which provides stable support for the sixth drive motor 93 and ensures the stability of the sixth drive motor 93 during operation.

[0073] Preferably, the hip joint includes a first hip motor 101, a first hip support 102, a second hip motor 103, a second hip support 104, a third hip motor 105, and a third hip support 106. The output end of the first hip motor 101 is driven to the first hip support 102. The second hip motor 103 is assembled and connected to the first hip support 102. The second hip motor 103 is driven to the second hip support 104 via a connecting rod. The third hip motor 105 is assembled and connected to the second hip support 104. The output end of the third hip motor 105 is driven to the third hip support 106.

[0074] The knee joint assembly 15 includes a knee joint bracket 151, a knee joint motor 152, and a knee rotation joint 153. The knee joint bracket 151 is fixedly connected to the third hip bracket 106, and the knee joint bracket 151 is rotatably connected to the knee rotation joint 153. The knee joint motor 152 is assembled and connected to the middle part of the knee joint bracket 151, and the knee joint motor 152 is connected to the knee rotation joint 153 through a bending linkage.

[0075] The ankle joint assembly 16 includes a first ankle joint motor 161, a second ankle joint motor 162, a calf plate 163, and a foot 163. The first ankle joint motor 161 is mounted and connected to the knee joint bracket 151 and is connected to the knee rotation joint 153 via a linkage. The calf plate 163 is fixedly connected to the bottom of the knee rotation joint 153. The second ankle joint motor 162 is mounted and connected to the calf plate 163 and is connected to the foot 163 via a linkage.

[0076] Specifically, the first hip motor 101 drives the first hip support 102 to rotate, realizing the horizontal rotation of the robot's leg. The second hip motor 103 is connected to the second hip support 104 through a linkage transmission, that is, the second hip motor 103 drives the second hip support 104 to rotate, thereby driving the entire leg to swing left and right. The third hip motor 105 drives the robot's leg to realize the back-and-forth swinging motion. The second hip motor 103, the third hip motor 105 realize the three degrees of freedom of the robot's hip, reduce the use of transmission chains, and better utilize the performance of the motors.

[0077] The knee joint bracket 151 is connected to the third hip bracket 106. When the hip joint assembly moves, it can drive the knee joint assembly 15 to move. The knee joint motor 152 is connected to the knee rotation joint 153 through a bending linkage. Under the drive of the knee joint motor 152, the knee joint bracket 151 rotates relative to the knee rotation joint 153, thereby realizing the bending action of the robot's leg and achieving one degree of freedom.

[0078] The first ankle joint motor 161 is connected to the knee rotation joint 153 via a linkage. The knee rotation joint 153 is fixedly connected to the lower leg plate 163. The first ankle joint motor 161 drives the knee joint assembly 15 via the linkage, thereby causing the lower leg plate 163 to move in the pitch direction. The second ankle joint motor 162 is connected to the foot 163 via a linkage. The foot 163 moves in the lateral direction under the drive of the linkage, so that the ankle joint assembly 16 has two degrees of freedom, ensuring the stability and adaptability of the robot's gait, enabling it to walk on different ground conditions.

[0079] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A multi-degree-of-freedom humanoid robot, characterized by: This includes the head structure, trunk structure, upper limb structure, and lower limb structure; The torso structure is an I-shaped structure composed of a horizontal plate, a torso support rod, a lumbar rotation joint, and a lumbar platform. The horizontal plate is mounted on the top of the torso support rod, a power module is mounted on the front side of the torso support rod, and a control module is mounted on the rear side of the torso support rod. The lumbar rotation joint is rotatably connected to the bottom of the torso support rod, and the bottom of the lumbar rotation joint is connected to the middle of the top of the lumbar platform. A first swing drive motor is mounted on one side of the upper section of the torso support rod, and a second swing drive motor is mounted on the other side of the upper section of the torso support rod. Both the first and second swing drive motors are located directly below the horizontal plate. The output ends of the first and second swing drive motors are rotatably connected to the lumbar rotation joint via lumbar tie rods. The left and right sides of the top of the lumbar platform are the mounting areas for the first hip motor of the lower limb structure. The head structure is installed in the middle of the top of the horizontal plate; the left and right sides of the top of the horizontal plate are the mounting areas of the first drive motor of the upper limb structure. The upper limb structure includes a shoulder joint assembly, an elbow joint assembly, and a wrist joint assembly connected in sequence, with the shoulder joint assembly assembled and connected to the horizontal plate; The lower limb structure includes a hip assembly, a knee joint assembly, and an ankle joint assembly connected in sequence, with the hip assembly assembled and connected to the lumbar platform.

2. The multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The shoulder joint assembly includes a first drive motor and a shoulder support. The first drive motor passes through the shoulder support, and the shoulder joint assembly is detachably connected to the cross plate through the shoulder support. The head structure includes a head support, and the head structure is connected to the horizontal plate via the head support; The horizontal plate is provided with a plurality of shoulder positioning holes and a plurality of head positioning holes. The shoulder positioning holes correspond to the through holes of the shoulder support and are used to detachably connect the shoulder joint assembly. The head positioning holes correspond to the through holes of the head bracket and are used to detachably connect the head structure. The horizontal plate has two square holes in the middle, and the square holes are located directly below the first drive motor.

3. A multi-degree-of-freedom humanoid robot according to claim 2, characterized in that: The head support is a frame structure, and the head support is vertically fixed to the middle of the top of the horizontal plate.

4. A multi-degree-of-freedom humanoid robot according to claim 3, characterized in that: The head structure also includes a bracket, a speaker, and a vision sensor. The bracket is fixed to the top of the head support, the vision sensor is fixed to the upper part of the bracket, the vision sensor is connected to the control module, and a speaker is provided in the middle of the bracket.

5. A multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The wrist joint assembly also includes a hand assembly, which includes a motor mounting block, a gripper housing, a hand motor, and a gripper connecting rod. One end of the motor mounting block is fixedly connected to the wrist support, and the other end of the motor mounting block is fixedly connected to the gripper housing. The hand motor is located in the middle of the motor mounting block, and the hand motor is drivenly connected to the gripper connecting rod.

6. A multi-degree-of-freedom humanoid robot according to claim 5, characterized in that: A vision camera is provided on the outside of the gripper housing.

7. A multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The waist rotation joint includes a cross pivot and a base. The torso support rod is a hollow cuboid. The symmetrical ends of the cross pivot are rotatably connected to the two sides of the torso support rod. The other symmetrical ends of the cross pivot are connected to the base. The waist tie rod is rotatably connected to the base. The base is fixedly connected to the waist platform.

8. A multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The shoulder joint assembly further includes a second drive motor, a shoulder support, an upper arm support, and a third drive motor. The output end of the first drive motor is connected to the shoulder support, the second drive motor is assembled and connected in the shoulder support, the output end of the second drive motor is connected to the upper arm support, the other end of the upper arm support is assembled and connected to the third drive motor, a first connecting plate is connected between the shoulder joint assembly and the elbow joint assembly, and the output end of the third drive motor is connected to the first connecting plate. The elbow joint assembly includes a fourth drive motor, a first mounting component, and a forearm bracket. The first mounting component is fixedly connected to the first connecting plate. The fourth drive motor is assembled and connected to the first mounting component. The output end of the fourth drive motor is driven and connected to the forearm bracket. The wrist joint assembly further includes a fifth drive motor, a second mounting component, a sixth drive motor, and a wrist support. The fifth drive motor is mounted and connected to the end of the forearm support away from the fourth drive motor. The output end of the fifth drive motor is driven and connected to the second mounting component. The sixth drive motor is mounted and connected to the second mounting component. The output end of the sixth drive motor is driven and connected to the wrist support.

9. A multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The hip assembly includes a first hip motor, a first hip support, a second hip motor, a second hip support, a third hip motor, and a third hip support. The output end of the first hip motor is driven to the first hip support. The second hip motor is assembled and connected to the first hip support and is driven to the second hip support via a linkage. The third hip motor is assembled and connected to the second hip support, and the output end of the third hip motor is driven to the third hip support. The knee joint assembly includes a knee joint bracket, a knee joint motor, and a knee rotation joint. The knee joint bracket is fixedly connected to the third hip bracket and rotatably connected to the knee rotation joint. The knee joint motor is assembled and connected to the middle of the knee joint bracket and is connected to the knee rotation joint via a bending link. The ankle joint assembly includes a first ankle joint motor, a second ankle joint motor, a calf plate, and a foot. The first ankle joint motor is mounted and connected to the knee joint bracket and is connected to the knee rotation joint via a linkage. The calf plate is fixedly connected to the bottom of the knee rotation joint. The second ankle joint motor is mounted and connected to the calf plate and is connected to the foot via a linkage.

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