Humanoid robot

Abstract

The utility model discloses an embodiment of a humanoid robot, including torso device, the both sides of torso device are equipped with arm device, and the bottom of torso device is equipped with crotch device, and the both sides of crotch device are equipped with leg device, and torso device includes head acquisition control unit, torso support, waist torsion motor module, waist tilting motor module, neck torsion motor module, neck tilting motor module, neck motor mounting bracket, head mounting bracket, waist mounting bracket, and leg device includes thigh fixing piece, small shank fixing piece, knee motor rotating mechanism, first foot drive motor, first leg connecting rod, second foot drive motor, second leg connecting rod, foot palm piece. The utility model discloses compact structure, and the degree of freedom of each joint is high, and transmission efficiency is high, and has promoted the motion efficiency and reliability.

Description

Technical Field

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

[0002] Humanoid robots represent a significant research area in robotics, demanding extremely high levels of flexibility and precision in their joints. Existing humanoid robots suffer from complex structures and exhibit poor overall flexibility, precision, and reliability. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a humanoid robot that simplifies the structure and improves flexibility.

[0004] To address the aforementioned technical problems, this utility model proposes a humanoid robot, including a torso unit, arm units on both sides of the torso unit, a hip unit at the bottom of the torso unit, and leg units on both sides of the hip unit. The torso device includes a head acquisition control unit, a torso support, a lumbar torsion motor module, a lumbar pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a lumbar mounting bracket. The lumbar pitch motor module is mounted on the lumbar torsion motor module, and the lumbar mounting bracket is correspondingly connected to the lumbar pitch motor module. The torso support is correspondingly mounted on the lumbar mounting bracket, the neck torsion motor module is mounted on the torso support, and the neck motor mounting bracket is correspondingly connected to the neck torsion motor module. The neck pitch motor module is mounted on the neck motor mounting bracket, the head mounting bracket is correspondingly connected to the neck pitch motor module, and the head acquisition control unit is mounted on the head mounting bracket. The arm device includes a palm mechanism, a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixation component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixation component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector. The shoulder opening and closing motor module is correspondingly mounted on the shoulder swing motor module, the upper arm connector is correspondingly mounted on the shoulder opening and closing motor module, the upper arm motor module is mounted on the upper arm connector, and the upper arm fixation component is correspondingly connected to... The upper arm motor module and elbow motor module are respectively mounted on the upper arm fixing component. The lower arm connector is respectively mounted on the elbow motor module. The lower arm motor module is mounted on the lower arm connector. The lower arm fixing component is respectively connected to the lower arm motor module. The palm torsion motor module is mounted on the lower arm fixing component. The palm swing motor module is respectively mounted at the bottom of the palm torsion motor module. The palm torsion motor module is connected to the palm swing motor module through the palm transmission mechanism. The palm connector is respectively mounted on the palm swing motor module. The palm mechanism is connected to the palm connector. The hip device includes a hip fixing component, and a hip drive mechanism is provided on both sides of the hip fixing component. The hip drive mechanism includes a first hip motor module, a second hip motor module, a hip transmission component, and a leg connecting component. The first hip motor module is located on the hip fixing component, and the second hip motor module is correspondingly located on the first hip motor module. The hip transmission component is connected to the second hip motor module, and the leg connecting component is connected to the hip transmission component. The leg device includes a thigh fixation component, a calf fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg connecting rod, a second foot drive motor, a second leg connecting rod, and a foot assembly. The knee motor rotation mechanism is located on the top of the calf fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The first and second foot drive motors are located on the calf fixation component, and the first and second foot drive motors are respectively equipped with a first foot transmission component and a second foot transmission component. One end of the first leg connecting rod and one end of the second leg connecting rod are respectively connected to the first and second foot transmission components. The foot assembly is equipped with a universal joint, and the bottom of the calf fixation component is connected to the universal joint. The foot assembly is correspondingly equipped with a foot drive shaft, and the other ends of the first and second leg connecting rods are correspondingly connected to the foot drive shaft.

[0005] Furthermore, the waist pitch motor module is equipped with a waist limiting component for limiting the pitch angle of the waist mounting bracket.

[0006] Furthermore, the palm swing motor module is rotatably mounted at the front end of the forearm fixation component.

[0007] Furthermore, the palm transmission mechanism consists of a crank and two connecting rods. The crank is located on the output end of the palm torsion motor module, and the two ends of the crank are respectively connected to one end of the two connecting rods. The other ends of the two connecting rods are respectively connected to the front and rear sides of the palm swing motor module.

[0008] Furthermore, the axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

[0009] Furthermore, the hip fixation component is shaped like an inverted triangle.

[0010] Furthermore, the first hip motor module is axially angled downwards.

[0011] Furthermore, the axis of the second hip motor module is in the front-to-back direction.

[0012] Furthermore, the bottom of the foot piece is equipped with anti-slip components.

[0013] Furthermore, the first foot drive motor and the second foot drive motor are horizontally mounted on the lower leg fixing component, staggered vertically.

[0014] The beneficial effects of this invention are as follows: This invention decomposes the movements of the waist and neck into two degrees of freedom, "torsion" and "pitch," each driven by an independent motor module. This design mimics the multi-degree-of-freedom movement capabilities of the human spine and cervical vertebrae, enabling the humanoid robot not only to walk using its legs but also to actively adjust its center of gravity through flexible waist rotation and pitch, compensating for swaying during walking. It can also perform a variety of upper body movements such as turning, bending, raising, and lowering the head, greatly enhancing the stability of movement and the naturalness of interaction. Furthermore, the overall structure of this invention is simple and compact, improving the flexibility of the humanoid robot.

[0015] This invention employs a multi-joint, multi-degree-of-freedom serial design with seven motor modules from the shoulder to the hand, mimicking the main degrees of freedom of the human arm from the shoulder to the wrist joint. This enables the robotic arm to perform complex and coordinated movements in three-dimensional space, completing delicate tasks such as grasping, carrying, and manipulating. This invention allows the hand mechanism to move faster and more flexibly, reducing swaying during movement, improving operational accuracy and speed, while simultaneously reducing drive energy consumption.

[0016] This invention enables multi-degree-of-freedom relative rotation (such as pitch and roll) between the lower leg and foot through a universal joint, allowing the humanoid robot's feet to better conform to uneven ground, improving stability and flexibility when standing and walking. This invention also transmits power to the feet through two leg linkages, allowing the humanoid robot's feet to swing faster and more flexibly when taking steps, thereby improving gait dynamics and energy efficiency. Furthermore, this invention has a compact and reliable structure, and can independently and precisely control the knee and ankle joints, enabling more natural and stable walking, climbing stairs, and even running—complex movements.

[0017] This invention features a compact structure, high degrees of freedom in each joint, and high transmission efficiency, thereby improving motion efficiency and reliability. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the humanoid robot according to an embodiment of the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of the torso device of the humanoid robot according to an embodiment of the present invention.

[0020] Figure 3 This is a three-dimensional structural view of the torso device of the humanoid robot according to another embodiment of the present invention.

[0021] Figure 4 This is a three-dimensional structural diagram of the waist pitch motor module according to an embodiment of the present utility model.

[0022] Figure 5 This is a three-dimensional structural diagram of the arm device of the humanoid robot according to an embodiment of the present invention.

[0023] Figure 6 This is a three-dimensional structural view of the arm device of the humanoid robot according to another embodiment of the present utility model.

[0024] Figure 7 This is a structural diagram of the shoulder of the humanoid robot according to an embodiment of the present invention.

[0025] Figure 8 This is a three-dimensional structural diagram of the hip device of the humanoid robot according to an embodiment of the present invention.

[0026] Figure 9 This is a three-dimensional structural view of the hip device of the humanoid robot according to another embodiment of the present invention.

[0027] Figure 10 This is a three-dimensional structural diagram of the hip fixation component according to an embodiment of the present utility model.

[0028] Figure 11 This is a three-dimensional structural diagram of the leg device of the humanoid robot according to an embodiment of the present invention.

[0029] Figure 12 This is a three-dimensional structural view of the leg device of the humanoid robot according to another embodiment of the present invention.

[0030] Figure 13 This is a three-dimensional structural diagram of the leg device of a two-person robot according to an embodiment of the present invention.

[0031] Figure 14 This is a three-dimensional structural diagram of the foot component from one angle according to an embodiment of the present invention.

[0032] Figure 15 This is a three-dimensional structural view of the foot component from another angle according to an embodiment of this utility model.

[0033] Explanation of icon numbers 100. Leg assembly; 101. Thigh fixation component; 102. Lower leg fixation component; 103. Knee motor rotation mechanism; 104. First foot drive motor; 105. First leg link; 106. Second foot drive motor; 107. Second leg link; 108. Foot assembly; 109. Universal joint; 110. Foot drive shaft; 111. First foot transmission component; 112. Second foot transmission component; 113. Anti-slip component; 200. Hip assembly. Partial device, 201. Hip fixation component, 202. First hip motor module, 203. Second hip motor module, 204. Hip transmission component, 205. Leg connector, 206. Limiting part A, 207. Limiting part B, 208. Limiting component A, 209. Limiting component B, 300. Torso device, 301. Head acquisition control unit, 302. Torso support, 303. Waist torsion motor module, 304. Waist pitch motor module, 3 05. Neck torsion motor module; 306. Neck pitch motor module; 307. Neck motor mounting bracket; 308. Head mounting bracket; 309. Waist mounting bracket; 310. Waist limiting component; 311. Handrail frame; 400. Arm device; 401. Palm mechanism; 402. Shoulder swing motor module; 403. Shoulder opening and closing motor module; 404. Upper arm connector; 405. Upper arm motor module; 406. Upper arm fixing component; 407. Elbow motor module, 408, forearm connector, 409, forearm motor module, 410, forearm fixation, 411, palm torsion motor module, 412, palm swing motor module, 413, palm connector, 414, crank, 415, connecting rod, 416, shoulder limiter A, 417, shoulder limiter B, 418, upper arm limiter, 419, forearm limiter, 420, palm torsion limiter, 421, palm swing limiter. Detailed Implementation

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0037] Please refer to Figures 1 to 15 The humanoid robot of this utility model embodiment includes a torso device, arm devices symmetrically arranged on both sides of the torso device, a hip device at the bottom of the torso device, and leg devices symmetrically arranged on both sides of the hip device.

[0038] Please refer to Figures 2-4 The torso device of the humanoid robot in this embodiment of the utility model includes a head acquisition and control unit, a torso support, a waist torsion motor module, a waist pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a waist mounting bracket.

[0039] The head acquisition and control unit integrates sensors such as a camera, which is a common structure. The waist pitch motor module is located on the output end of the waist torsion motor module, and the waist mounting bracket is correspondingly connected to the output end of the waist pitch motor module. The torso support is correspondingly located on the waist mounting bracket. The neck torsion motor module is located on the torso support, and the neck motor mounting bracket is correspondingly connected to the output end of the neck torsion motor module. The neck pitch motor module is located on the neck motor mounting bracket. The head mounting bracket is correspondingly connected to the output end of the neck pitch motor module, and the head acquisition and control unit is located on the head mounting bracket. This invention can simulate a person's head-shaking motion; the neck pitch motor module and the neck torsion motor module can rotate ±90 degrees.

[0040] This invention decomposes the movements of the waist and neck into two degrees of freedom: "torsion" and "pitch," resulting in high flexibility and a wider acquisition angle for the head acquisition control unit. The layered, serially modular layout of this invention rationally distributes the heavier motor modules throughout the torso structure, particularly placing the heavier waist motor module in the lower part of the torso, which helps lower the overall center of gravity, thereby improving the stability of the humanoid robot in both static and dynamic states.

[0041] In one implementation, the waist pitch motor module is equipped with waist limiting components for limiting the pitch angle of the waist mounting bracket. There are two waist limiting components, which limit the pitch and roll angles of the waist mounting bracket respectively. This prevents the waist pitch angle from being too large, avoids damage to the motors, gears, or connecting structures of each motor module, and improves the service life and reliability of the torso device.

[0042] In one implementation, the torso support adopts a hollow design. This invention, while ensuring structural strength, minimizes the torso's weight, which helps reduce motor load and energy consumption. The hollow design also facilitates the laying of internal cables and the installation of other sensors or control units.

[0043] In one implementation, the neck motor mounting bracket is L-shaped, while the head mounting bracket is an inverted L-shape. This L-shaped mounting bracket allows for a more compact installation of the motor module onto the torso support, achieving weight reduction while optimizing the force transmission path, resulting in a more compact and rational overall structure.

[0044] As one implementation method, the torso support is equipped with handrails, which allow users to manually grab the humanoid robot and prevent it from falling over.

[0045] Please refer to Figures 5-7 The arm device of the humanoid robot in this embodiment of the utility model includes a palm mechanism, a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixing component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixing component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector.

[0046] The shoulder opening and closing motor module is correspondingly located on the output end of the shoulder swing motor module. The shoulder swing motor module drives the humanoid robot arm to swing back and forth. The upper arm connector is correspondingly located on the output shaft of the shoulder opening and closing motor module. The shoulder opening and closing motor module drives the humanoid robot arm to perform opening and closing movements. Preferably, the axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

[0047] The boom motor module is located on the boom connector. The boom fixing component is correspondingly connected to the boom motor module. The boom motor module drives the boom fixing component and the parts below it to rotate. The boom fixing component features a hollow design.

[0048] The elbow motor module is mounted on the upper arm fixing component, the forearm connector is mounted on the output shaft of the elbow motor module, the forearm motor module is mounted on the forearm connector, and the forearm fixing component is connected to the output end of the forearm motor module.

[0049] The palm torsion motor module is mounted on the forearm fixation component, while the palm swing motor module is rotatably mounted (in specific implementations, a rotating shaft mechanism can be used) at the front end of the forearm fixation component or the bottom end of the palm torsion motor module. The palm torsion motor module is connected to the palm swing motor module via a palm transmission mechanism, driving the palm swing motor module and the following components to rotate. A palm connector is correspondingly mounted on the output shaft of the palm swing motor module, and the palm mechanism is connected to the palm connector. This invention simulates the forward, backward, left, and backward movements of the human hand through the rotation of the two motor modules, the palm torsion motor module and the palm swing motor module.

[0050] In one implementation, the palm drive mechanism consists of a crank and two connecting rods. The middle of the crank is connected to the output end of the palm torsion motor module. The two ends of the crank are connected to one end of each of the two connecting rods, and the other ends of the two connecting rods are connected to the front and rear sides of the palm swing motor module, respectively. The palm drive mechanism converts the rotation of the palm torsion motor module into the torsional motion of the palm swing motor module.

[0051] In one implementation, the shoulder swing motor module is provided with a shoulder limiting member A, and the shoulder opening and closing motor module is provided with a corresponding shoulder limiting member B. This invention, through the cooperation of shoulder limiting member A and shoulder limiting member B, achieves the limitation of the swing angle of the shoulder opening and closing motor module and the parts below it.

[0052] In one implementation, the shoulder opening and closing motor module is equipped with a corresponding upper arm limiting member for limiting the movement of the upper arm connector. The elbow motor module is equipped with a corresponding forearm limiting member for limiting the movement of the forearm connector. The palm torsion motor module is equipped with a corresponding palm torsion limiting member for limiting the movement of the palm transmission mechanism. The palm swing motor module is equipped with a corresponding palm swing limiting member for limiting the movement of the palm connector. These mechanical hard limits of this invention can effectively prevent the joints from moving beyond their design range due to software errors or control failures, thereby avoiding gear damage, structural impact, or motor stalling of the motor module, and greatly improving the reliability and service life of the arm device.

[0053] Please refer to Figures 8-10 The humanoid robot's hip device according to this embodiment includes a hip fixing member. A hip drive mechanism is provided on each of the left and right sides of the hip fixing member.

[0054] The hip drive mechanism includes a first hip motor module, a second hip motor module, a hip transmission component, and a leg connector. The first hip motor module is mounted on the hip fixing component, and the second hip motor module is correspondingly mounted on the output end of the first hip motor module. The first hip motor module drives the second hip motor module to rotate.

[0055] The hip drive component is connected to the output of the second hip motor module, and the leg connector is connected to the hip drive component. The second hip motor module drives the hip drive component to rotate back and forth, which in turn drives the leg connector to swing back and forth. The leg connector is used to connect to the leg device, thereby realizing the complete movement of the leg.

[0056] In one implementation, the hip fixation component is an inverted triangle (preferably an inverted equilateral triangle) with a hollow center. A first hip motor module of a hip drive mechanism is connected to each side of the triangle corresponding to the hip fixation component, and a waist device of the humanoid robot is connected to the top of the triangle corresponding to the hip fixation component. The axial direction of the first hip motor module is diagonally downward; preferably, the angle between the axial direction of the first hip motor module and the vertical direction is 60°.

[0057] In one implementation, the axis of the second hip motor module is in the front-back direction, thereby driving the leg connector to swing back and forth.

[0058] In one implementation, a limiting part A is provided on the inner side of the hip transmission component, and a limiting part B corresponding to the limiting part A is provided on the second hip motor module. The cooperation between the limiting part A and the limiting part B limits the rotation angle of the second hip motor module.

[0059] In one implementation, a limiting member A is provided on the first hip motor module, and a limiting member B corresponding to the limiting member A is provided on the second hip motor module. The cooperation of the limiting member A and the limiting member B limits the rotation angle of the first hip motor module.

[0060] Please refer to Figures 11-15 The leg device of the humanoid robot in this embodiment of the utility model includes a thigh fixation component, a calf fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg link, a second foot drive motor, a second leg link, and a foot component.

[0061] The knee motor rotation mechanism is located at the top of the lower leg fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The knee motor rotation mechanism controls the knee joint, drives the movement of the lower leg, and improves the flexibility of the humanoid robot's legs.

[0062] The first and second foot drive motors are mounted on the lower leg fixing component, and each motor has a first and second foot transmission component. One end of the first leg connecting rod and one end of the second leg connecting rod are connected to the first and second foot transmission components, respectively. A universal joint is provided on the foot component, and the bottom of the lower leg fixing component is connected to the universal joint. A corresponding foot drive shaft is provided on the foot component, and the other ends of the first and second leg connecting rods are connected to the foot drive shaft. The foot component can be shaped like a human foot, and the first and second foot drive motors drive the multi-degree-of-freedom relative rotation between the foot component and the lower leg.

[0063] This invention enables multi-degree-of-freedom relative rotation (such as pitch and roll) between the lower leg and foot through a universal joint, allowing the humanoid robot's feet to better conform to uneven ground, thus improving stability and flexibility when standing and walking.

[0064] As one implementation method, the bottom of the foot component is provided with an anti-slip component. The anti-slip component increases the friction between the humanoid robot's leg device and the ground when walking, thereby improving the stability of the humanoid robot when walking.

[0065] In one implementation, the first and second foot drive motors are horizontally mounted on the lower leg fixing component with their heights staggered, resulting in a more compact overall structure. The output ends of the first and second foot drive motors face left and right sides, respectively. The other ends of the first and second leg connecting rods are connected to the two ends of the foot drive shaft, respectively. In practice, the first and second foot drive motors can be driven independently, improving the flexibility of the foot component.

[0066] As one implementation method, the thigh fixation component and the calf fixation component adopt a partially hollowed-out design, which can reduce the overall weight.

[0067] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot, characterized in that, It includes a torso unit, arm units on both sides of the torso unit, a hip unit at the bottom of the torso unit, and leg units on both sides of the hip unit. The torso device includes a head acquisition control unit, a torso support, a lumbar torsion motor module, a lumbar pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a lumbar mounting bracket. The lumbar pitch motor module is mounted on the lumbar torsion motor module, and the lumbar mounting bracket is correspondingly connected to the lumbar pitch motor module. The torso support is correspondingly mounted on the lumbar mounting bracket, the neck torsion motor module is mounted on the torso support, and the neck motor mounting bracket is correspondingly connected to the neck torsion motor module. The neck pitch motor module is mounted on the neck motor mounting bracket, the head mounting bracket is correspondingly connected to the neck pitch motor module, and the head acquisition control unit is mounted on the head mounting bracket. The arm device includes a palm mechanism, a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixation component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixation component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector. The shoulder opening and closing motor module is correspondingly mounted on the shoulder swing motor module, the upper arm connector is correspondingly mounted on the shoulder opening and closing motor module, the upper arm motor module is mounted on the upper arm connector, and the upper arm fixation component is correspondingly connected to... The upper arm motor module and elbow motor module are respectively mounted on the upper arm fixing component. The lower arm connector is respectively mounted on the elbow motor module. The lower arm motor module is mounted on the lower arm connector. The lower arm fixing component is respectively connected to the lower arm motor module. The palm torsion motor module is mounted on the lower arm fixing component. The palm swing motor module is respectively mounted at the bottom of the palm torsion motor module. The palm torsion motor module is connected to the palm swing motor module through the palm transmission mechanism. The palm connector is respectively mounted on the palm swing motor module. The palm mechanism is connected to the palm connector. The hip device includes a hip fixing component, and a hip drive mechanism is provided on both sides of the hip fixing component. The hip drive mechanism includes a first hip motor module, a second hip motor module, a hip transmission component, and a leg connecting component. The first hip motor module is located on the hip fixing component, and the second hip motor module is correspondingly located on the first hip motor module. The hip transmission component is connected to the second hip motor module, and the leg connecting component is connected to the hip transmission component. The leg device includes a thigh fixation component, a calf fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg connecting rod, a second foot drive motor, a second leg connecting rod, and a foot assembly. The knee motor rotation mechanism is located on the top of the calf fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The first and second foot drive motors are located on the calf fixation component, and the first and second foot drive motors are respectively equipped with a first foot transmission component and a second foot transmission component. One end of the first leg connecting rod and one end of the second leg connecting rod are respectively connected to the first and second foot transmission components. The foot assembly is equipped with a universal joint, and the bottom of the calf fixation component is connected to the universal joint. The foot assembly is correspondingly equipped with a foot drive shaft, and the other ends of the first and second leg connecting rods are correspondingly connected to the foot drive shaft.

2. The humanoid robot as described in claim 1, characterized in that, The waist pitch motor module is equipped with a waist limiting component for limiting the pitch angle of the waist mounting bracket.

3. The humanoid robot as described in claim 1, characterized in that, The palm swing motor module is rotatably mounted at the front end of the forearm fixation component.

4. The humanoid robot as described in claim 3, characterized in that, The palm transmission mechanism consists of a crank and two connecting rods. The crank is located on the output end of the palm torsion motor module. The two ends of the crank are connected to one end of the two connecting rods, and the other ends of the two connecting rods are connected to the front and rear sides of the palm swing motor module, respectively.

5. The humanoid robot as described in claim 1, characterized in that, The axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

6. The humanoid robot as described in claim 1, characterized in that, The hip fixation piece is in the shape of an inverted triangle.

7. The humanoid robot as described in claim 1, characterized in that, The first hip motor module is axially angled downwards.

8. The humanoid robot as described in claim 7, characterized in that, The axis of the second hip motor module is in the front-to-back direction.

9. The humanoid robot as described in claim 7, characterized in that, The bottom of the foot piece is equipped with anti-slip components.

10. The humanoid robot as described in claim 1, characterized in that, The first and second foot drive motors are horizontally mounted on the lower leg fixing component, staggered vertically.

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