A humanoid combat robot

Abstract

The utility model discloses a humanoid fighting robot, including waist module, the upper portion middle rotation of waist module is provided with the body module, the left and right ends of body module are provided with arm module, the lower portion left and right ends of waist module are provided with the leg module, and the lower end of each leg module is provided with the foot module respectively, and each module connecting position is rotated respectively through the corresponding rudder machine drive and carries out the rotating action. The utility model discloses through the reasonable design and the connection of each part, utilizes a plurality of rudder machines to control the movement of different parts respectively, realizes the flexible movement of robot head, neck, waist, limbs and other multiple parts, and the motion stability is good, and the overall structure provides good structural basis for the application of robot under the fighting training multiple scenes.

Description

Technical Field

[0001] This utility model relates to the field of combat training auxiliary equipment technology, and in particular to a humanoid combat robot. Background Technology

[0002] Combat training is highly technical and dangerous, especially when two people are practicing offense and defense together. Even a slight lapse in concentration can lead to injury. Therefore, specific training equipment is used to assist in combat training. Traditional combat training equipment is mostly simple in structure, such as sandbags, pear balls, speed balls, and spinning reaction targets. Their movement capabilities are poor, and those that mimic human movements are rare. This makes training monotonous, uninteresting, and ineffective for athletes. Therefore, humanoid combat robots capable of automatically mimicking human movements have emerged. However, the structural design of existing humanoid combat robots, particularly in details such as the back wiring and hand shape, has significant flaws that directly affect the robot's motion performance, reliability, and aesthetics. For example, the robot's back often uses a straight-face structure, with battery cables or servo motor connection cables protruding from the sides and top. This causes the wiring to sway during robot movement, affecting its motion. Furthermore, the hands of commercially available combat robots are of the curved type, which can bend and deform during falls and fights, and are prone to snagging on foreign objects when standing up. Utility Model Content

[0003] The purpose of this invention is to provide a humanoid fighting robot to solve the technical problems mentioned in the background section.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This utility model discloses a humanoid fighting robot, including a waist module, a body module rotatably disposed in the upper middle part of the waist module, and arm modules rotatably disposed at the left and right ends of the body module; leg modules are connected to the left and right ends of the lower part of the waist module, and foot modules are rotatably disposed at the lower end of each leg module; the connecting parts of each module are driven to rotate by corresponding servo motors.

[0005] Furthermore, the waist module includes a waist support, with a vertical waist servo fixedly installed in the middle of the waist support. A waist servo disk is fixedly installed at the power end of the waist servo, and a waist thrust bearing is clamped on the waist servo disk. A chest base plate is fixedly installed on the waist servo disk. Horizontal hip joint servos are fixedly installed at the left and right ends of the waist support, and each hip joint servo is respectively provided with a hip joint servo disk connected to the leg module on the corresponding side at its power end. Two waist extension plates are symmetrically fixedly installed at both ends of the upper part of the waist support.

[0006] Furthermore, the body module includes a neck base fixedly connected to the chest base plate. A vertical head servo is fixedly installed in the middle of the neck base. A head servo disk is fixedly installed at the power end of the head servo, and a head thrust bearing is mounted on the head servo disk. A head bracket is fixedly installed on the upper part of the head servo disk, and a head component is fixedly installed on the head bracket. Horizontal shoulder servos are fixedly installed at both ends of the neck base. A shoulder servo disk connected to the corresponding arm module is fixedly installed at the power end of each shoulder servo, and a shoulder thrust bearing is mounted on the shoulder servo disk.

[0007] Furthermore, a breastplate module is fixedly provided at the front end of the neck base. The breastplate module includes a breastplate fixedly connected to the front end of the neck base, and a breastplate counterweight is fixedly provided at the part of the breastplate located inside the neck base.

[0008] Furthermore, a battery module is provided inside the neck base. The battery module includes a battery limiting plate fixedly disposed inside the neck base, a lithium battery disposed on the battery limiting plate, and a battery bracket fixedly connected to the bottom of the neck base for fixing the lithium battery.

[0009] Furthermore, a motherboard module is fixedly disposed at the rear end of the neck base. The motherboard module includes a motherboard mounting plate fixedly connected to the neck base. A motherboard and a rocker switch electrically connected to the motherboard are fixedly disposed on the motherboard mounting plate. A back armor is fixedly disposed on the outside of the motherboard on the motherboard mounting plate.

[0010] Furthermore, each of the arm modules includes a shoulder component, one end of which is fixedly connected to the corresponding shoulder servo disk; the other end of the shoulder component is connected to a large arm, and a large arm servo is fixedly mounted on the end of the large arm closer to the shoulder component, with a large arm servo disk fixedly connected to the shoulder component at the power end of the large arm servo; a small arm servo is fixedly mounted on the end of the large arm away from the shoulder component, with a small arm servo disk at the power end of the small arm servo, the small arm servo disk being fixedly connected to one end of the small arm, and a hand support is fixedly mounted on the other end of the small arm, with a hand component fixedly mounted on the hand support.

[0011] Furthermore, each of the leg modules includes a leg base frame, the leg base frame includes a knee support, and two leg connecting rods a are symmetrically hinged at the upper and lower ends of one side of the knee support, and two leg connecting rods b are symmetrically hinged at the upper and lower ends of the other side of the knee support.

[0012] Furthermore, leg servos are fixedly mounted on opposite ends of the two leg links b, and leg servo disks are fixedly mounted on the power ends of each leg servo. The upper leg servo disks are fixedly connected to the lower end of the thigh root connecting frame, and the other lower end of the thigh root connecting frame is hinged to the upper leg link a. The upper part of the thigh root connecting frame is fixedly connected to the hip joint servo disk on the corresponding side. The lower leg servo disks are fixedly connected to the upper end of the ankle connecting frame, and the other upper end of the ankle connecting frame is hinged to the lower leg link a. The lower end of the ankle connecting frame is connected to the foot module on the corresponding side.

[0013] Furthermore, each of the foot modules includes a foot base, a foot servo bracket is fixedly mounted on the upper part of the foot base, a foot servo is fixedly mounted on the foot servo bracket, a foot servo is fixedly mounted on the power end of the foot servo, and the foot servo is fixedly connected to the lower end of the ankle connecting frame on the corresponding side; a foot anti-slip pad is fixedly mounted on the bottom of the foot base.

[0014] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This invention, through the rational design and connection of its various parts, utilizes multiple servo motors to control the movement of different components, achieving flexible movement of multiple parts such as the robot's head, neck, waist, and limbs, with good motion stability. The overall structure provides a solid structural foundation for the robot's application in various combat training scenarios. The back armor of this invention adopts a bent structure, enclosing the upper and side spaces to prevent wiring harnesses from protruding from the sides during robot movement, thus avoiding interference with motion and aesthetics. Furthermore, the hand components of this invention are designed in a square fist shape, preventing deformation during falls and fights, and preventing snagging on foreign objects during standing up. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the first installation state of the waist module; Figure 3 This is a schematic diagram of the second installation state of the waist module. Figure 4 This is a schematic diagram of the third installation state of the waist module. Figure 5 A schematic diagram of the first installation state of the body module; Figure 6 A schematic diagram of the second installation state of the body module; Figure 7This is a schematic diagram of the anterior chest armor module structure; Figure 8 This is a schematic diagram of the third installation state of the body module; Figure 9 This is a schematic diagram of the battery limiting plate structure; Figure 10 This is a schematic diagram of the fourth installation state of the body module; Figure 11 This is a schematic diagram of the first installation state of the motherboard module; Figure 12 This is a schematic diagram of the second installation state of the motherboard module; Figure 13 This is a schematic diagram of the fifth installation state of the body module; Figure 14 This is a schematic diagram of the sixth installation state of the body module; Figure 15 This is a schematic diagram of the first installation state of the arm module; Figure 16 This is a schematic diagram of the second installation state of the arm module; Figure 17 This is a schematic diagram of the third installation state of the arm module; Figure 18 This is a schematic diagram of the fourth installation state of the arm module; Figure 19 This is a schematic diagram of the first installation state of the leg base frame; Figure 20 This is a schematic diagram of the second installation state of the leg base frame; Figure 21 This is a schematic diagram of the third installation state of the leg base frame; Figure 22 This is a schematic diagram of the first installation state of the leg module; Figure 23 This is a schematic diagram of the second installation state of the leg module; Figure 24 This is a schematic diagram of the third installation state of the leg module; Figure 25 This is a schematic diagram of the fourth installation state of the leg module; Figure 26 This is a schematic diagram of the first installation state of the foot module; Figure 27 This is a schematic diagram of the second installation state of the foot module; Figure 28 This is a schematic diagram showing the connection between the foot module and the leg module; Figure 29 This is a schematic diagram showing the connection between the leg module and the waist module; Figure 30 A schematic diagram showing the connection between the body module and the waist module; Figure 31This is a schematic diagram showing the connection between the arm module and the body module; Explanation of reference numerals in the attached diagrams: 1. Waist module; 1-1. Waist support; 1-2. Waist servo; 1-3. Waist servo disc; 1-4. Waist thrust bearing; 1-5. Chest base plate; 1-6. Hip joint servo; 1-7. Hip joint servo disc; 1-8. Waist extension plate; 2. Body module; 2-1. Neck base; 2-2. Head servo; 2-3. Head servo disc; 2-4. Head thrust bearing; 2-5. Head support; 2-6. Head assembly; 2-7. Shoulder servo; 2-8. Shoulder servo disc; 2-9. Shoulder thrust bearing; 2-10. Chest armor; 2-11. Chest counterweight; 2-12. Battery limiting plate; 2-13. Lithium battery; 2-14. Battery bracket; 2-15. Mainboard mounting plate. 1. Plate; 2-16. Mainboard; 2-17. Boat-shaped switch; 2-18. Back armor; 3. Arm module; 3-1. Shoulder component; 3-2. Upper arm; 3-3. Upper arm servo; 3-4. Upper arm rudder; 3-5. Forearm servo; 3-6. Forearm rudder; 3-7. Forearm; 3-8. Hand support; 3-9. Hand component; 4. Leg module; 4-1. Knee support; 4-2. Leg link a; 4-3. Leg link b; 4-4. Leg servo; 4-5. Leg rudder; 4-6. Thigh root connecting frame; 4-7. Ankle connecting frame; 5. Foot module; 5-1. Foot base; 5-2. Foot servo bracket; 5-3. Foot servo; 5-4. Foot rudder; 5-5. Foot anti-slip pad. Detailed Implementation

[0017] like Figure 1 As shown, a humanoid fighting robot includes a waist module 1, a body module 2 rotatably mounted on the upper middle part of the waist module 1, and arm modules 3 rotatably mounted on the left and right ends of the body module 2; leg modules 4 are connected to the lower left and right ends of the waist module 2, and foot modules 5 are rotatably mounted on the lower end of each leg module 4; the connection parts of each module are driven to rotate by corresponding servo motors.

[0018] like Figures 2-4As shown, the waist module 1 includes a waist support 1-1. A vertical waist servo motor 1-2 is fixedly installed in the middle of the waist support 1-1. A waist servo disk 1-3 is fixedly installed on the power end of the waist servo motor 1-2, and a waist thrust bearing 1-4 is clamped on the waist servo disk 1-3. The waist thrust bearing 1-4 enables the robot's upper body to rotate more flexibly. A chest base plate 1-5 is fixedly installed on the upper part of the waist servo disk 1-4. Horizontal hip joint servos 1-6 are fixedly installed on the left and right sides of the waist support 1-1. The power end of each hip joint servo motor 1-6 is respectively installed with a hip joint servo disk 1-7 connected to the corresponding leg module 4. Two waist extension plates 1-8 are symmetrically fixedly installed at both ends of the upper part of the waist support 1-1.

[0019] When assembling waist module 1, firstly as follows: Figure 2 As shown, the waist servo 1-2 is fixed to the waist bracket 1-1 using round-head Phillips M2x6 self-tapping screws. Then, the waist servo disc 1-3 is fixed to the waist servo 1-2 using round-head Phillips M3x6 screws, and the thrust bearing 1-4 is placed on top. Finally, the waist extension plate 1-8 is fixed to the waist bracket 1-1 using countersunk Phillips M2x8 screws and M2 anti-slip nuts. Then, as... Figure 3 As shown, the hip joint servo motor 1-6 is fixed to the waist bracket 1-1 using round-head Phillips M2x6 self-tapping screws, and then the hip joint servo disc 1-7 is fixed to the hip joint servo motor 1-6 using round-head Phillips M3x6 screws. Finally, as shown... Figure 4 As shown, the chest base plate 1-5 is fixed to the waist rudder 1-3 with round-headed Phillips head M3x6 screws.

[0020] like Figures 5-6 As shown, the body module 2 includes a neck base 2-1 fixedly connected to the chest base plate 1-5. A vertical head servo 2-2 is fixedly installed in the middle of the neck base 2-1. A head servo disk 2-3 is fixedly installed at the power end of the head servo 2-2, and a head thrust bearing 2-4 is mounted on the head servo disk 2-3. A head bracket 2-5 is fixedly installed on the upper part of the head servo disk 2-3, and a head component 2-6 is fixedly installed on the head bracket 2-5. Horizontal shoulder servos 2-7 are fixedly installed at both ends of the neck base 2-1. A shoulder servo disk 2-8 connected to the corresponding arm module 3 is fixedly installed at the power end of each shoulder servo 2-7, and a shoulder thrust bearing 2-9 is mounted on the shoulder servo disk 2-8.

[0021] During assembly, the head module is first as follows: Figure 5As shown, first, fix the head servo 2-2 to the neck base 2-1 using round-head Phillips M2x6 screws. Then, fix the head servo disk 2-3 to the head servo 2-2 using round-head Phillips M3x6 screws and place the head thrust bearing 2-4 on top. Next, fix the shoulder servo 2-7 to the neck base 2-1 using round-head Phillips M2x6 screws, and then fix the shoulder servo disk 2-8 to the corresponding shoulder servo 2-7 using round-head Phillips M3x6 screws. Then proceed as follows... Figure 6 As shown, use round-head Phillips M3x6 screws to fix the head bracket 2-5 to the head rudder 2-3, and then use round-head Phillips M2x6 screws to fix the head component 2-6 to the head bracket 2-5.

[0022] like Figure 7 As shown, a chest armor module is fixedly mounted on the front end of the neck base 2-1. The chest armor module includes a chest armor 2-10 fixedly connected to the front end of the neck base 2-1, and a chest counterweight 2-11 is fixedly installed on the part of the chest armor 2-10 located inside the neck base 2-1. During installation, the chest armor and chest counterweight are fixed with round-headed Phillips head M3x16 screws and M3 anti-slip nuts to form the chest armor module. The counterweight of the chest armor module helps to adjust the robot's center of gravity and improve its balance during movement. Figure 8 As shown, the anterior chest armor module is fixed to the neck base 2-1 using round-headed Phillips head M2x6 screws.

[0023] A battery module is disposed inside the neck base 2-1. The battery module includes a battery limiting plate 2-12 fixedly installed inside the neck base 2-1, a lithium battery 2-13 disposed on the battery limiting plate 2-12, and a battery bracket 2-14 fixedly connected to the bottom of the neck base 2-1 for fixing the lithium battery 2-12. Figure 9 As shown, the battery limiting plate is equipped with round-head Phillips M3x6 screws and M3x30 double-through studs. During body module assembly, as... Figure 10 As shown, use round-headed Phillips M2x6 screws to fix the battery limiting plate 2-12 to the neck base.

[0024] A motherboard module is fixedly mounted at the rear end of the neck base 2-1, such as Figures 11-12 As shown, the motherboard module includes a motherboard mounting plate 2-15 fixedly connected to the neck base 2-1. A motherboard 2-16 and a rocker switch 2-17 electrically connected to the motherboard 2-16 are fixedly mounted on the motherboard mounting plate 2-15. A backplate 2-18 is fixedly mounted on the outside of the motherboard 2-16 on the motherboard mounting plate 2-15. During assembly, the motherboard module is first... Figure 11As shown, first secure the countersunk Phillips M3x4 screws and single-ended M3x5 studs to the mainboard mounting plate 2-15, then install the rocker switch 2-17. Then proceed as follows... Figure 12 As shown, first fix the motherboard 2-16 with double through studs M3x6, and then fix the back armor 2-17 with round head Phillips M3x6 screws. The back armor can protect the circuit board.

[0025] After the motherboard module is assembled, such as Figure 13 As shown, use round-head Phillips M2x6 screws to secure the motherboard module to the neck base 2-1. Then, as... Figure 14 As described above, the battery 2-13 is embedded in the chest cavity, and then the battery bracket 2-14 is fixed to the body with a round-headed Phillips M3x6 screw.

[0026] like Figures 15-18 As shown, each of the arm modules 3 includes a shoulder component 3-1, one end of which is fixedly connected to the corresponding shoulder servo disc 2-8; the other end of the shoulder component 3-1 is connected to a large arm 3-2, and a large arm servo motor 3-3 is fixedly installed at the end of the large arm 3-2 near the shoulder component 3-1. The power end of the large arm servo motor 3-3 is equipped with a large arm servo disc 3-4 fixedly connected to the shoulder component 3-1. A small arm servo motor 3-5 is fixedly installed at the end of the large arm 3-2 away from the shoulder component 3-1, and a small arm servo disc 3-6 is installed at the power end of the small arm servo motor 3-5. The small arm servo disc 3-6 is fixedly connected to one end of the small arm 3-7, and a hand support 3-8 is fixedly installed at the other end of the small arm 3-7. A hand component 3-9 is fixedly installed on the hand support 3-8.

[0027] During assembly of arm module 3, the first step is as follows: Figure 15 As shown, install the boom servo disc 3-4 onto the boom servo 3-3, and then use round-head Phillips M3x6 screws to fix the shoulder component 3-1 onto the shoulder servo disc 3-4. Then proceed as follows... Figure 16 As shown, the boom servo 3-3 and the forearm servo 3-5 are respectively fixed to the boom 3-2 using round-head Phillips self-tapping M2x6 screws. Then, as... Figure 17 As shown, first, secure the forearm 3-7 and hand support 3-8 together using round-head Phillips M2x6 screws and M2 anti-slip nuts. Then, secure the hand component 3-9 to the hand support 3-8 using round-head Phillips M2x6 screws. Finally, as shown... Figure 18 As shown, install the forearm servo disk 3-6 on the forearm servo motor, and then use round-headed Phillips M3x6 screws to fix the forearm 3-7 onto the forearm servo disk 3-6.

[0028] Each of the leg modules 4 includes a basic leg frame, such as... Figures 19-21As shown, the leg base frame includes a knee bracket 4-1. Two leg connecting rods a4-2 are symmetrically hinged at the upper and lower ends of one side of the knee bracket 4-1. Two leg connecting rods b4-3 are symmetrically hinged at the upper and lower ends of the other side of the knee bracket 4-1. Leg servo motors 4-4 are fixedly installed at the opposite ends of the two leg connecting rods b4-3.

[0029] The leg frame is made of lightweight, high-strength materials and features a parallelogram structure design, balancing strength and lightness while making the structure more robust and stable, and allowing for greater flexibility of movement. When assembling the leg frame, firstly... Figure 19 As shown, the leg link a4-2 and the knee brace 4-1 are connected together using a combination of round-head Phillips M3x10 screws, flange bearings, nylon washers, and M3 anti-slip nuts. Then, as... Figure 20 As shown, first use a combination of round-head Phillips M3x16 screws, flange bearings, flange bearing washers, and M3 anti-slip nuts to install the leg link b4-3 onto the knee bracket 4-1. Then, use round-head Phillips M3x6 screws to fix the double-ended stud M3x40 and the single-ended stud M3x13+6 onto the knee bracket 4-1. Finally, as shown... Figure 21 As shown, use round-headed Phillips head self-tapping M2x6 screws to fix the leg servo 4-4 to the leg linkage b4-3.

[0030] like Figures 22-25 As shown, each leg servo motor 4-4 has a leg servo disc 4-5 fixedly mounted on its power end. The upper leg servo disc 4-5 is fixedly connected to one lower end of the thigh root connecting frame 4-6, and the other lower end of the thigh root connecting frame 4-6 is hinged to the upper leg link a4-2. The upper part of the thigh root connecting frame 4-6 is fixedly connected to the hip joint servo disc 1-7 on the corresponding side. The lower leg servo disc 4-5 is fixedly connected to one upper end of the ankle connecting frame 4-7, and the other upper end of the ankle connecting frame 4-7 is hinged to the lower leg link a4-2. The lower end of the ankle connecting frame 4-7 is connected to the foot module 5 on the corresponding side.

[0031] When assembling leg module 5, firstly as follows: Figure 22 As shown, first insert the upper leg servo disc 4-5 into the leg servo 4-4, then use round-head Phillips M3x6 screws to fix the thigh root mounting bracket 4-6 to the leg servo disc 4-5. Then as... Figure 23 As shown, the thigh root fixing bracket 4-6 and the leg connecting rod a4-2 are connected using a combination of round-head Phillips M3x16 screws, flange bearings, flange bearing washers, and M3 anti-slip nuts. Then, as... Figure 24As shown, first insert the lower leg servo disc 4-5 into the leg servo 4-4, then use round-headed Phillips M3x6 screws to fix the ankle connector 4-7 to the leg servo disc 4-5. Finally, as shown... Figure 25 As shown, the ankle connector 4-7 and the leg link a4-2 are connected using a combination of round-headed Phillips M3x16 screws, flange bearings, flange bearing gaskets, and M3 anti-slip nuts.

[0032] like Figures 26-27 As shown, each foot module 5 includes a foot base 5-1, a foot servo bracket 5-2 fixedly mounted on the upper part of the foot base 5-1, a foot servo 5-3 fixedly mounted on the foot servo bracket 5-2, a foot servo disc 5-4 fixedly mounted on the power end of the foot servo 5-3, and the foot servo disc 5-4 fixedly connected to the lower end of the ankle connecting bracket 4-7 on the corresponding side; a foot anti-slip pad 5-5 is fixedly mounted on the bottom of the foot base 5-1.

[0033] The foot base 5-1 of the foot module is made of metal, which provides better support; the anti-slip pad 5-5 is made of plastic or rubber, which can prevent slipping and reduce shock, making the robot more stable when walking.

[0034] When assembling the foot module, firstly as follows: Figure 26 As shown, first connect the foot servo bracket 5-2 and the foot base 5-1 using round-head Phillips M2x6 screws and M2 anti-slip nuts. Then, use round-head Phillips self-tapping M2x6 screws to fix the anti-slip base plate 5-5 to the foot base 5-1. Then proceed as follows... Figure 27 As shown, use round-head Phillips M2x6 self-tapping screws to fix the foot servo 5-3 to the foot servo bracket 5-2, and then use round-head Phillips M3x6 screws to fix the foot servo disc 5-4 to the servo 5-3.

[0035] The overall assembly process of this utility model is as follows: Firstly, as Figure 28 As shown, use round-headed Phillips M3x6 screws to fix the ankle connector 4-6 to the foot rudder 5-4 of the foot module.

[0036] Then as Figure 29 As shown, the waist module and leg module are connected by round-head Phillips M3x6 screws.

[0037] Continue as Figure 30 As shown, the body module is fixed to the waist module using round-head Phillips M2x6 screws and round-head Phillips M2x5 screws.

[0038] Finally, as Figure 31As shown, first, attach the shoulder thrust bearing to the shoulder rudder, then use round-headed Phillips M3x6 screws to fix the arm module to the body module. This completes the assembly of the entire robot.

[0039] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A humanoid fighting robot, characterized in that: The device includes a waist module, a body module rotatably mounted on the upper middle part of the waist module, and arm modules rotatably mounted on the left and right ends of the body module; leg modules are connected to the left and right ends of the lower part of the waist module, and foot modules are rotatably mounted on the lower end of each leg module; the connection parts of each module are driven to rotate by corresponding servo motors.

2. The humanoid fighting robot according to claim 1, characterized in that: The waist module includes a waist support frame, with a vertical waist servo fixedly installed in the middle of the waist support frame. A waist servo disk is fixedly installed at the power end of the waist servo frame, and a waist thrust bearing is clamped on the waist servo disk. A chest base plate is fixedly installed on the waist servo disk. Horizontal hip joint servos are fixedly installed at the left and right ends of the waist support frame. The power end of each hip joint servo frame is respectively provided with a hip joint servo disk connected to the leg module on the corresponding side. Two waist extension plates are symmetrically fixedly installed at both ends of the upper part of the waist support frame.

3. The humanoid fighting robot according to claim 2, characterized in that: The body module includes a neck base fixedly connected to the chest base plate. A vertical head servo is fixedly installed in the middle of the neck base. A head servo disk is fixedly installed at the power end of the head servo, and a head thrust bearing is mounted on the head servo disk. A head bracket is fixedly installed on the upper part of the head servo disk, and a head component is fixedly installed on the head bracket. Horizontal shoulder servos are fixedly installed at both ends of the neck base. A shoulder servo disk connected to the corresponding arm module is fixedly installed at the power end of each shoulder servo, and a shoulder thrust bearing is mounted on the shoulder servo disk.

4. The humanoid fighting robot according to claim 3, characterized in that: A breastplate module is fixedly provided at the front end of the neck base. The breastplate module includes a breastplate fixedly connected to the front end of the neck base. A breastplate counterweight is fixedly provided at the part of the breastplate located inside the neck base.

5. The humanoid fighting robot according to claim 3, characterized in that: The neck base is equipped with a battery module, which includes a battery limiting plate fixedly disposed inside the neck base, a lithium battery disposed on the battery limiting plate, and a battery bracket fixedly connected to the bottom of the neck base for fixing the lithium battery.

6. The humanoid fighting robot according to claim 3, characterized in that: A motherboard module is fixedly mounted at the rear end of the neck base. The motherboard module includes a motherboard mounting plate fixedly connected to the neck base. A motherboard and a rocker switch electrically connected to the motherboard are fixedly mounted on the motherboard mounting plate. A back armor is fixedly mounted on the outside of the motherboard on the motherboard mounting plate.

7. The humanoid fighting robot according to claim 3, characterized in that: Each of the arm modules includes a shoulder component, one end of which is fixedly connected to the corresponding shoulder servo disk; the other end of the shoulder component is connected to a large arm, and a large arm servo is fixedly mounted on the end of the large arm closer to the shoulder component, with a large arm servo disk fixedly connected to the shoulder component at the power end of the large arm servo; a small arm servo is fixedly mounted on the end of the large arm away from the shoulder component, with a small arm servo disk at the power end of the small arm servo, the small arm servo disk being fixedly connected to one end of the small arm, and a hand support is fixedly mounted on the other end of the small arm, with a hand component fixedly mounted on the hand support.

8. The humanoid fighting robot according to claim 2, characterized in that: Each of the leg modules includes a leg base frame, the leg base frame includes a knee support, and two leg connecting rods a are symmetrically hinged at the upper and lower ends of one side of the knee support, and two leg connecting rods b are symmetrically hinged at the upper and lower ends of the other side of the knee support.

9. The humanoid fighting robot according to claim 8, characterized in that: Leg servos are fixedly mounted on opposite ends of the two leg links b, and leg servo disks are fixedly mounted on the power ends of each leg servo. The upper leg servo disks are fixedly connected to the lower end of the thigh root connecting frame, and the other lower end of the thigh root connecting frame is hinged to the upper leg link a. The upper part of the thigh root connecting frame is fixedly connected to the hip joint servo disk on the corresponding side. The lower leg servo disks are fixedly connected to the upper end of the ankle connecting frame, and the other upper end of the ankle connecting frame is hinged to the lower leg link a. The lower end of the ankle connecting frame is connected to the foot module on the corresponding side.

10. The humanoid fighting robot according to claim 9, characterized in that: Each foot module includes a foot base, a foot servo bracket is fixedly mounted on the upper part of the foot base, a foot servo is fixedly mounted on the foot servo bracket, a foot servo is fixedly mounted on the power end of the foot servo, and the foot servo is fixedly connected to the lower end of the ankle connecting frame on the corresponding side; a foot anti-slip pad is fixedly mounted on the bottom of the foot base.

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