Humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a humanoid robot, which comprises a trunk body, a hip joint structure and a leg structure, the hip joint structure is connected to the lower part of the trunk body; a first mounting block is connected to the lower part of the trunk body, a first motor is assembled on the first mounting block, a second mounting block is connected to the main shaft of the first motor, and the leg structure is connected to the second mounting block; the first motor is used for driving the second mounting block to rotate, so that the leg structure swings towards the outside of the trunk body; a first limiting piece is arranged on the first mounting block, a first abutting piece is arranged on the second mounting block, and the first abutting piece is used for abutting against the first limiting piece when the second mounting block rotates, so that the first motor is in a calibration position. The application aims to solve the technical problem that a motor zero calibration method is complex and is not conducive to calibration operation.

Description

Technical Field

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

[0002] Humanoid robots are intelligent robots designed to mimic the shape, structure, and movement of humans. They integrate technologies such as mechanical engineering, artificial intelligence, and multimodal perception, and possess bipedal walking, environmental interaction, and human-like operation capabilities.

[0003] In related technologies, the zero-position of the joint motors of humanoid robots needs to be calibrated at the factory to prevent mechanical tolerances or assembly deviations, and to avoid misalignment of joint movements due to the accumulation of errors. However, existing methods for calibrating the zero-position of motors are relatively complex and not conducive to calibration operations. Utility Model Content

[0004] The purpose of this application is to provide a humanoid robot to solve the technical problem that the zero-position calibration method of the motor of the humanoid robot is relatively complicated and not conducive to calibration.

[0005] To achieve the above objectives, this application provides a humanoid robot, including a torso body, a hip joint structure, and a leg structure, wherein the hip joint structure is connected to the lower part of the torso body; The hip joint structure includes a first mounting block, a second mounting block, and a first motor. The first mounting block is connected to the lower part of the torso body, the first motor is mounted on the first mounting block, the second mounting block is connected to the main shaft of the first motor, and the leg structure is connected to the second mounting block. The first motor is used to drive the second mounting block to rotate, so that the leg structure swings outward from the torso body. The first mounting block is provided with a first limiting member, and the second mounting block is provided with a first abutting member. The first abutting member is used to abut against the first limiting member when the second mounting block rotates, so that the first motor is in the calibrated position.

[0006] Optionally, the hip joint structure further includes a second motor and a third mounting block. The second motor is mounted on the second mounting block, and the third mounting block is located below the second mounting block and connected to the main shaft of the second motor. The leg structure is connected to the third mounting block. The second motor is used to drive the third mounting block to rotate, so that the leg structure can rotate circumferentially. The second mounting block is provided with a second limiting member, and the third mounting block is provided with a second abutting member. The second abutting member is used to abut against the second limiting member when the third mounting block rotates, so that the second motor is in the calibrated position.

[0007] Optionally, the hip joint structure further includes a third motor, which is mounted on the third mounting block. The leg structure is connected to the main shaft of the third motor, and the third motor is used to drive the leg structure to swing in the forward and backward direction of the torso body. The third mounting block and the rotating end face of the leg structure are provided with fasteners, which are used to abut against the leg structure when the leg structure swings, so that the third motor is in the calibrated position.

[0008] Optionally, the leg structure includes a thigh component, a lower leg component, and a foot component connected in sequence. The thigh component includes a thigh housing and a fourth motor and a thigh linkage disposed within the thigh housing. The fourth motor is used to drive the thigh linkage to move, thereby realizing the movement of the thigh component. The thigh housing is provided with a third limiting member, which is used to abut against the thigh connecting rod when the thigh component swings, so that the fourth motor is in the calibrated position.

[0009] Optionally, the lower leg component includes a lower leg body and a fifth motor and a lower leg connecting rod disposed on the lower leg body. The fifth motor is used to drive the lower leg connecting rod to move, so as to realize the movement of the lower leg body. The lower leg connecting rod is provided with a first pin hole, and the end face of the fifth motor is provided with a second pin hole. The second pin hole is aligned with the first pin hole and fixed by a pin so that the fifth motor is in the calibration position.

[0010] Optionally, the lower leg component includes a sixth motor and a foot linkage disposed on the lower leg body, wherein the sixth motor is used to drive the foot linkage to move, thereby realizing the movement of the foot component; The foot connecting rod is provided with a third pin hole, and the end face of the sixth motor is provided with a fourth pin hole. The fourth pin hole is aligned with the third pin hole and fixed by a pin so that the sixth motor is in the calibration position.

[0011] Optionally, a seventh motor is provided inside the torso body, and the hip joint structure is connected to the main shaft of the seventh motor. The seventh motor is used to drive the torso body to perform waist movements. The torso body is provided with a fourth abutment, and the hip joint structure is provided with a fourth limiting member. The fourth abutment is used to abut against the fourth limiting member when the torso body rotates, so that the seventh motor is in the calibrated position.

[0012] Optionally, the humanoid robot further includes a shoulder joint structure and an arm structure, wherein the arm structure is connected to the upper part of the torso body through the shoulder joint structure; The shoulder joint structure includes a fourth mounting block and an eighth motor. The fourth mounting block is connected to the torso body, and the eighth motor is mounted on the fourth mounting block. The arm structure is connected to the main shaft of the eighth motor, and the eighth motor is used to drive the arm structure to swing in the forward and backward direction of the torso body. The fourth mounting block is provided with a fifth pin hole, and the arm structure is provided with a sixth pin hole. The fifth pin hole and the sixth pin hole are aligned and fixed by pins so that the eighth motor is in the calibration position.

[0013] Optionally, the arm structure includes a fifth mounting block, a ninth motor, and a large arm component. The fifth mounting block is connected to the main shaft of the eighth motor, the ninth motor is mounted on the large arm component, the fifth mounting block is connected to the main shaft of the ninth motor, and the ninth motor is used to drive the large arm component to swing outward toward the outside of the torso body. The fifth mounting block is provided with a seventh pin hole, and the upper arm component is provided with an eighth pin hole. The seventh pin hole and the eighth pin hole are aligned and fixed by pins so that the ninth motor is in the calibration position.

[0014] Optionally, the boom component includes an upper boom structure and a lower boom structure. The upper boom structure is equipped with a boom motor, and the lower boom structure is connected to the main shaft of the boom motor. The boom motor is used to drive the lower boom structure to rotate axially relative to the upper boom structure. The upper arm structure is provided with a first pin groove, and the lower arm structure is provided with a second pin groove. The first pin groove and the second pin groove are aligned and fixed by pins so that the upper arm motor is in the calibration position.

[0015] Optionally, the arm structure includes a forearm structure, a sixth mounting block, and a tenth motor. The sixth mounting block is located at one end of the forearm structure near the upper arm component, and the tenth motor is located at one end of the upper arm component near the forearm structure. The sixth mounting block is connected to the spindle of the tenth motor. The sixth mounting block is provided with a ninth pin hole, and the tenth motor is provided with a tenth pin hole. The ninth pin hole and the tenth pin hole are aligned and fixed by pins so that the tenth motor is in the calibration position.

[0016] This application provides a humanoid robot, the advantages of which are: This humanoid robot includes a torso, a hip joint structure, and a leg structure. A first motor drives the leg structure to swing outwards from the torso, achieving lateral extension of the hip joint structure. If the first motor is not in the zero position, it drives a second mounting block to rotate outwards from the torso until a first abutment on the second mounting block abuts against a first limiting member on the first mounting block, thus confining the second mounting block and the leg structure to their current position. At this point, the first motor is in the calibration position. Then, the first motor rotates in the opposite direction by a preset angle back to the zero position, thereby resetting the leg structure to the preset position to meet factory requirements. This application utilizes the abutment between the first abutment and the first limiting member on the second mounting block to achieve zero-position calibration of the first motor, which is simple and convenient to operate and can improve calibration efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the humanoid robot provided in the embodiments of this application; Figure 2 This is a schematic diagram of the leg structure provided in an embodiment of this application; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is another structural schematic diagram of the leg structure provided in an embodiment of this application; Figure 5 for Figure 4 A magnified view of a section at point B in the middle; Figure 6 This is another structural schematic diagram of the leg structure provided in an embodiment of this application; Figure 7 for Figure 2 A magnified view of a section at point C; Figure 8 for Figure 2 A magnified view of a section at point D; Figure 9 This is another structural schematic diagram of the humanoid robot provided in the embodiments of this application; Figure 10 for Figure 9 A magnified view of a section at point E in the middle; Figure 11 This is a schematic diagram of the arm structure provided in an embodiment of this application; Figure 12 for Figure 11 A magnified view of a section at point F in the middle; Figure 13 for Figure 9 A magnified view of a section at point G.

[0019] The markings in the image are as follows: 10. Main body of the torso; 11. Seventh motor; 12. Fourth abutment; 20. Hip joint structure; 21. First mounting block; 211. First limiting member; 22. Second mounting block; 221. First abutment; 222. Second limiting member; 23. First motor; 24. Second motor; 25. Third mounting block; 251. Second abutment; 252. Fastener; 26. Third motor; 27. Fourth limiting member; 30. Leg structure; 31. Thigh component; 310. Thigh shell; 311. Fourth motor; 312. Thigh connecting rod; 313. Third limiting member; 32. Lower leg component; 320. Lower leg main body; 321. Fifth motor; 322. Lower leg connecting rod; 323. First pin hole; 324. Sixth motor; 325. Foot connecting rod; 326. Third pin hole; 33. Foot component; 40. Shoulder joint structure; 41. Fourth mounting block; 411. Fifth pin hole; 42. Eighth motor; 50. Arm structure; 51. Fifth mounting block; 511. Seventh pin hole; 52. Ninth motor; 53. Upper arm component; 54. Upper arm structure; 541. First pin groove; 55. Lower arm structure; 551. Second pin groove; 56. Forearm structure; 57. Sixth mounting block; 571. Ninth pin hole; 58. Tenth motor. Detailed Implementation

[0020] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0021] In the description of this application, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer", etc. used in this application to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device and 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 of this application.

[0022] In the description of this application, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0023] Zero-point calibration of robot joint motors establishes a reference point for the joint motors, adjusting the motor output signals to a preset "zero point" (i.e., the value when there is no input or in the initial state). This eliminates system errors (such as mechanical installation deviations, initial sensor offsets, environmental interference, etc.). Zero-point calibration of robot joint motors ensures the accuracy of the motion trajectory of each joint. However, in related technologies, joint motor zero-point calibration methods are relatively complex and not conducive to calibration operations.

[0024] like Figures 1 to 3 As shown, this application embodiment provides a humanoid robot, including a torso body 10, a hip joint structure 20, and a leg structure 30. The hip joint structure 20 is connected to the lower part of the torso body 10. The hip joint structure 20 includes a first mounting block 21, a second mounting block 22, and a first motor 23. The first mounting block 21 is connected to the lower part of the torso body 10, the first motor 23 is mounted on the first mounting block 21, the second mounting block 22 is connected to the spindle of the first motor 23, and the leg structure 30 is connected to the second mounting block 22. The first motor 23 is used to drive the second mounting block 22 to rotate, so that the leg structure 30 swings outward toward the torso body 10. The first mounting block 21 is provided with a first limiting member 211, and the second mounting block 22 is provided with a first abutting member 221. The first abutting member 221 is used to abut against the first limiting member 211 when the second mounting block 22 rotates, so that the first motor 23 is in a calibrated position.

[0025] In this embodiment, the first motor 23 drives the leg structure 30 to swing outward toward the outside of the torso body 10, so as to realize the lateral unfolding action of the hip joint structure 20.

[0026] Based on the above technical solution, if the first motor 23 is not in the zero position, the first motor 23 drives the second mounting block 22 to rotate outwards from the torso body 10 until the first abutment 221 on the second mounting block 22 abuts against the first limiting member 211 on the first mounting block 21, thus restricting the second mounting block 22 and the leg structure 30 to the current position. At this time, the first motor 23 is in the calibration position. Then, the first motor 23 rotates in the opposite direction by a preset angle back to the zero position, thereby resetting the leg structure 30 to the preset position to meet the factory requirements. This embodiment utilizes the abutment of the first abutment 221 on the second mounting block 22 against the first limiting member 211 to achieve the zero-position calibration of the first motor 23, which is simple and convenient to operate and can improve calibration efficiency.

[0027] For example, the angle between the calibration position and the zero position of the first motor 23 is mechanically designed to be 45 degrees. The zero position of the first motor 23 can be determined by calculating 45 degrees backward from the calibration position.

[0028] In some embodiments, such as Figures 3 to 5As shown, the hip joint structure 20 also includes a second motor 24 and a third mounting block 25. The second motor 24 is mounted on the second mounting block 22, and the third mounting block 25 is located below the second mounting block 22 and connected to the main shaft of the second motor 24. The leg structure 30 is connected to the third mounting block 25. The second motor 24 is used to drive the third mounting block 25 to rotate, so that the leg structure 30 can rotate circumferentially. The second mounting block 22 is provided with a second limiting member 222, and the third mounting block 25 is provided with a second abutting member 251. The second abutting member 251 is used to abut against the second limiting member 222 when the third mounting block 25 rotates, so that the second motor 24 is in the calibrated position.

[0029] Specifically, the second motor 24 drives the leg structure 30 to rotate circumferentially, which means that the leg structure 30 rotates itself along the axis in the height direction to realize the circumferential rotation of the hip joint structure 20.

[0030] If the second motor 24 is not in the zero position, it drives the third mounting block 25 to rotate until the second abutment 251 on the third mounting block 25 abuts against the second limiting member 222 on the second mounting block 22, thus restricting the third mounting block 25 to its current position. At this time, the second motor 24 is in the calibrated position. Then, the second motor 24 rotates in the opposite direction by a preset angle back to the zero position, thereby resetting the leg structure 30 to the preset position to meet factory requirements.

[0031] For example, the mechanical design of the angle between the calibration position and the zero position of the second motor 24 is 60 degrees. The zero position of the second motor 24 can be determined by calculating 60 degrees backward from the calibration position.

[0032] In some embodiments, such as Figure 3 and Figure 5 As shown, the hip joint structure 20 also includes a third motor 26, which is mounted on a third mounting block 25. The leg structure 30 is connected to the main shaft of the third motor 26. The third motor 26 is used to drive the leg structure 30 to swing in the front-back direction of the torso body 10. The third mounting block 25 and the rotating end face of the leg structure 30 are provided with fasteners 252, which are used to abut against the leg structure 30 when the leg structure 30 swings, so that the third motor 26 is in the calibration position.

[0033] Specifically, if the third motor 26 is not in the zero position, the third motor 26 is used to drive the leg structure 30 to swing in the front and back direction of the torso body 10 until the fastener 252 abuts against the leg structure 30, restricting the leg structure 30 to the current position. At this time, the third motor 26 is in the calibrated position and at the same time, the third motor 26 is also in the zero position.

[0034] For example, fastener 252 is an M4 standard cylindrical head screw on the robot. The zero-position calibration of the third motor 26 is achieved by using the screws that are inherent in the robot, which is simple to operate.

[0035] In some embodiments, such as Figure 2 and Figure 6 As shown, the leg structure 30 includes a thigh component 31, a lower leg component 32, and a foot component 33 connected in sequence. The thigh component 31 includes a thigh housing 310 and a fourth motor 311 and a thigh connecting rod 312 disposed within the thigh housing 310. The fourth motor 311 is used to drive the thigh connecting rod 312 to move, thereby realizing the movement of the thigh component 31. The thigh housing 310 is provided with a third limiting member 313, which is used to abut against the thigh connecting rod 312 when the thigh component 31 swings, so that the fourth motor 311 is in the calibrated position.

[0036] Specifically, the leg structure 30 is similar to the human body structure, with the upper part of the thigh component 31 connected to the hip joint structure 20, the lower part of the thigh component 31 connected to the upper part of the calf component 32, and the lower part of the calf component 32 connected to the foot component 33.

[0037] If the fourth motor 311 is not in the zero position, it drives the thigh linkage 312 to move, thereby moving the thigh component 31. When the thigh component 31 swings until the third limiting member 313 abuts against the thigh linkage 312, it limits the thigh component 31 to its current position. At this time, the fourth motor 311 is in the calibration position and also in the zero position. In this embodiment, the third limiting member 313 is set inside the thigh shell 310 to achieve zero-position calibration of the fourth motor 311, which is simple to operate.

[0038] In some embodiments, such as Figure 2 and Figure 7 As shown, the lower leg component 32 includes a lower leg body 320, a fifth motor 321 and a lower leg connecting rod 322 disposed on the lower leg body 320. The fifth motor 321 is used to drive the lower leg connecting rod 322 to move, so as to realize the movement of the lower leg body 320. The lower leg connecting rod 322 is provided with a first pin hole 323, and the end face of the fifth motor 321 is provided with a second pin hole. The second pin hole is aligned with the first pin hole 323 and fixed by a pin so that the fifth motor 321 is in the calibration position.

[0039] Specifically, the fifth motor 321 drives the lower leg connecting rod 322 to move the lower leg body 320. If the fifth motor 321 is not in the zero position, it drives the lower leg connecting rod 322 until the first pin hole 323 on the lower leg connecting rod 322 is aligned with the first pin hole 323 on the end face of the fifth motor 321. A pin passes through the second pin hole and the first pin hole 323, thus fixing the lower leg body 320 in the current position. At this time, the fifth motor 321 is in the calibration position and also in the zero position. In this embodiment, the lower leg body 320 is fixed with a pin to achieve zero-position calibration of the fifth motor 321, which is simple to operate.

[0040] In some embodiments, such as Figure 2 and Figure 8 As shown, the lower leg component 32 includes a sixth motor 324 and a foot link 325 mounted on the lower leg body 320. The sixth motor 324 drives the foot link 325 to move, thereby realizing the movement of the foot component 33. The foot link 325 is provided with a third pin hole 326, and the end face of the sixth motor 324 is provided with a fourth pin hole (not shown in the figure). The fourth pin hole is aligned with the third pin hole 326 and fixed by a pin, so that the sixth motor 324 is in the calibration position.

[0041] Specifically, if the sixth motor 324 is not in the zero position, the sixth motor 324 drives the foot linkage 325 to move until the third pin hole 326 of the foot linkage 325 is aligned with the fourth pin hole on the end face of the sixth motor 324. A pin passes through both the third and fourth pin holes, thus fixing the foot component 33 in the current position. At this time, the sixth motor 324 is in the calibration position and also in the zero position. In this embodiment, the foot component 33 is fixed with a pin, thereby achieving the zero-position calibration of the sixth motor 324, which is simple to operate.

[0042] In some embodiments, such as Figure 9 as well as Figure 10 As shown, a seventh motor 11 is provided inside the torso body 10, and the hip joint structure 20 is connected to the main shaft of the seventh motor 11. The seventh motor 11 is used to drive the torso body 10 to perform waist movements. The torso body 10 is provided with a fourth abutment 12, and the hip joint structure 20 is provided with a fourth limiting member 27. The fourth abutment 12 is used to abut against the fourth limiting member 27 when the torso body 10 rotates, so that the seventh motor 11 is in the calibration position.

[0043] Specifically, if the seventh motor 11 is not in the zero position, the seventh motor 11 drives the torso body 10 to move until the fourth abutment member 12 on the torso body 10 abuts against the fourth limiting member 27 on the hip joint structure 20, thereby limiting the torso body 10 to the current position. At this time, the seventh motor 11 is in the calibrated position. Then the seventh motor 11 rotates in the opposite direction by a preset angle back to the zero position, thereby resetting the torso body 10 to the preset position to meet the factory requirements.

[0044] For example, the mechanical design of the angle between the calibration position and the zero position of the seventh motor 11 is 90 degrees. The zero position of the seventh motor 11 can be determined by calculating 90 degrees backward from the calibration position.

[0045] In some embodiments, such as Figure 11 and Figure 12 As shown, the humanoid robot also includes a shoulder joint structure 40 and an arm structure 50. The arm structure 50 is connected to the upper part of the torso body 10 through the shoulder joint structure 40. The shoulder joint structure 40 includes a fourth mounting block 41 and an eighth motor 42. The fourth mounting block 41 is connected to the torso body 10, and the eighth motor 42 is mounted on the fourth mounting block 41. The arm structure 50 is connected to the spindle of the eighth motor 42. The eighth motor 42 is used to drive the arm structure 50 to swing in the forward and backward direction of the torso body 10. The fourth mounting block 41 is provided with a fifth pin hole 411, and the arm structure 50 is provided with a sixth pin hole. The fifth pin hole 411 and the sixth pin hole are aligned and fixed by pins so that the eighth motor 42 is in the calibration position.

[0046] Specifically, the eighth motor 42 drives the arm structure 50 to move the lower leg body 320. If the eighth motor 42 is not in the zero position, the arm structure 50 is driven by the eighth motor 42 to swing back and forth in the torso body 10 until the fifth pin hole 411 on the fourth mounting block 41 is aligned with the sixth pin hole on the arm structure 50. The pin passes through the fifth pin hole 411 and the sixth pin hole, thereby fixing the arm structure 50 in the current position. At this time, the eighth motor 42 is in the calibration position and also in the zero position. In this embodiment, the arm structure 50 is fixed by pins to achieve the zero position calibration of the eighth motor 42, which is simple to operate.

[0047] In some embodiments, such as Figure 11As shown, the arm structure 50 includes a fifth mounting block 51, a ninth motor 52, and a large arm component 53. The fifth mounting block 51 is connected to the spindle of the eighth motor 42. The ninth motor 52 is mounted on the large arm component 53. The fifth mounting block 51 is connected to the spindle of the ninth motor 52. The ninth motor 52 is used to drive the large arm component 53 to swing outward toward the torso body 10. The fifth mounting block 51 is provided with a seventh pin hole 511, and the large arm component 53 is provided with an eighth pin hole. The seventh pin hole 511 and the eighth pin hole are aligned and fixed by pins so that the ninth motor 52 is in the calibration position.

[0048] Specifically, the ninth motor 52 drives the upper arm component 53 to swing outwards from the torso body 10, thereby achieving the lateral deployment of the arm structure 50. If the ninth motor 52 is not in the zero position, the upper arm component 53 is driven to swing until the seventh pin hole 511 on the fifth mounting block 51 aligns with the eighth pin hole on the upper arm component 53. A pin is then inserted through both the seventh and eighth pin holes to fix the arm structure 50 in its current position. At this point, the ninth motor 52 is in its calibration position, which is also the zero position. This embodiment uses pins to fix the arm structure 50, achieving zero-position calibration of the ninth motor 52, making the operation simple.

[0049] In some embodiments, such as Figure 13 As shown, the boom component 53 includes an upper boom structure 54 and a lower boom structure 55. The upper boom structure 54 is equipped with a boom motor, and the lower boom structure 55 is connected to the main shaft of the boom motor. The boom motor is used to drive the lower boom structure 55 to rotate axially relative to the upper boom structure 54. The upper boom structure 54 is provided with a first pin groove 541, and the lower boom structure 55 is provided with a second pin groove 551. The positions of the first pin groove 541 and the second pin groove 551 are aligned and fixed by pins so that the boom motor is in the calibration position.

[0050] Specifically, the boom motor drives the lower arm structure 55 to rotate axially relative to the upper arm structure 54, thereby achieving circumferential rotation of the arm structure 50. If the boom motor is not in the zero position, the lower arm structure 55 is driven to rotate until the second pin groove 551 on the lower arm structure 55 is aligned with the first pin groove 541 on the upper arm structure 54. The boom component 53 is then fixed in the current position by passing a pin through the first pin groove 541 and the second pin groove 551. At this time, the boom motor is in the calibrated position and also in the zero position.

[0051] In some embodiments, such as Figure 11As shown, the arm structure 50 includes a forearm structure 56, a sixth mounting block 57, and a tenth motor 58. The sixth mounting block 57 is located at one end of the forearm structure 56 near the upper arm component 53, and the tenth motor 58 is located at one end of the upper arm component 53 near the forearm structure 56. The sixth mounting block 57 is connected to the spindle of the tenth motor 58. The sixth mounting block 57 has a ninth pin hole 571, and the tenth motor 58 has a tenth pin hole. The ninth pin hole 571 and the tenth pin hole are aligned and fixed by pins so that the tenth motor 58 is in the calibration position.

[0052] Specifically, the tenth motor 58 drives the forearm structure 56 to rotate relative to the upper arm component 53, realizing the relative swinging of the forearm structure 56 and the upper arm component 53, which facilitates the robot's picking operation. In this embodiment, if the tenth motor 58 is not in the zero position, the forearm structure 56 swings through the tenth motor 58 until the ninth pin hole 571 on the sixth mounting block 57 aligns with the tenth pin hole on the tenth motor 58. The pin passes through the ninth pin hole 571 and the tenth pin hole, thereby limiting the forearm structure 56 to the current position. At this time, the tenth motor 58 is in the zero position.

[0053] It should be understood that in the above embodiments, each motor is a joint motor of the robot, used to realize the joint movements of various parts of the robot. The zero-position calibration of this humanoid robot cleverly utilizes the limit positions designed in the robot itself for calibration, including some positions that only use standard parts such as pins and cylindrical head screws for auxiliary calibration, which is simple, practical, convenient and quick, and has high calibration accuracy.

[0054] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0055] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A humanoid robot, characterized in that, It includes a torso, a hip joint structure, and a leg structure, wherein the hip joint structure is connected to the lower part of the torso; The hip joint structure includes a first mounting block, a second mounting block, and a first motor. The first mounting block is connected to the lower part of the torso body, the first motor is mounted on the first mounting block, the second mounting block is connected to the main shaft of the first motor, and the leg structure is connected to the second mounting block. The first motor is used to drive the second mounting block to rotate, so that the leg structure swings outward from the torso body. The first mounting block is provided with a first limiting member, and the second mounting block is provided with a first abutting member. The first abutting member is used to abut against the first limiting member when the second mounting block rotates, so that the first motor is in the calibrated position.

2. The humanoid robot according to claim 1, characterized in that, The hip joint structure further includes a second motor and a third mounting block. The second motor is mounted on the second mounting block, and the third mounting block is located below the second mounting block and connected to the main shaft of the second motor. The leg structure is connected to the third mounting block. The second motor is used to drive the third mounting block to rotate, so that the leg structure can rotate circumferentially. The second mounting block is provided with a second limiting member, and the third mounting block is provided with a second abutting member. The second abutting member is used to abut against the second limiting member when the third mounting block rotates, so that the second motor is in the calibrated position.

3. The humanoid robot according to claim 2, characterized in that, The hip joint structure also includes a third motor, which is mounted on the third mounting block. The leg structure is connected to the main shaft of the third motor, and the third motor is used to drive the leg structure to swing in the forward and backward direction of the torso body. The third mounting block and the rotating end face of the leg structure are provided with fasteners, which are used to abut against the leg structure when the leg structure swings, so that the third motor is in the calibrated position.

4. The humanoid robot according to claim 1, characterized in that, The leg structure includes a thigh component, a lower leg component, and a foot component connected in sequence. The thigh component includes a thigh housing and a fourth motor and a thigh linkage disposed within the thigh housing. The fourth motor is used to drive the thigh linkage to move, thereby realizing the movement of the thigh component. The thigh housing is provided with a third limiting member, which is used to abut against the thigh connecting rod when the thigh component swings, so that the fourth motor is in the calibrated position.

5. The humanoid robot according to claim 4, characterized in that, The lower leg component includes a lower leg body, a fifth motor and a lower leg connecting rod disposed on the lower leg body, wherein the fifth motor is used to drive the lower leg connecting rod to move, thereby realizing the movement of the lower leg body; The lower leg connecting rod is provided with a first pin hole, and the end face of the fifth motor is provided with a second pin hole. The second pin hole is aligned with the first pin hole and fixed by a pin so that the fifth motor is in the calibration position.

6. The humanoid robot according to claim 5, characterized in that, The lower leg component includes a sixth motor and a foot linkage mounted on the lower leg body. The sixth motor is used to drive the foot linkage to move, thereby realizing the movement of the foot component. The foot connecting rod is provided with a third pin hole, and the end face of the sixth motor is provided with a fourth pin hole. The fourth pin hole is aligned with the third pin hole and fixed by a pin so that the sixth motor is in the calibration position.

7. The humanoid robot according to claim 1, characterized in that, The main body of the torso is equipped with a seventh motor, and the hip joint structure is connected to the main shaft of the seventh motor. The seventh motor is used to drive the main body of the torso to perform waist movements. The torso body is provided with a fourth abutment, and the hip joint structure is provided with a fourth limiting member. The fourth abutment is used to abut against the fourth limiting member when the torso body rotates, so that the seventh motor is in the calibrated position.

8. The humanoid robot according to claim 1, characterized in that, The humanoid robot also includes a shoulder joint structure and an arm structure, wherein the arm structure is connected to the upper part of the torso body through the shoulder joint structure; The shoulder joint structure includes a fourth mounting block and an eighth motor. The fourth mounting block is connected to the torso body, and the eighth motor is mounted on the fourth mounting block. The arm structure is connected to the main shaft of the eighth motor, and the eighth motor is used to drive the arm structure to swing in the forward and backward direction of the torso body. The fourth mounting block is provided with a fifth pin hole, and the arm structure is provided with a sixth pin hole. The fifth pin hole and the sixth pin hole are aligned and fixed by pins so that the eighth motor is in the calibration position.

9. The humanoid robot according to claim 8, characterized in that, The arm structure includes a fifth mounting block, a ninth motor, and a large arm component. The fifth mounting block is connected to the main shaft of the eighth motor. The ninth motor is mounted on the large arm component. The fifth mounting block is connected to the main shaft of the ninth motor. The ninth motor is used to drive the large arm component to swing outward toward the outside of the torso body. The fifth mounting block is provided with a seventh pin hole, and the upper arm component is provided with an eighth pin hole. The seventh pin hole and the eighth pin hole are aligned and fixed by pins so that the ninth motor is in the calibration position.

10. The humanoid robot according to claim 9, characterized in that, The boom component includes an upper boom structure and a lower boom structure. The upper boom structure is equipped with a boom motor, and the lower boom structure is connected to the main shaft of the boom motor. The boom motor is used to drive the lower boom structure to rotate axially relative to the upper boom structure. The upper arm structure is provided with a first pin groove, and the lower arm structure is provided with a second pin groove. The first pin groove and the second pin groove are aligned and fixed by pins so that the upper arm motor is in the calibration position.

11. The humanoid robot according to claim 9, characterized in that, The arm structure includes a forearm structure, a sixth mounting block, and a tenth motor. The sixth mounting block is located at one end of the forearm structure near the upper arm component, and the tenth motor is located at one end of the upper arm component near the forearm structure. The sixth mounting block is connected to the spindle of the tenth motor. The sixth mounting block is provided with a ninth pin hole, and the tenth motor is provided with a tenth pin hole. The ninth pin hole and the tenth pin hole are aligned and fixed by pins so that the tenth motor is in the calibration position.

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