Bus system for humanoid robots and humanoid robots

Abstract

Bus system for humanoid robots, characterized in that it comprises a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem and a body subsystem, wherein the left arm subsystem is connected to the body subsystem via a unified left arm bus; wherein the right arm subsystem is connected to the body subsystem via a unified right arm bus; wherein the left leg subsystem is connected to the body subsystem via a unified left leg bus; wherein the right leg subsystem is connected to the body subsystem via a unified right leg bus; wherein the waist subsystem is connected to the body subsystem via a unified waist bus; and where the head subsystem is connected to the body subsystem via a unified head bus.

Description

TECHNICAL FIELD

[0001] The present utility model relates to the field of robots, in particular to a bus system for humanoid robots and a humanoid robot. STATE OF THE ART

[0002] Humanoid robots, for example as service and industrial robots, etc., are increasingly being used in many areas due to their flexibility and their structures with multiple degrees of freedom.

[0003] For a robot system with a multi-degree-of-freedom structure, stable, high-speed data exchange and control signal transmission between individual joints, actuators, and sensors are required. However, conventional communication methods are inefficient for complex multi-node control and cannot meet the requirements of high-speed synchronous control. DISCLOSURE OF THE UTILITY MODEL

[0004] In order to solve or at least partially solve the above-mentioned technical problems, the present utility model provides a bus system for humanoid robots and a humanoid robot.

[0005] In a first aspect, the present utility model provides a bus system for humanoid robots comprising a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem and a body subsystem, wherein the left arm subsystem is connected to the body subsystem via a left arm unified bus; wherein the right arm subsystem is connected to the body subsystem via a unified right arm bus; wherein the left leg subsystem is connected to the body subsystem via a unified left leg bus; wherein the right leg subsystem is connected to the body subsystem via a unified right leg bus; wherein the waist subsystem is connected to the body subsystem via a unified waist bus; and where the head subsystem is connected to the body subsystem via a unified head bus.

[0006] Optionally, the body subsystem is intended to include: a body adapter plate, wherein a left arm port of the body adapter plate is connected to the unified bus of the left arm, wherein a right arm port of the body adapter plate is connected to the unified bus of the right arm, wherein a left leg port of the body adapter plate is connected to the unified bus of the left leg, wherein a right leg port of the body adapter plate is connected to the unified bus of the right leg, wherein a waist port of the body adapter plate is connected to the unified bus of the waist, wherein a head port of the body adapter is connected to the unified bus of the head, wherein a first power supply port of the body adapter plate is connected to a power source; and a main control board, wherein a network port of the main control board is connected to a network port of the body adapter plate, wherein a power supply port of the main control board is connected to a second power supply port of the body adapter plate.

[0007] Optionally, the left arm subsystem includes: a left arm forward and reverse motor connected to the left arm unified bus via a left arm forward-reverse terminal; a left-right movement motor of the left arm connected to the unified bus of the left arm via a left-right connection terminal of the left arm; a left arm rotation motor connected to the left arm unified bus via a left arm rotation terminal; a left arm linear motor connected to the left arm unified bus via a left arm linear connector; a motor for rotating a left forearm, which is connected to the unified bus of the left arm via a rotation terminal of the left forearm; a left wrist harness adapter plate that divides the left arm unified bus into a first left arm branch bus, a second left arm branch bus, and a third left arm branch bus, wherein a first end of the left wrist harness adapter plate is connected to the first left arm branch bus, a second end of the left wrist harness adapter plate is connected to the second left arm branch bus, a third end of the left wrist harness adapter plate is connected to the third left arm branch bus, and a fourth end of the left wrist harness adapter plate is connected to the left arm unified bus; a first left wrist linear motor connected to the first left arm branch bus via a first left wrist linear connector terminal; a second left wrist linear motor connected to the second left arm branch bus via a second left wrist linear connector terminal; a six-dimensional force sensor of a left hand connected to the third branch bus of the left arm via a six-dimensional force terminal of the left hand; and a left hand assembly connected to the third branch bus of the left arm via a left hand terminal.

[0008] Optionally, the right arm subsystem is intended to include: a right arm forward and reverse motor connected to the right arm unified bus via a right arm forward-reverse terminal; a right arm left-right movement motor connected to the right arm unified bus via a right arm left-right connection terminal; a right arm rotation motor connected to the right arm unified bus via a right arm rotation terminal; a right arm linear motor connected to the right arm unified bus via a right arm linear connector terminal; a motor for rotating a right forearm connected to the unified bus of the right arm via a right forearm rotation terminal; a right wrist wiring harness adapter plate that divides the right arm unified bus into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus, wherein a first end of the right wrist wiring harness adapter plate is connected to the first right arm branch bus, a second end of the right wrist wiring harness adapter plate is connected to the second right arm branch bus, a third end of the right wrist wiring harness adapter plate is connected to the third right arm branch bus, and a fourth end of the right wrist wiring harness adapter plate is connected to the right arm unified bus; a first right wrist linear motor connected to the first right arm branch bus via a first right wrist linear connector terminal; a second right wrist linear motor connected to the second right arm branch bus via a second right wrist linear connector terminal; a six-dimensional force sensor of a right hand connected to the third branch bus of the right arm via a six-dimensional force terminal of the right hand; and a right hand assembly connected to the third branch bus of the right arm via a right hand terminal.

[0009] Optionally, the left leg subsystem includes: a left-right movement motor of the left leg connected to the unified bus of the left leg via a left-right connection terminal of the left leg; a left leg rotation motor connected to the left leg unified bus via a left leg rotation terminal; a motor for generating left leg tension and compression forces, which is connected to the unified bus of the left leg via a left leg tension and compression force terminal; a left hip linear motor connected to the left leg unified bus via a left hip linear connector; a left knee linear motor connected to the left leg unified bus via a left knee linear connector; a first linear motor of a left lower leg connected to the unified bus of the left leg via a first linear connection terminal of the left lower leg; a second left lower leg linear motor connected to the unified left leg bus via a second left lower leg linear connector terminal; and a six-dimensional left leg force sensor connected to the left leg unified bus via a six-dimensional left leg force terminal.

[0010] Optionally, the right leg subsystem is intended to include: a right leg left-right movement motor connected to the right leg unified bus via a right leg left-right connection terminal; a right leg rotation motor connected to the right leg unified bus via a right leg rotation terminal; a motor for generating right leg tension and compression forces, which is connected to the right leg unified bus via a right leg tension and compression force terminal; a right hip linear motor connected to the right leg unified bus via a right hip linear connector; a right knee linear motor connected to the right leg unified bus via a right knee linear connector; a first linear motor of a right lower leg connected to the unified bus of the right leg via a first linear connection terminal of the right lower leg; a second right lower leg linear motor connected to the right leg unified bus via a second right lower leg linear connector terminal; and a right leg six-dimensional force sensor connected to the right leg unified bus via a right leg six-dimensional force terminal.

[0011] Optionally, the head subsystem includes: a display control board connected to the head's unified bus via the head port.

[0012] Optionally, the waist subsystem includes: a motor for rotating the waist, which is connected to the unified bus of the waist via a rotation connection terminal of the waist; and a motor for moving the waist left and right, which is connected to the waist's unified bus via a left-right connection terminal of the waist.

[0013] Optionally, each merger line is intended to include: a communication cable for transmitting communication data; a power cable for power supply; a communication shielding layer covering the communication cable; a power supply insulation layer covering the power cable; a wrapping tape that wraps the communication cable covered with the communication shielding layer and the power cable covered with the power supply insulation layer into one cable; a protective cover that covers the wrapping tape;

[0014] Connection terminals which are or are integrally molded with the respective fusion line; each of the terminals includes: a communication bayonet connector that is connected to the communication cable in the respective fusion line and provides a communication interface to the outside, and a power supply bayonet connector that is connected to the power cable in the respective fusion line and provides a power supply interface to the outside.

[0015] In a second aspect, a humanoid robot is provided comprising the bus system for humanoid robots described above.

[0016] The present utility model provides a bus system for humanoid robots and a humanoid robot.The bus system includes a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a waist subsystem, a head subsystem, and a body subsystem, wherein the left arm subsystem is connected to the body subsystem via a unified left arm bus; wherein the right arm subsystem is connected to the body subsystem via a unified right arm bus; wherein the left leg subsystem is connected to the body subsystem via a unified left leg bus; wherein the right leg subsystem is connected to the body subsystem via a unified right leg bus; wherein the waist subsystem is connected to the body subsystem via a unified waist bus; and wherein the head subsystem is connected to the body subsystem via a unified head bus.In the embodiments of the present utility model, each subsystem is connected to the subsystem of the body via a uniform bus, so that the humanoid robot can communicate with the individual subsystems of the humanoid robot via the bus in the individual subsystems and can realize the control of the individual subsystems. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings here are incorporated into the specification, form a part of the specification, show the embodiments corresponding to the present utility model, and are used together with the description to explain the principle of the present utility model.

[0018] In order to more clearly explain the embodiments of the present utility model or the technical solutions in the prior art, the drawings required to describe the embodiments or the prior art are briefly presented below. Obviously, a person of ordinary skill in the art can also obtain further drawings based on these drawings without inventive effort. Fig. 1 shows a structural block diagram of a bus system for humanoid robots according to an embodiment of the present utility model; Fig. 2 shows a structural block diagram of a bus system for humanoid robots according to an embodiment of the present utility model; Fig. 3 shows a schematic sectional view of a unitary bus according to an embodiment of the present utility model; and Fig. 4 shows a schematic structural view of a terminal according to an embodiment of the present utility model. DETAILED EMBODIMENTS

[0019] In order to more clearly clarify the objectives, technical solutions, and advantages of the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model are described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a portion of the embodiments of the present utility model and do not encompass all embodiments. All other embodiments that can be achieved by a person skilled in the art without inventive effort based on the embodiments in the present utility model fall within the scope of protection of the present utility model.

[0020] Fig. 1 and Fig. 2 each show a structural block diagram of a bus system for humanoid robots according to an embodiment of the present utility model.

[0021] As in Fig. 1 and Fig. 2, the humanoid robot bus system includes a left arm subsystem 110, a right arm subsystem 120, a left leg subsystem 130, a right leg subsystem 140, a waist subsystem 150, a head subsystem 160, and a body subsystem 170. wherein the left arm subsystem 110 is connected to the body subsystem 170 via a unified left arm bus 111; wherein the right arm subsystem 120 is connected to the body subsystem 170 via a unified right arm bus 121; wherein the left leg subsystem 130 is connected to the body subsystem 170 via a unified left leg bus 131; wherein the right leg subsystem 140 is connected to the body subsystem 170 via a unified right leg bus 141; wherein the waist subsystem 150 is connected to the body subsystem 170 via a unified waist bus 151; and wherein the subsystem of the head 160 is connected to the subsystem of the body 170 via a unified bus of the head 161.

[0022] In the embodiments of the present utility model, each subsystem is connected to the subsystem of the body via a uniform bus, so that the humanoid robot can communicate with the individual subsystems of the humanoid robot via the bus in the individual subsystems and can realize the control of the individual subsystems.

[0023] In one embodiment of the present utility model, the subsystem of the body 170 comprises: a body adapter plate, wherein a left arm port of the body adapter plate is connected to the unified bus of the left arm 111, wherein a right arm port of the body adapter plate is connected to the unified bus of the right arm 121, wherein a left leg port of the body adapter plate is connected to the unified bus of the left leg 131, wherein a right leg port of the body adapter plate is connected to the unified bus of the right leg 141, wherein a waist port of the body adapter plate is connected to the unified bus of the waist 151, wherein a head port of the body adapter is connected to the unified bus of the head 161, wherein a first power supply port of the body adapter plate is connected to a power source; and a main control board, wherein a network port of the main control board is connected to a network port of the body adapter plate, wherein a power supply port of the main control board is connected to a second power supply port of the body adapter plate.

[0024] In the embodiments of the present invention, each subsystem is connected to the subsystem of the body 170 via a unified bus, while the subsystem of the body 170 is connected to the individual unified buses via the body adapter board and finally to the main control board. The main control board can communicate with the individual subsystems of the humanoid robot via the body adapter board and thus via the bus in the individual subsystems, and can implement the control of the individual subsystems.

[0025] In one embodiment of the present utility model, the subsystem of the left arm 110 comprises: a left arm forward and reverse motor 1102 connected to the left arm unified bus 111 via a left arm forward-reverse terminal 1112; a left-right movement motor of the left arm 1102 connected to the unified bus of the left arm 111 via a left-right connection terminal of the left arm 11021; a left arm rotation motor 1104 connected to the left arm unified bus 111 via a left arm rotation terminal 1104; a left arm linear motor 1104 connected to the left arm unified bus 111 via a left arm linear connector terminal 1115; a motor for rotating a left lower arm 1106 connected to the unified bus of the left arm 111 via a left lower arm rotation terminal 1116; a left wrist harness adapter plate 1107 that divides the left arm unified bus 111 into a first left arm branch bus 11101, a second left arm branch bus 11102, and a third left arm branch bus 11103, wherein a first end of the left wrist harness adapter plate is connected to the first left arm branch bus 11101, a second end of the left wrist harness adapter plate is connected to the second left arm branch bus 11102, a third end of the left wrist harness adapter plate is connected to the third left arm branch bus 11103, and a fourth end of the left wrist harness adapter plate is connected to the left arm unified bus 111; a first left wrist linear motor 1108 connected to the first left arm branch bus 11101 via a first left wrist linear connector terminal 1118; a second left wrist linear motor 1109 connected to the second left arm branch bus 11102 via a second left wrist linear connector terminal 1119; a six-dimensional left-hand force sensor 1110 connected to the third branch bus of the left arm 11103 via a six-dimensional left-hand force terminal 1120; and a left hand assembly 1111 connected to the third branch bus of the left arm 11103 via a left hand terminal 1121.

[0026] The right arm subsystem is designed to be completely symmetrical to the left arm subsystem. Therefore, the motors, sensors, and terminals of the right arm subsystem are Fig. 2 is not provided with reference symbols. Regarding the subsystem of the right arm, Fig. 1 and Fig. 2.

[0027] In one embodiment of the present utility model, the subsystem of the right arm 120 comprises: a right arm forward and reverse motor connected to the right arm unified bus 121 via a right arm forward-reverse terminal; a right arm left-right movement motor connected to the right arm unified bus 121 via a right arm left-right connection terminal; a right arm rotation motor connected to the right arm unified bus 121 via a right arm rotation terminal; a right arm linear motor connected to the right arm unified bus 121 via a right arm linear connector terminal; a motor for rotating a right forearm connected to the right arm unified bus 121 via a right forearm rotation terminal; a right wrist harness adapter plate that divides the right arm unified bus 121 into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus, wherein a first end of the right wrist harness adapter plate is connected to the first right arm branch bus, a second end of the right wrist harness adapter plate is connected to the second right arm branch bus, a third end of the right wrist harness adapter plate is connected to the third right arm branch bus, and a fourth end of the right wrist harness adapter plate is connected to the right arm unified bus 121; a first right wrist linear motor connected to the first right arm branch bus via a first right wrist linear connector terminal; a second right wrist linear motor connected to the second right arm branch bus via a second right wrist linear connector terminal; a six-dimensional force sensor of a right hand connected to the third branch bus of the right arm via a six-dimensional force terminal of the right hand; and a right hand assembly connected to the third branch bus of the right arm via a right hand terminal.

[0028] In one embodiment of the present utility model, the left leg subsystem 130 comprises: a left leg left-right movement motor 1301 connected to the left leg unified bus 131 via a left leg left-right connection terminal 1311; a left leg rotation motor 1302 connected to the left leg unified bus 131 via a left leg rotation terminal 1312; a motor for generating tension and compression forces of the left leg 1303, which is connected to the unified bus of the left leg 131 via a tension and compression force connection terminal of the left leg 1313; a left hip linear motor 1304 connected to the left leg unified bus 131 via a left hip linear connector 1314; a left knee linear motor 1305 connected to the left leg unified bus 131 via a left knee linear connector terminal 1315; a first left lower leg linear motor 1306 connected to the unified bus of the left leg 131 via a first left lower leg linear connector terminal 1316; a second left lower leg linear motor 1307 connected to the unified bus of the left leg 131 via a second left lower leg linear connector terminal 1317; and a six-dimensional left leg force sensor 1308 connected to the unified left leg bus 131 via a six-dimensional left leg force terminal 1318.

[0029] The right leg subsystem is completely symmetrical to the left leg subsystem. Therefore, the motors, sensors, and terminals of the right leg subsystem are Fig. 2 is not provided with reference symbols. Regarding the subsystem of the right leg, Fig. 1 and Fig. 2.

[0030] In one embodiment of the present utility model, the right leg subsystem 140 comprises: a right leg left-right movement motor connected to the right leg unified bus 141 via a right leg left-right connection terminal; a right leg rotation motor connected to the right leg unified bus 141 via a right leg rotation terminal; a motor for generating right leg tension and compression forces, connected to the right leg unified bus 141 via a right leg tension and compression force terminal; a right hip linear motor connected to the right leg unified bus 141 via a right hip linear connector terminal; a right knee linear motor connected to the right leg unified bus 141 via a right knee linear connector terminal; a first right lower leg linear motor connected to the right leg unified bus 141 via a first right lower leg linear connector terminal; a second right lower leg linear motor connected to the right leg unified bus 141 via a second right lower leg linear connector terminal; and a right leg six-dimensional force sensor connected to the right leg unified bus 141 via a right leg six-dimensional force terminal.

[0031] In one embodiment of the present utility model, the subsystem of the head 160 comprises: a display control board connected to the unified bus of head 161 via head port 1601. In one embodiment of the present utility model, the waist subsystem 150 comprises: a motor for rotating the waist 1501, which is connected to the unified bus of the waist 1511 via a rotation connection terminal of the waist 1511; and a motor for moving the waist 1502 left and right, which is connected to the unified bus of the waist 151 via a left-right connection terminal of the waist 1522.

[0032] In the above-described embodiments of the present utility model, the individual motors, components, sensors and other functional units can be arranged in the above-described order in a humanoid robot or can exchange their positions or be replaced by other motors, components, sensors and other functional units as needed.

[0033] In further embodiments of the present utility model, further functional units are present which can also be connected to the corresponding uniform bus via the corresponding connection terminals, which will not be described repeatedly here.

[0034] Fig. 3 shows a schematic sectional view of a unitary bus according to an embodiment of the present utility model. And Fig. 4 shows a schematic structural view of a terminal according to an embodiment of the present utility model.

[0035] As in Fig. 3 and Fig. 4, in one embodiment, each fusion line comprises: a communication cable 310 for transmitting communication data; a power cable 320 for power supply; a communication shielding layer 330 covering the communication cable; a power supply insulation layer 340 covering the power cable; a wrapping tape 350 that wraps the communication cable covered with the communication shielding layer and the power cable covered with the power supply insulating layer 340 into one cable; a protective cover 360 that covers the wrapping tape;

[0036] Connection terminals 370, each of which is integrally molded with the respective fusion line; each of the terminals includes: a communication bayonet connector 371, which is connected to the communication cable in the respective fusion line and provides a communication interface to the outside, and a power supply bayonet connector 372, which is connected to the power cable in the respective fusion line and provides a power supply interface to the outside.

[0037] In the embodiments of the present invention, the power cable and the communication cable are integrated into one cable, thus forming a unified bus. The communication shielding layer in the unified bus can be covered with high-strength shielding materials to ensure that the power cable does not cause electromagnetic interference with high-speed communication signals. The use of the power supply insulation layer can also prevent power leakage. Furthermore, the wrapping tape, protective sheath, etc., used on the exterior of the unified bus are made of flexible materials, which can improve the durability and bending performance of the unified bus at the robot joints.

[0038] In the embodiments of the present utility model, the connection terminal has a modular design, which facilitates the assembly and maintenance of robots. In particular, when replacing a motor or sensor, one only needs to plug or unplug the connection terminal, thus improving the system's maintainability.

[0039] The embodiments of the present utility model provide a humanoid robot comprising the bus system for humanoid robots described above.

[0040] It should be noted that relational terms such as "first" and "second" are used herein merely to distinguish one entity or operation from another and do not necessarily require or imply that such an actual relationship or sequence exists between those entities or operations. Furthermore, the terms "comprising," "containing," or any other variation thereof, are intended to be non-exclusive, such that a process, method, article, or apparatus comprising a series of elements includes not only the expressly listed elements but also other elements not expressly listed, or includes elements inherent in the process, method, article, or apparatus. Without further limitation, an element identified by the term "comprising" includes...’ does not preclude the presence of additional identical elements in a process, method, article or device with that element.

[0041] The foregoing describes only specific embodiments of the present invention that enable those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but should be accorded the broadest scope consistent with the principles and novel features claimed herein.

Claims

[1] Bus system for humanoid robots, characterized by that it includes a subsystem of a left arm, a subsystem of a right arm, a subsystem of a left leg, a subsystem of a right leg, a subsystem of a waist, a subsystem of a head and a subsystem of a body, wherein the left arm subsystem is connected to the body subsystem via a unified left arm bus; wherein the right arm subsystem is connected to the body subsystem via a unified right arm bus; wherein the left leg subsystem is connected to the body subsystem via a unified left leg bus; wherein the right leg subsystem is connected to the body subsystem via a unified right leg bus; wherein the waist subsystem is connected to the body subsystem via a unified waist bus; and where the head subsystem is connected to the body subsystem via a unified head bus. [2] Bus system for humanoid robots according to claim 1, characterized by that the subsystem of the body includes: a body adapter plate, wherein a left arm port of the body adapter plate is connected to the unified bus of the left arm, wherein a right arm port of the body adapter plate is connected to the unified bus of the right arm, wherein a left leg port of the body adapter plate is connected to the unified bus of the left leg, wherein a right leg port of the body adapter plate is connected to the unified bus of the right leg, wherein a waist port of the body adapter plate is connected to the unified bus of the waist, wherein a head port of the body adapter is connected to the unified bus of the head, wherein a first power supply port of the body adapter plate is connected to a power source; and a main control board, wherein a network port of the main control board is connected to a network port of the body adapter plate, wherein a power supply port of the main control board is connected to a second power supply port of the body adapter plate. [3] Bus system for humanoid robots according to claim 2, characterized by that the left arm subsystem includes: a left arm forward and reverse motor connected to the left arm unified bus via a left arm forward-reverse terminal; a left-right movement motor of the left arm connected to the unified bus of the left arm via a left-right connection terminal of the left arm; a left arm rotation motor connected to the left arm unified bus via a left arm rotation terminal; a left arm linear motor connected to the left arm unified bus via a left arm linear connector; a motor for rotating a left forearm, which is connected to the unified bus of the left arm via a rotation terminal of the left forearm; a left wrist harness adapter plate that divides the left arm unified bus into a first left arm branch bus, a second left arm branch bus, and a third left arm branch bus, wherein a first end of the left wrist harness adapter plate is connected to the first left arm branch bus, a second end of the left wrist harness adapter plate is connected to the second left arm branch bus, a third end of the left wrist harness adapter plate is connected to the third left arm branch bus, and a fourth end of the left wrist harness adapter plate is connected to the left arm unified bus; a first left wrist linear motor connected to the first left arm branch bus via a first left wrist linear connector terminal; a second left wrist linear motor connected to the second left arm branch bus via a second left wrist linear connector terminal; a six-dimensional force sensor of a left hand connected to the third branch bus of the left arm via a six-dimensional force terminal of the left hand; and a left hand assembly connected to the third branch bus of the left arm via a left hand terminal. [4] Bus system for humanoid robots according to claim 2 or 3, characterized by that the right arm subsystem includes: a right arm forward and reverse motor connected to the right arm unified bus via a right arm forward-reverse terminal; a right arm left-right movement motor connected to the right arm unified bus via a right arm left-right connection terminal; a right arm rotation motor connected to the right arm unified bus via a right arm rotation terminal; a right arm linear motor connected to the right arm unified bus via a right arm linear connector terminal; a motor for rotating a right forearm connected to the unified bus of the right arm via a right forearm rotation terminal; a right wrist wiring harness adapter plate that divides the right arm unified bus into a first right arm branch bus, a second right arm branch bus, and a third right arm branch bus, wherein a first end of the right wrist wiring harness adapter plate is connected to the first right arm branch bus, a second end of the right wrist wiring harness adapter plate is connected to the second right arm branch bus, a third end of the right wrist wiring harness adapter plate is connected to the third right arm branch bus, and a fourth end of the right wrist wiring harness adapter plate is connected to the right arm unified bus; a first right wrist linear motor connected to the first right arm branch bus via a first right wrist linear connector terminal; a second right wrist linear motor connected to the second right arm branch bus via a second right wrist linear connector terminal; a six-dimensional force sensor of a right hand connected to the third branch bus of the right arm via a six-dimensional force terminal of the right hand; and a right hand assembly connected to the third branch bus of the right arm via a right hand terminal. [5] Bus system for humanoid robots according to one of claims 2 to 4, characterized by that the left leg subsystem includes: a left-right movement motor of the left leg connected to the unified bus of the left leg via a left-right connection terminal of the left leg; a left leg rotation motor connected to the left leg unified bus via a left leg rotation terminal; a motor for generating left leg tension and compression forces, which is connected to the unified bus of the left leg via a left leg tension and compression force terminal; a left hip linear motor connected to the left leg unified bus via a left hip linear connector; a left knee linear motor connected to the left leg unified bus via a left knee linear connector; a first linear motor of a left lower leg connected to the unified bus of the left leg via a first linear connection terminal of the left lower leg; a second left lower leg linear motor connected to the unified left leg bus via a second left lower leg linear connector terminal; and a six-dimensional left leg force sensor connected to the left leg unified bus via a six-dimensional left leg force terminal. [6] Bus system for humanoid robots according to one of claims 2 to 5, characterized by that the subsystem of the right leg includes: a right leg left-right movement motor connected to the right leg unified bus via a right leg left-right connection terminal; a right leg rotation motor connected to the right leg unified bus via a right leg rotation terminal; a motor for generating right leg tension and compression forces, which is connected to the right leg unified bus via a right leg tension and compression force terminal; a right hip linear motor connected to the right leg unified bus via a right hip linear connector; a right knee linear motor connected to the right leg unified bus via a right knee linear connector; a first linear motor of a right lower leg connected to the unified bus of the right leg via a first linear connection terminal of the right lower leg; a second right lower leg linear motor connected to the right leg unified bus via a second right lower leg linear connector terminal; and a right leg six-dimensional force sensor connected to the right leg unified bus via a right leg six-dimensional force terminal. [7] Bus system for humanoid robots according to one of claims 2 to 6, characterized by that the head subsystem includes: a display control board connected to the head's unified bus via the head port. [8] Bus system for humanoid robots according to one of claims 2 to 7 characterized by that the waist subsystem includes: a motor for rotating the waist, which is connected to the unified bus of the waist via a rotation connection terminal of the waist; and a motor for moving the waist left and right, which is connected to the waist's unified bus via a left-right connection terminal of the waist. [9] Bus system for humanoid robots according to claim 1, characterized bythat each fusion line includes: a communication cable for transmitting communication data; a power cable for power supply; a communication shielding layer covering the communication cable; a power supply insulation layer covering the power cable; a wrapping tape that wraps the communication cable covered with the communication shielding layer and the power cable covered with the power supply insulation layer into one cable; a protective cover that covers the wrapping tape; Connection terminals, each of which is integrally molded with the respective fusion line; each of the terminals comprising: a communication bayonet connector that is connected to the communication cable in the respective fusion line and provides a communication interface to the outside, and a power supply bayonet connector that is connected to the power cable in the respective fusion line and provides a power supply interface to the outside. [10] Humanoid robot, characterized by that it comprises a bus system for humanoid robots according to one of claims 1 to 9.

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