Humanoid robot bus system and humanoid robot

Abstract

Humanoid Robot Bus System and Humanoid Robot. The present invention relates to a humanoid robot bus system and a humanoid robot. The system comprises: a left arm subsystem (110), a right arm subsystem (120), a left leg subsystem (130), a right leg subsystem (140), a lumbar subsystem (150), a head subsystem (160), and a body subsystem (170). The left arm subsystem (110), the right arm subsystem (120), the left leg subsystem (130), the right leg subsystem (140), the lumbar subsystem (150), and the head subsystem (160) are connected to the body subsystem (170) via their respective fusion buses. Figure to be published with the abstract: Figure 2

Description

Title of the invention: Humanoid robot bus system and humanoid robot technical field

[0001] The present invention relates to the field of robots, in particular a humanoid robot bus system and a humanoid robot. Context technology

[0002] Humanoid robots are increasingly used in several fields, such as service robots, industrial robots, etc., thanks to their flexibility and their structure of several degrees of freedom.

[0003] For a robot system with a multi-degree-of-freedom structure, stable and rapid transmissions are necessary for the exchange of data and control signals among all joints, drive devices, and sensors. However, traditional communication methods are insufficiently efficient for handling complex multi-node controls and cannot meet the requirements of high-speed synchronous control. Contents of the invention

[0004] In order to solve the above technical problems or to solve at least part of the above technical problems, the present invention provides a humanoid robot bus system and a humanoid robot.

[0005] In a first aspect, the present invention provides a humanoid robot bus system, the system comprising: a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a lumbar subsystem, a head subsystem and a body subsystem,

[0006] the left arm subsystem is connected to the body subsystem via a left arm fusion bus;

[0007] the right arm subsystem is connected to the body subsystem via a right arm fusion bus;

[0008] the left leg subsystem is connected to the body subsystem via a left leg fusion bus;

[0009] the right leg subsystem is connected to the body subsystem via a right leg fusion bus;

[0010] the lumbar subsystem is connected to the body subsystem via a lumbar fusion bus;

[0011] The head subsystem is connected to the body subsystem via a head fusion bus.

[0012] Optionally, the body subsystem includes:

[0013] A body adapter plate, a left arm port of the body adapter plate is connected to the left arm fusion bus, a right arm port of the body adapter plate is connected to the right arm fusion bus, a left leg port of the body adapter plate is connected to the left leg fusion bus, a right leg port of the body adapter plate is connected to the right leg fusion bus, a lumbar port of the body adapter plate is connected to the lumbar fusion bus, a head port of the body adapter plate is connected to the head fusion bus and a first power supply port of the body adapter plate is connected to a power supply;

[0014] A main control board, a network port of the main control board is connected to a network port of the body adapter board, a power supply port of the main control board is connected to a second power supply port of the body adapter board.

[0015] Optionally, the left arm subsystem includes:

[0016] An electric motor for forward / backward movement of the left arm, which is connected to the left arm fusion bus via a left arm forward / backward movement terminal;

[0017] A left / right movement electric motor for the left arm, which is connected to the left arm fusion bus via a left / right movement terminal for the left arm;

[0018] An electric motor for rotating the left arm, which is connected to the left arm fusion bus via a left arm rotation terminal;

[0019] A left arm linear motion electric motor, which is connected to the left arm fusion bus via a left arm linear terminal;

[0020] A left forearm rotation electric motor, which is connected to the left arm fusion bus via a left forearm rotation terminal;

[0021] A left wrist cable harness adapter plate, which is used to divide the left arm fusion bus into a left arm first branch bus, a left arm second branch bus and a left arm third branch bus, in which, a first end of the left wrist cable harness adapter plate is connected to the left arm first branch bus, a second end of the left wrist cable harness adapter plate is connected to the left arm second branch bus, a third end of the left wrist cable harness adapter plate is connected to the left arm third branch bus, and a fourth end of the left wrist cable harness adapter plate is connected to the left arm fusion bus;

[0022] A first electric motor for linear left wrist movement, which is connected to the first branch bus of the left arm via a first linear left wrist terminal;

[0023] A second left wrist linear motor, which is connected to the second left arm branch bus via a second left wrist linear terminal;

[0024] A left-hand six-dimensional force sensor, which is connected to the left arm third branch bus via a left-hand six-dimensional force terminal;

[0025] A left-hand component, which is connected to the third branch bus of the left arm via a left-hand terminal.

[0026] Optionally, the right arm subsystem includes:

[0027] A right arm forward / backward movement electric motor, which is connected to the right arm fusion bus via a right arm forward / backward movement terminal;

[0028] A right arm left / right movement electric motor, which is connected to the right arm fusion bus via a right arm left / right movement terminal;

[0029] A right arm rotation electric motor, which is connected to the right arm fusion bus via a right arm rotation terminal;

[0030] A straight arm linear motion electric motor, which is connected to the straight arm fusion bus via a straight arm linear terminal;

[0031] A right forearm rotation electric motor, which is connected to the left arm fusion bus via a right forearm rotation terminal;

[0032] A right wrist cable harness adapter plate, which is used to divide the right arm fusion bus into a right arm first branch bus, a right arm second branch bus and a right arm third branch bus, in which, a first end of the right wrist cable harness adapter plate is connected to the right arm first branch bus, a second end of the right wrist cable harness adapter plate is connected to the right arm second branch bus, a third end of the right wrist cable harness adapter plate is connected to the right arm third branch bus, and a fourth end of the right wrist cable harness adapter plate is connected to the right arm fusion bus;

[0033] A first right wrist linear motor, which is connected to the first right arm branch bus via a first right wrist linear terminal;

[0034] A second electric motor for linear right wrist motion, which is connected to the second right arm branch bus via a second linear right wrist terminal;

[0035] A right-hand six-dimensional force sensor, which is connected to the right arm third branch bus via a right-hand six-dimensional force terminal;

[0036] A right-hand component, which is connected to the third branch bus of the right arm via a right-hand terminal.

[0037] Optionally, the left leg subsystem includes:

[0038] A left leg left / right movement electric motor, which is connected to the left leg fusion bus via a left leg left / right movement terminal;

[0039] A left leg rotation electric motor, which is connected to the left leg fusion bus via a left leg rotation terminal;

[0040] A left leg traction-pressure electric motor, which is connected to the left leg fusion bus via a left leg traction-pressure terminal;

[0041] A left hip linear motion electric motor, which is connected to the left leg fusion bus via a left hip linear terminal;

[0042] A left knee linear motion electric motor, which is connected to the left leg fusion bus via a left knee linear terminal;

[0043] A first left calf linear motion electric motor, which is connected to the left leg fusion bus via a first left calf linear terminal;

[0044] A second electric motor for linear motion of the left calf, which is connected to the left leg fusion bus via a second linear terminal of the left calf;

[0045] A left leg six-dimensional force sensor, which is connected to the left leg fusion bus via a left leg six-dimensional force terminal.

[0046] Optionally, the right leg subsystem includes:

[0047] An electric motor for left / right movement of the right leg, which is connected to the right leg fusion bus via a right leg left / right movement terminal;

[0048] A right leg rotation electric motor, which is connected to the right leg fusion bus via a right leg rotation terminal;

[0049] A right leg traction-pressure electric motor, which is connected to the right leg fusion bus via a right leg traction-pressure terminal;

[0050] A right hip linear motion electric motor, which is connected to the right leg fusion bus via a right hip linear terminal;

[0051] A right knee linear motion electric motor, which is connected to the right leg fusion bus via a right knee linear terminal;

[0052] A first electric motor for linear motion of the right calf, which is connected to the right leg fusion bus via a first linear terminal of the right calf;

[0053] A second electric motor for linear motion of the right calf, which is connected to the right leg fusion bus via a second linear terminal of the right calf;

[0054] A right leg six-dimensional force sensor, which is connected to the right leg fusion bus via a right leg six-dimensional force terminal.

[0055] Optionally, the head subsystem includes:

[0056] A display control panel, which is connected to the head fusion bus via a head port.

[0057] Optionally, the lumbar subsystem includes:

[0058] An electric motor for rotating the lumbar support, which is connected to the lumbar fusion bus via a lumbar rotation terminal;

[0059] A forward / reverse lumbos electric motor, which is connected to the lumbos fusion bus via a forward / reverse lumbos motion terminal.

[0060] Optionally, any one of the fusion buses includes:

[0061] A communication cable, which is used to transmit communication data;

[0062] A power supply cable, which is used for power supply;

[0063] A communication shielding layer, which is wrapped around the communication cable;

[0064] A power supply insulation layer, which is wrapped around the power supply cable;

[0065] A winding tape that wraps the communication cable wrapped by the communication shielding layer and the power supply cable wrapped by the power supply insulation layer to form a single cable;

[0066] A sheath, which encloses the winding tape on the outside;

[0067] A terminal, which is injection molded with the corresponding fusion bus;

[0068] In which, one of said terminals comprises:

[0069] A communication bayonet, which is connected to the communication cable in the corresponding fusion bus, and provides an external communication port,

[0070] A power supply bayonet, which is connected to the power supply cable in the corresponding fusion bus, and provides an external power supply port.

[0071] In a second aspect, the present invention provides a humanoid robot, comprising the aforementioned humanoid robot bus system.

[0072] The present invention provides a humanoid robot bus system and a humanoid robot, the system comprising: a left arm subsystem, a right arm subsystem, a left leg subsystem, a right leg subsystem, a lumbar subsystem, a head subsystem and a body subsystem, the left arm subsystem is connected to the body subsystem via a left arm fusion bus; the right arm subsystem is connected to the body subsystem via a right arm fusion bus; the left leg subsystem is connected to the body subsystem via a left leg fusion bus; the right leg subsystem is connected to the body subsystem via a right leg fusion bus; the lumbar subsystem is connected to the body subsystem via a lumbar fusion bus;The head subsystem is connected to the body subsystem via a head fusion bus. In the embodiment of the present invention, each subsystem is connected to the body subsystem via a fusion bus; thus, the humanoid robot can communicate with all subsystems of the humanoid robot and control all subsystems through the buses in all subsystems. Description of the attached figures

[0073] The accompanying figures illustrate one embodiment of the present invention and are used together with the description to explain the principles of the present invention.

[0074] In order to set forth more clearly the incarnations of the present invention or the technical programs in existing technologies, the attached figures to be used in the descriptions of the incarnation or of existing technologies will be briefly described below; obviously, for ordinary technicians in this field, they can obtain other figures according to these attached figures without performing any creative work.

[0075] [Fig-1] is a diagram of the structure of the humanoid robot bus system indicated in the embodiment of the present invention;

[0076] [Fig.2] is a schematic diagram of the structure of the humanoid robot bus system indicated in the embodiment of the present invention;

[0077] [Fig.3] is a diagram of the cross-section of a fusion bus of the embodiment of the present invention;

[0078] [Fig.4] is a diagram of the structure of a terminal of the embodiment of the present invention. Specific implementation method

[0079] To make the objective, technical programs, and advantages of the present embodiment of the invention clearer, the technical programs in the present embodiment of the invention are described clearly and completely in conjunction with the figures attached to the present embodiment of the invention below. Obviously, the embodiments described are only some of the embodiments of the present invention and do not represent all of them. Based on the embodiments of the present invention, all other embodiments that ordinary technicians in this field can obtain without performing any creative work are within the scope of the present invention.

[0080] Fig. 1 and Fig. 2 are diagrams of the structure of the humanoid robot bus system indicated in the embodiment of the present invention.

[0081] As shown in [Fig.1] and [Fig.2], the humanoid robot bus system comprises: a left arm subsystem 110, a right arm subsystem 120, a left leg subsystem 130, a right leg subsystem 140, a lumbar subsystem 150, a head subsystem 160 and a body subsystem 170,

[0082] the left arm subsystem 110 is connected to the body subsystem 170 via a left arm fusion bus 111;

[0083] the right arm subsystem 120 is connected to the body subsystem 170 via a right arm fusion bus 121;

[0084] the left leg subsystem 130 is connected to the body subsystem 170 via a left leg fusion bus 131;

[0085] the right leg subsystem 140 is connected to the body subsystem 170 via a right leg fusion bus 141;

[0086] the lumbar subsystem 150 is connected to the body subsystem 170 via a lumbar fusion bus 151;

[0087] The head subsystem 160 is connected to the body subsystem 170 via a head fusion bus 161.

[0088] In the embodiment of the present invention, each subsystem is connected to the body subsystem via a fusion bus, thus the humanoid robot can communicate with all the subsystems of the humanoid robot and the controls of all subsystems via buses in all subsystems.

[0089] In the embodiment of the present invention, the body subsystem 170 comprises:

[0090] A body adapter plate, a left arm port of the body adapter plate is connected to the left arm fusion bus 111, a right arm port of the body adapter plate is connected to the right arm fusion bus 121, a left leg port of the body adapter plate is connected to the left leg fusion bus 131, a right leg port of the body adapter plate is connected to the right leg fusion bus 141, a lumbar port of the body adapter plate is connected to the lumbar fusion bus 151, a head port of the body adapter plate is connected to the head fusion bus 161 and a first power supply port of the body adapter plate is connected to the power supply;

[0091] A main control board, a network port of the main control board is connected to a network port of the body adapter board, a power supply port of the main control board is connected to the second power supply port of the body adapter board.

[0092] In the embodiment of the present invention, each subsystem is connected to the body subsystem 170 via a fusion bus, and the body subsystem 170 is connected to all fusion buses via a body adapter plate, and finally to the main control board. The main control board can communicate with all the humanoid robot subsystems and control all the subsystems using the adapter plate and the buses in all the subsystems.

[0093] In the embodiment of the present invention, the left arm subsystem 110 comprises:

[0094] A left arm forward / backward movement electric motor 1102, which is connected to the left arm fusion bus 111 via a left arm forward / backward movement terminal 1112;

[0095] A left / right movement electric motor of left arm 1103, which is connected to the left arm fusion bus 111 via a left / right movement terminal of left arm 1113;

[0096] A left arm rotation electric motor 1104, which is connected to the left arm fusion bus 111 via a left arm rotation terminal 1114;

[0097] A left arm linear motion electric motor 1105, which is connected to the left arm fusion bus 111 via a left arm linear terminal 1115;

[0098] A left forearm rotation electric motor 1106, which is connected to the left arm fusion bus 111 via a left forearm rotation terminal 1116;

[0099] A left wrist cable harness adapter plate 1107, which is used to split the left arm fusion bus 111 into a left arm first branch bus 11101, a left arm second branch bus 11102 and a left arm third branch bus 11103, wherein, the first end of the left wrist cable harness adapter plate is connected to the left arm first branch bus 11101, the second end of the left wrist cable harness adapter plate is connected to the left arm second branch bus 11102, the third end of the left wrist cable harness adapter plate is connected to the left arm third branch bus 11103, and the fourth end of the left wrist cable harness adapter plate is connected to the left arm fusion bus 111;

[0100] A first left wrist linear motor 1108, which is connected to the first left arm branch bus 11101 via a first left wrist linear terminal 1118;

[0101] A second left wrist linear motor 1109, which is connected to the second left arm branch bus 11102 via a second left wrist linear terminal 1119;

[0102] A left-hand six-dimensional force sensor 1110, which is connected to the left-hand third-branch bus 11103 via a left-hand six-dimensional force terminal 1120;

[0103] A left-hand component 1111, which is connected to the left-hand third branch bus 11103 via a left-hand terminal 1121.

[0104] The right arm subsystem and the left arm subsystem are perfectly symmetrical, so the numbers of the electric motor, sensor and terminal of the right arm subsystem are not indicated in [Fig.2], for the right arm subsystem we can refer to [Fig.1] and [Fig.2].

[0105] In the embodiment of the present invention, the right arm subsystem 120 comprises:

[0106] A right arm forward / backward movement electric motor, which is connected to the right arm fusion bus 121 via a right arm forward / backward movement terminal;

[0107] A right arm left / right movement electric motor, which is connected to the right arm fusion bus 121 via a right arm left / right movement terminal;

[0108] A right arm rotation electric motor, which is connected to the right arm fusion bus 121 via a right arm rotation terminal;

[0109] A straight arm linear motion electric motor, which is connected to the straight arm fusion bus 121 via a straight arm linear terminal;

[0110] A right forearm rotation electric motor, which is connected to the right arm fusion bus 121 via a right forearm rotation terminal;

[0111] A right wrist cable harness adapter plate, which is used to split the right arm fusion bus 121 into a right arm first branch bus, a right arm second branch bus and a right arm third branch bus, wherein the first end of the right wrist cable harness adapter plate is connected to the right arm first branch bus, the second end of the right wrist cable harness adapter plate is connected to the right arm second branch bus, the third end of the right wrist cable harness adapter plate is connected to the right arm third branch bus, and the fourth end of the right wrist cable harness adapter plate is connected to the right arm fusion bus 121;

[0112] A first right wrist linear motor, which is connected to the bus of the first right arm branch via a first right wrist linear terminal;

[0113] A second electric motor for linear motion of the right wrist, which is connected to the bus of the second right arm branch via a second linear right wrist terminal;

[0114] A right-hand six-dimensional force sensor, which is connected to the bus of the third right arm branch via a right-hand six-dimensional force terminal;

[0115] A right-hand component, which is connected to the bus of the third right-hand arm via a right-hand terminal.

[0116] In the embodiment of the present invention, the left leg subsystem 130 comprises:

[0117] A left leg left / right movement electric motor 1301, which is connected to the left leg fusion bus 131 via a left leg left / right movement terminal 1311;

[0118] A left leg rotation electric motor 1302, which is connected to the left leg fusion bus 131 via a left leg rotation terminal 1312;

[0119] A left leg traction-pressure electric motor 1303, which is connected to the left leg fusion bus 131 via a left leg traction-pressure terminal 1313;

[0120] A left hip linear motion electric motor 1304, which is connected to the left leg fusion bus 131 via a left hip linear terminal 1314;

[0121] A left knee linear motion electric motor 1305, which is connected to the left leg fusion bus 131 via a left knee linear terminal 1315;

[0122] A first left calf linear motion electric motor 1306, which is connected to the left leg fusion bus 131 via a first left calf linear terminal 1316;

[0123] A second left calf linear motion electric motor 1307, which is connected to the left leg fusion bus 131 via a second left calf linear terminal 1317;

[0124] A left leg six-dimensional force sensor 1308, which is connected to the left leg fusion bus 131 via a left leg six-dimensional force terminal 1318.

[0125] The right leg subsystem and the left leg subsystem are perfectly symmetrical, so the numbers of the electric motor, sensor and terminal of the right leg subsystem are not shown in [Fig.2], for the right leg subsystem we can refer to [Fig.1] and [Fig.2].

[0126] In the embodiment of the present invention, the second right leg subsystem 140 comprises:

[0127] A right leg left / right movement electric motor, which is connected to the right leg fusion bus 141 via a right leg left / right movement terminal;

[0128] A right leg rotation electric motor, which is connected to the right leg fusion bus 141 via a right leg rotation terminal;

[0129] A right leg traction-pressure electric motor, which is connected to the right leg fusion bus 141 via a right leg traction-pressure terminal;

[0130] A right hip linear motion electric motor, which is connected to the right leg fusion bus 141 via a right hip linear terminal;

[0131] A right knee linear motion electric motor, which is connected to the right leg fusion bus 141 via a right knee linear terminal;

[0132] A first electric motor for linear motion of the right calf, which is connected to the right leg fusion bus 141 via a first linear terminal of the right calf;

[0133] A second electric motor for linear motion of the right calf, which is connected to the right leg fusion bus 141 via a second linear terminal of the right calf;

[0134] A right leg six-dimensional force sensor, which is connected to the right leg fusion bus 141 via a right leg six-dimensional force terminal.

[0135] In the embodiment of the present invention, the second head subsystem 160 comprises:

[0136] A display control panel, which is connected to the head 161 fusion bus via a head port 1601.

[0137] In the embodiment of the present invention, the second lumbar subsystem 150 comprises:

[0138] A 1501 slewing electric motor, which is connected to the 151 slewing fusion bus via a 1511 slewing terminal;

[0139] A 1502 forward / reverse electric motor, which is connected to the 151 fusion bus via a 1512 forward / reverse motion terminal;

[0140] In the above embodiments of the present invention, the functional units, such as all electric motors, components, sensors, etc., can be installed in the above order in the humanoid robot, their positions can be exchanged as required, and the functional units can be replaced by other electric motors, components, sensors, etc. as required.

[0141] In embodiments of the present invention, if there are other functional units, they can be connected to the corresponding fusion buses via corresponding terminals in the same way; these contents will not be described in detail here.

[0142] Fig. 3 is the diagram of the cross-section of a fusion bus of the embodiment of the present invention. Fig. 4 is the diagram of the structure of a terminal of the embodiment of the present invention.

[0143] As shown in [Fig. 3] and 4, in the embodiment of the present invention, any fusion wire (or bus) comprises:

[0144] A 310 communication cable, which is used to transmit communication data;

[0145] A 320 power supply cable, which is used for power supply;

[0146] A communication shielding layer 330, which is wrapped around the communication cable;

[0147] A power supply insulation layer 340, which is wrapped around the power supply cable;

[0148] A winding tape 350 which wraps the power supply cable wrapped by the communication shielding layer and the power supply cable wrapped by the power supply insulation layer 340 to form a single cable;

[0149] A 360 sheath, which wraps the winding tape on the outside;

[0150] A terminal 370, which is injection molded with the corresponding fusion bus;

[0151] In which, one of said terminals comprises:

[0152] A communication bayonet 371, which is connected to the communication cable in the corresponding fusion bus, and provides an external communication port,

[0153] A power supply bayonet 372, which is connected to the power supply cable in the corresponding fusion bus, and provides an external power supply port.

[0154] In embodiments of the present invention, the power supply cable and the communication cable are integrated into a single cable to form a fusion bus. The communication shielding layer in the fusion bus can be wrapped with high-strength shielding materials to ensure that the power supply cable does not cause electromagnetic interference to the high-speed communication signals; and the use of the power supply insulation layer also helps prevent electrical leakage. Furthermore, the flexible materials used, such as winding tape, sheathing, etc., on the exterior of the fusion bus can improve the durability and flex performance of the fusion buses at the robot joints.

[0155] In embodiments of the present invention, modular design is adopted for the terminals, in order to facilitate the assembly and maintenance of the robot, in particular when replacing a motor or a sensor, it is enough to plug in and unplug the unit to be replaced, which improves the maintainability of the system.

[0156] The embodiment of the present invention also provides a humanoid robot, comprising the aforementioned humanoid robot bus system.

[0157] It is necessary to clarify that, in this document, relational terms such as "the first," "the second," etc., are used only to distinguish one entity or operation from another; these relational terms do not require or certainly imply any actual relationship or order among these entities or operations. And, the terms "include," "comprise," or any other Variations of these terms are intended to cover a non-exclusive inclusion; thus, a process, method, object, or piece of equipment that includes a series of elements includes not only those elements, but also other elements not explicitly listed or inherent elements of that process, method, object, or piece of equipment. Unless otherwise restricted, the elements defined by the phrase "includes a..." do not preclude the presence of other identical elements in processes, methods, objects, or equipment that include those elements.

[0158] The above description is merely one specific embodiment of the present invention, intended to enable technicians in this field to understand or carry out the present invention. For technicians in this field, modifications to several types of these embodiments are obvious; the general principles defined herein can be implemented in other embodiments without departing from the scope of the present invention.

Claims

Demands

1. Humanoid robot bus system, characterized in that the system comprises: a left arm subsystem (110), a right arm subsystem (120), a left leg subsystem (130), a right leg subsystem (140), a lumbar subsystem (150), a head subsystem (160) and a body subsystem (170), the left arm subsystem (110) is connected to the body subsystem (170) via a left arm fusion bus (111); the right arm subsystem (120) is connected to the body subsystem (170) via a right arm fusion bus (121); the left leg subsystem (130) is connected to the body subsystem (170) via a left leg fusion bus (131); the right leg subsystem (140) is connected to the body subsystem (170) via a right leg fusion bus (141);The lumbar subsystem (150) is connected to the body subsystem (170) via a lumbar fusion bus (151); the head subsystem (160) is connected to the body subsystem (170) via a head fusion bus (161).

2. Humanoid robot bus system according to claim 1, characterized in that the body subsystem (170) comprises: a body adapter plate, in which a left arm port of the body adapter plate is connected to the left arm fusion bus (111), a right arm port of the body adapter plate is connected to the right arm fusion bus (121), a left leg port of the body adapter plate is connected to the left leg fusion bus (131), a right leg port of the body adapter plate is connected to the right leg fusion bus (141), a lumbar port of the body adapter plate is connected to the lumbar fusion bus (151), a head port of the body adapter plate is connected to the head fusion bus (161) and a first power supply port of the body adapter plate is connected to a power supply; a main control board, in which a network port of the main control board is connected to a network port of the body adapter board, a power supply port of the main control board is connected to a second power supply port of the body adapter board.

3. Humanoid robot bus system according to claim 2, characterized in that the left arm subsystem (110) comprises: a left arm forward / backward movement electric motor (1102), which is connected to the left arm fusion bus (111) via a left arm forward / backward movement terminal (1112); a left arm left / right movement electric motor (1103), which is connected to the left arm fusion bus (111) via a left arm left / right movement terminal (1113); a left arm rotation electric motor (1104), which is connected to the left arm fusion bus (111) via a left arm rotation terminal (1114); an electric left arm linear motion motor (1105), which is connected to the left arm fusion bus (111) via a left arm linear terminal (1115);an electric left forearm rotation motor (1106), which is connected to the left arm fusion bus (111) via a left forearm rotation terminal (1116);a left wrist wiring harness adapter plate (1107), which is used to split the left arm fusion bus (111) into a left arm first branch bus (11101), a left arm second branch bus (11102) and a left arm third branch bus (11103), wherein, a first end of the left wrist wiring harness adapter plate is connected to the left arm first branch bus (11101), a second end of the left wrist wiring harness adapter plate (1107) is connected to the left arm second branch bus (11102), a third end of the left wrist wiring harness adapter plate (1107) is connected to the left arm third branch bus (11103), and a fourth end of the adapter plate; left wrist wiring harness (1107) is connected to the left arm fusion bus (111); a first left wrist linear motion electric motor (1108), which is connected to the first left arm branch bus (11101) via a first left wrist linear terminal (1118); a second left wrist linear motor (1109), which is connected to the second left arm branch bus (11102) via a second left wrist linear terminal (1119); a left hand six-dimensional force sensor (1110), which is connected to the third left arm branch bus (11103) via a left hand six-dimensional force terminal (1120); a left hand component (1111), which is connected to the third left arm branch bus (11103) via a left hand terminal (1121).

4. Humanoid robot bus system according to claim 2, characterized in that the right arm subsystem (120) comprises: a right arm forward / backward movement electric motor, which is connected to the right arm fusion bus (121) via a right arm forward / backward movement terminal; a right arm left / right movement electric motor, which is connected to the right arm fusion bus (121) via a right arm left / right movement terminal; a right arm rotation electric motor, which is connected to the right arm fusion bus (121) via a right arm rotation terminal; a right arm linear movement electric motor, which is connected to the right arm fusion bus (121) via a right arm linear terminal;an electric right forearm rotation motor, which is connected to the right arm fusion bus (121) via a right forearm rotation terminal; a right wrist wiring harness adapter plate, which is used to split the right arm fusion bus (121) into a right arm first branch bus, a right arm second branch bus and a right arm third branch bus, in which,; a first end of the right wrist cable harness adapter plate is connected to the right arm first branch bus, a second end of the right wrist cable harness adapter plate is connected to the right arm second branch bus, a third end of the right wrist cable harness adapter plate is connected to the right arm third branch bus, and a fourth end of the right wrist cable harness adapter plate is connected to the right arm fusion bus (121); a first right wrist linear motor, which is connected to the right arm first branch bus via a first right wrist linear terminal; a second right wrist linear motion electric motor, which is connected to the right arm second branch bus via a second right wrist linear terminal;a right-hand six-dimensional force sensor, which is connected to the right-hand third-branch bus via a right-hand six-dimensional force terminal; a right-hand component, which is connected to the right-hand third-branch bus via a right-hand terminal.

5. Humanoid robot bus system according to claim 2, characterized in that the left leg subsystem (130) comprises: a left leg left / right movement electric motor (1301), which is connected to the left leg fusion bus (131) via a left leg left / right movement terminal (1311); a left leg rotation electric motor (1302), which is connected to the left leg fusion bus (131) via a left leg rotation terminal (1312); a left leg pull-push electric motor (1303), which is connected to the left leg fusion bus (131) via a left leg pull-push terminal (1313); a left hip linear movement electric motor (1304), which is connected to the left leg fusion bus (131) via a left hip linear terminal (1314); a left knee linear motion electric motor (1305), which is connected to the left leg fusion bus (131) via a left knee linear terminal (1315); a first left calf linear motion electric motor (1306), which is connected to the left leg fusion bus (131) via a first left calf linear terminal (1316); a second left calf linear motion electric motor (1307), which is connected to the left leg fusion bus (131) via a second left calf linear terminal (1317); a left leg six-dimensional force sensor (1308), which is connected to the left leg fusion bus (131) via a left leg six-dimensional force terminal (1318).

6. Humanoid robot bus system according to claim 2, characterized in that the right leg subsystem (140) comprises: a right leg left / right movement electric motor, which is connected to the right leg fusion bus (141) via a right leg left / right movement terminal; a right leg rotation electric motor, which is connected to the right leg fusion bus (141) via a right leg rotation terminal; a right leg pull-push electric motor, which is connected to the right leg fusion bus (141) via a right leg pull-push terminal; a right hip linear movement electric motor, which is connected to the right leg fusion bus (141) via a right hip linear terminal;a right knee linear motion electric motor, which is connected to the right leg fusion bus (141) via a right knee linear terminal; a first right calf linear motion electric motor, which is connected to the right leg fusion bus (141) via a first right calf linear terminal; a second electric motor for linear motion of the right calf, which is connected to the right leg fusion bus (141) via a second linear terminal of the right calf; a six-dimensional force sensor of the right leg, which is connected to the right leg fusion bus (141) via a six-dimensional force terminal of the right leg.

7. Humanoid robot bus system according to claim 2, characterized in that the head subsystem (160) comprises: a display control panel, which is connected to the head fusion bus (161) via a head port (1601).

8. Humanoid robot bus system according to claim 2, characterized in that the lumbar subsystem (150) comprises: a lumbar rotation electric motor (1501), which is connected to the lumbar fusion bus (151) via a lumbar rotation terminal (1511); a lumbar forward / backward movement electric motor (1502), which is connected to the lumbar fusion bus (151) via a lumbar forward / backward movement terminal (1512).

9. Humanoid robot bus system according to claim 1, characterized in that any one of the fusion buses comprises: a communication cable (310), which is used to transmit communication data; a power supply cable (320), which is used for power supply; a communication shielding layer (330), which is wrapped around the communication cable (310); a power supply insulation layer (340), which is wrapped around the power supply cable (320); a winding tape (350) which wraps the communication cable (310) wrapped by the communication shielding layer (330) and the power supply cable (320) wrapped by the power supply insulation layer (340) to form a single cable; a sheath (360), which wraps the winding tape (350) on the outside; a terminal (370), which is injection molded with the corresponding fusion bus;in which, one of the said terminals (370) comprises:; a communication bayonet (371), which is connected to the communication cable (310) in the corresponding fusion bus, and provides an external communication port, a power supply bayonet (372), which is connected to the power supply cable (320) in the corresponding fusion bus, and provides an external power supply port.

10. Humanoid robot, characterized in that it comprises a humanoid robot bus system according to any one of claims 1 to 9.

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