Shoulder joint structure and humanoid robot

Abstract

Provided in the present disclosure are a shoulder joint structure and a humanoid robot. The shoulder joint structure comprises a first support assembly, a second support assembly and a third support assembly, wherein the first support assembly has a mounting surface connected to a torso structure, and extends obliquely upwards; the second support assembly is rotationally connected to the first support assembly about a first axis; the third support assembly is rotationally connected to the second support assembly about a second axis that intersects the first axis, and at least part of the second support assembly is accommodated in the third support assembly; and in the orthographic projection of the second axis, the third support assembly is curved, and the second support assembly is connected to the third support assembly to form a C-shaped structure having an opening facing the torso structure. The shoulder joint structure and the humanoid robot provided in the present disclosure can relieve stress at the connection portion between the shoulder joint structure and the torso structure, and can reduce the torque that the connection portion between the shoulder joint structure and the torso structure is subjected to, thereby helping prolong the service life of the shoulder joint structure and the humanoid robot.

Description

Shoulder joint structure and humanoid robots Technical Field

[0001] This disclosure pertains to the field of robotics, and particularly relates to a shoulder joint structure and a humanoid robot. Background Technology

[0002] With the advancement of technology, the application of intelligent robots is becoming increasingly widespread, and users' demands for intelligent robots are also increasing. Traditional intelligent robots have relatively simple forms; for example, their locomotion systems generally use wheeled systems. Now, intelligent robots are increasingly trending towards humanoid designs, thus giving rise to humanoid robots.

[0003] In current humanoid robots, the extension direction of the shoulder joint structure is perpendicular to the extension direction of the part connecting to the torso structure. This makes the connection between the shoulder joint and torso structure prone to stress concentration, and the connection is subjected to significant torque from the arm structure. During the movement of the arm structure driven by the shoulder joint, the connection between the shoulder joint and torso structure experiences severe wear. Furthermore, when the arm structure lifts heavy objects, the connection between the shoulder joint and torso structure is prone to breakage, thus affecting the lifespan of the humanoid robot. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this disclosure provides a shoulder joint structure and a humanoid robot that can alleviate stress concentration at the connection between the shoulder joint structure and the torso structure, and reduce the torque exerted by the arm structure on the connection between the shoulder joint structure and the torso structure, thereby improving the service life of the shoulder joint structure and the humanoid robot.

[0005] On one hand, this disclosure provides a shoulder joint structure for a humanoid robot, the humanoid robot including a torso structure, a head structure, and an arm structure; the shoulder joint structure includes: a first support component having a mounting surface at one end, the mounting surface being configured to connect with the torso structure, the first support component extending obliquely upward from the mounting surface; wherein the direction from the torso structure toward the head structure is upward; a second support component rotatably connected to the end of the first support component away from the mounting surface about a first axis; and a third support component rotatably connected to the end of the second support component away from the first support component about a second axis, the first axis and the second axis intersecting; the end of the second support component away from the first support component is housed in the third support component, the end of the third support component away from the second support component being configured to connect with the arm structure; in the orthographic projection of the second axis, the third support component is curved, the structure formed by the connection of the second support component and the third support component is "C" shaped, and the opening of the "C" shape faces the torso structure.

[0006] In one possible implementation, the third support component extends obliquely downward from one end of the third support component near the second support component to the end of the third support component away from the second support component; wherein the direction from the torso structure away from the head structure is downward.

[0007] In one possible implementation, the third support assembly includes a first connecting shell and a second connecting shell that overlap each other; the first connecting shell includes a first connecting portion and a first extension portion, with a smooth transition at the connection between the first connecting portion and the first extension portion; the second connecting shell includes a second connecting portion and a second extension portion, with a smooth transition at the connection between the second connecting portion and the second extension portion; in the orthographic projection of the second axis, the first connecting portion and the second connecting portion are positioned opposite each other and spaced apart to form a receiving cavity, and the first extension portion and the second extension portion overlap each other; at least a portion of the second support assembly remote from the first support assembly is housed in the receiving cavity.

[0008] In one possible implementation, in the orthographic projection of the second axis, the periphery of both the first connecting portion and the periphery of the second connecting portion are circular, and the center of the circle containing the periphery of the first connecting portion and the center of the circle containing the periphery of the second connecting portion are collinear; during the rotation of the third support assembly around the second axis, the end of the second support assembly away from the first support assembly is completely received in the receiving cavity.

[0009] In one possible implementation, the first support assembly includes a mounting plate, a first support shell, and a first drive member; the mounting plate is disposed on the peripheral sidewall of the first support assembly near the torso structure, the first support shell extends obliquely upward from the end near the mounting plate to the end away from the mounting plate, and the mounting surface is disposed on the mounting plate and faces the torso structure; the stator of the first drive member is housed in the first support shell and fixedly connected to the first support shell, and the rotor of the first drive member is fixedly connected to the second support assembly and rotates about the first axis to drive the second support assembly to swing in the back-and-forth direction of the humanoid robot; wherein, the first axis is the extension direction of the first support shell from the end near the mounting plate to the end away from the mounting plate.

[0010] In one possible implementation, the second support assembly includes a second support shell and a second drive member; the second support shell is fixedly connected to the rotor of the first drive member, the stator of the second drive member is housed in the second support shell and fixedly connected to the second support shell, and the rotor of the second drive member is fixedly connected to the third support assembly and rotates about the second axis to drive the third support assembly to swing in the left-right direction of the humanoid robot; wherein, the second axis is perpendicular to the first axis.

[0011] In one possible implementation, the first support shell is provided with a first limiting part and a first calibration part, and the second support shell is provided with a second limiting part and a second calibration part; the first limiting part is configured to cooperate with the second limiting part to limit the angle by which the first driving member drives the second support shell to rotate relative to the first support shell about the first axis; the first calibration part is configured to cooperate with the second calibration part, and when the first calibration part and the second calibration part are aligned, the orthographic projection of the third support component in the left-right direction of the humanoid robot extends along the up-down direction of the humanoid robot.

[0012] In one possible implementation, the third support assembly includes a third support shell and a third drive member; the third support shell is fixedly connected to the rotor of the second drive member, the stator of the third drive member is housed in the third support shell and configured to be fixedly connected to the arm structure, and the rotor of the third drive member rotates about a third axis to drive the arm structure to rotate about the humanoid robot in the vertical direction; wherein the third axis is coplanar with the first axis and perpendicular to the second axis.

[0013] In one possible implementation, the second support shell is provided with a third limiting part and a third calibration part, and the third support shell is provided with a fourth limiting part and a fourth calibration part; the third limiting part is configured to cooperate with the fourth limiting part to limit the angle by which the second driving member drives the third support shell to rotate relative to the second support shell about the second axis; the third calibration part is configured to cooperate with the fourth calibration part, and when the third calibration part is aligned with the fourth calibration part, the orthographic projection of the third support assembly in the front-back direction of the humanoid robot extends along the vertical direction of the humanoid robot.

[0014] In one possible implementation, the third support assembly further includes an elastic abutment and a rotating member; one end of the second support shell away from the first support assembly is received in the third support shell; one end of the second support shell along the second axis is fixedly connected to one end of the elastic abutment, and the other end of the second support shell along the second axis is configured for the second driving member to pass through and be fixedly connected to the third support shell; the rotating member is rotatably connected to the other end of the elastic abutment and the third support shell.

[0015] In one possible implementation, the mounting surface is perpendicular to the left-right direction of the humanoid robot; the first support component also has a cutting surface that penetrates the mounting plate of the first support shell and is connected to the mounting surface, and the cutting surface is perpendicular to the up-down direction of the humanoid robot.

[0016] In one possible implementation, the first support assembly further includes a reinforcing rib extending along the first axis, the reinforcing rib being disposed on the peripheral sidewall of the first support shell and connected to the side of the mounting plate opposite to the mounting surface.

[0017] On the other hand, this disclosure provides a humanoid robot, including: a torso structure; a head structure connected to the torso structure along the vertical direction of the humanoid robot; the aforementioned shoulder joint structure connected to the torso structure; and an arm structure connected to the end of the shoulder joint structure away from the torso structure.

[0018] In one possible implementation, the torso structure includes a first shell, a second shell, a battery box, and fasteners. The first shell and the second shell overlap and enclose each other along the front-rear direction of the humanoid robot to form a receiving space. The battery box is fixed within the receiving space. The fasteners are fitted onto the first shell and the second shell to make the first shell and the second shell overlap and fix them together. The mounting surface of the shoulder joint structure is fixedly connected to one side of the battery box along the left-right direction of the humanoid robot. The first support component of the shoulder joint structure is completely received within the receiving space. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some implementation methods provided by the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is an assembly diagram of a humanoid robot provided in an embodiment of this disclosure;

[0021] Figure 2 is an assembly diagram of a humanoid robot provided in one embodiment of this disclosure;

[0022] Figure 3 is an assembly diagram of a shoulder joint structure provided in an embodiment of this disclosure;

[0023] Figure 4 is an exploded view of a shoulder joint structure provided in an embodiment of this disclosure;

[0024] Figure 5 is a partial structural diagram of a third support component provided in an embodiment of this disclosure;

[0025] Figure 6 is a partial structural diagram of a first support component provided in an embodiment of the present disclosure;

[0026] Figure 7 is a partial structural diagram of a second support component provided in an embodiment of the present disclosure;

[0027] Figure 8 is an assembly diagram of an elastic support member and a rotating member provided in an embodiment of this disclosure.

[0028] Explanation of reference numerals in the attached drawings: Humanoid robot - 1000, Shoulder joint structure - 100, First support assembly - 10, Mounting surface - 10a, Cutting surface 10b, Mounting plate - 11, First support shell - 12, First limiting part - 121, First calibration part - 122, First driving component - 13, Reinforcing rib - 14, Heat dissipation hole - 15, Second support assembly - 30, Second support shell - 31, Second limiting part - 311, Second calibration part - 312, Third limiting part - 313, Third calibration part - 314, Second driving component - 32, Third support assembly - 50, First connecting shell - 51, ... 511 connecting part, 512 first extension part, 52 second connecting shell, 521 second connecting part, 522 second extension part, 53 receiving cavity, 54 third support shell, 541 fourth limiting part, 542 fourth calibration part, 55 third driving member, 56 elastic support member, 57 rotating member, 200 torso structure, 201 first shell, 202 second shell, 203 battery box, 204 fastener, 300 head structure, 400 arm structure, L1 first axis, L2 second axis, L3 third axis. Detailed Implementation

[0029] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or it can be in a component in between. When a component is described as "mounted to" another component, it can be directly on the other component or it can be in a component in between. When a component is described as "connected to" another component, it can be directly connected to the other component or it can be in a component in between.

[0031] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the specification of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the associated listed items. Directional terms used in the description of this disclosure, such as "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "top surface," "side surface," "bottom surface," "top wall," "side wall," "bottom wall," "inner side wall," "outer side wall," "length direction," "width direction," "height direction," etc., are merely directions for reference to the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of this disclosure and are not intended to indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this disclosure. In the description of this disclosure, terms such as "first," "second," "third," "fourth," etc., are only used to distinguish the described objects and have no sequential or technical meaning.

[0032] The following detailed description of some embodiments of this disclosure is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] Referring to Figure 1, this embodiment of the disclosure provides a humanoid robot 1000, which includes a shoulder joint structure 100, a torso structure 200, a head structure 300, and an arm structure 400. The shoulder joint structure 100 is connected to one side of the torso structure 200 along the left-right direction of the humanoid robot 1000. The head structure 300 is connected to one side of the torso structure 200 along the up-down direction of the humanoid robot 1000, and the head structure 300 is located above the torso structure 200. The arm structure 400 is connected to the end of the shoulder joint structure 100 away from the torso structure 200.

[0034] In this embodiment, the humanoid robot 1000 includes two shoulder joint structures 100 and two arm structures 400. The two shoulder joint structures 100 are connected to opposite sides of the torso structure 200 along the left-right direction of the humanoid robot 1000, and are symmetrically arranged along the up-down direction of the humanoid robot 1000. The two arm structures 400 are respectively connected to the ends of the two shoulder joint structures 100 away from the torso structure 200. Each shoulder joint structure 100 drives the movement of one arm structure 400. The movement of the arm structure 400 driven by the shoulder joint structure 100 includes at least one or more of the following: driving the arm structure 400 to swing in the forward-backward direction of the humanoid robot 1000, driving the arm structure 400 to swing in the left-right direction of the humanoid robot 1000, and driving the arm structure 400 to rotate around the up-down direction of the humanoid robot 1000, thereby enabling the shoulder joint structures 100 to achieve shoulder joint functions similar to those of a human body.

[0035] Understandably, the head structure 300 is movably connected to the torso structure 200. The head structure 300 can swing relative to the torso structure 200 in one or more of the following directions: left and right, forward and backward, and up and down. This disclosure does not limit this.

[0036] Referring to Figures 1 to 3, in one specific embodiment, the torso structure 200 of the humanoid robot 1000 includes a first shell 201, a second shell 202, a battery box 203, and fasteners 204. The first shell 201 and the second shell 202 overlap and enclose each other along the front-rear direction of the humanoid robot 1000 to form a receiving space. The battery box 203 is fixed within the receiving space. The fasteners 204 are fitted onto the first shell 201 and the second shell 202 to make the first shell 201 and the second shell 202 overlap and fix together. The shoulder joint structure 100 includes a first support component 10, a second support component 30, and a third support component 50 connected in sequence. The end of the first support component 10 away from the second support component 30 is fixedly connected to one side of the battery box 203 along the left-right direction of the humanoid robot 1000, and the first support component 10 of the shoulder joint structure 100 is completely received within the receiving space.

[0037] The humanoid robot 1000 provided in this embodiment is completely housed within the housing space of the torso structure 200 by the first support component 10 of the shoulder joint structure 100. That is, the first support component 10 of the shoulder joint structure 100 is not exposed on the outer surface of the humanoid robot 1000, which simplifies the decorative design of the peripheral sidewalls of the first support component 10 and thus reduces the manufacturing cost of the first support component 10. Simultaneously, since the first support component 10 of the shoulder joint structure 100 is housed inside the torso structure 200, the size of the shoulder joint structure 100 in the lateral direction of the humanoid robot 1000 can be reduced.

[0038] Please refer to Figures 1 to 3. In one embodiment, the shoulder joint structure 100 in the humanoid robot 1000 includes a first support component 10, a second support component 30, and a third support component 50. The first support component 10, the second support component 30, and the third support component 50 are connected in sequence. The end of the first support component 10 away from the second support component 30 is fixedly connected to the torso structure 200, and the end of the third support component 50 away from the second support component 30 is connected to the arm structure 400.

[0039] The first support assembly 10 has a mounting surface 10a at one end fixedly connected to the torso structure 200. The mounting surface 10a is configured to be fixedly connected to the battery box 203 of the torso structure 200. The first support assembly 10 extends obliquely upward from the mounting surface 10a, that is, the first support assembly 10 extends obliquely upward from the end near the battery box 203 of the torso structure 200 to the end away from the battery box 203 of the torso structure 200. The direction from the torso structure 200 of the humanoid robot 1000 towards the head structure 300 is upward. The second support assembly 30 is connected to the end of the first support assembly 10 away from the mounting surface 10a, and the second support assembly 30 is rotatable relative to the first support assembly 10 about a first axis L1. The first axis L1 extends in the same direction as the first support assembly 10 extending from the end near the battery box 203 of the torso structure 200 to the end away from the battery box 203 of the torso structure 200. The third support component 50 is connected to the end of the second support component 30 away from the first support component 10, and the third support component 50 is rotatable relative to the second support component 30 about the second axis L2. The first axis L1 and the second axis L2 intersect and are perpendicular, and the second axis L2 is parallel to the front-back direction of the humanoid robot 1000. The end of the second support component 30 away from the first support component 10 is housed in the third support component 50, and the end of the third support component 50 away from the second support component 30 is configured to connect to the arm structure 400 of the humanoid robot 1000. When the arm structure 400 of the humanoid robot 1000 is in a naturally drooping state, in the orthographic projection of the second axis L2, i.e., along the front-back direction of the humanoid robot 1000, the third support component 50 is curved, and the structure formed by the connection of the second support component 30 and the third support component 50 is C-shaped, with the opening of the C-shape facing the torso structure 200 of the humanoid robot 1000.

[0040] The shoulder joint structure 100 provided in this embodiment is connected to the torso structure 200 via the mounting surface 10a of the first support component 10. The first support component 10 extends obliquely upward from one end of the mounting surface 10a, that is, the first support component 10 is inclined upward towards the head structure 300 of the humanoid robot 1000 from the end near the mounting surface 10a to the end away from the mounting surface 10a. When the first support component 10 is subjected to the force of the arm structure 400, due to the setting of the mounting surface 10a, the force on the first support component 10 is evenly distributed at the connection between the first support component 10 and the torso structure 200 through the mounting surface 10a, which helps to reduce the stress concentration phenomenon at the connection between the first support component 10 and the torso structure 200, thereby reducing the wear at the connection between the first support component 10 and the torso structure 200. Furthermore, the first support component 10 can share some of the force exerted by the arm structure 400 on the first support component 10, which helps to reduce the torque on the first support component 10 in the vertical direction of the humanoid robot 1000, thereby reducing the risk of breakage of the first support component 10. This helps to improve the service life of the shoulder joint structure 100 and the humanoid robot 1000 formed by the shoulder joint structure 100. On the other hand, in the orthogonal projection of the second axis L2, since the third support component 50 is curved and the structure formed by the connection of the second support component 30 and the third support component 50 is "C" shaped, with the opening of the "C" facing the torso structure 200, the humanoid shoulder joint effect of the shoulder joint structure 100 is better, and the arm structure 400 connected to the third support component 50 can form a humanoid arm structure, thereby improving the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100.

[0041] It is understood that in some other embodiments, the first axis L1 and the second axis L2 intersect, and the first axis L1 and the second axis L2 may not be perpendicular, which is not a limitation of this disclosure.

[0042] The humanoid robot 1000 provided in this embodiment includes the aforementioned shoulder joint structure 100, which connects the torso structure 200 and the arm structure 400. By rationally designing the shoulder joint structure 100, stress concentration at the connection between the shoulder joint structure 100 and the torso structure 200 can be reduced, thereby decreasing wear at the connection point. Furthermore, the shoulder joint structure 100 can share some of the force exerted on it by the arm structure 400, which helps reduce the torque on the shoulder joint structure 100 in the vertical direction of the humanoid robot 1000, thus reducing the risk of breakage. Therefore, the design of the shoulder joint structure 100 improves the structural stability of the humanoid robot 1000 and extends its service life. At the same time, since the shoulder joint structure 100 has a better humanoid shoulder joint effect, it can also improve the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100.

[0043] Referring to Figures 1 to 3, in one specific embodiment, the third support component 50 extends obliquely downward from the end of the third support component 50 near the second support component 30 to the end of the third support component 50 away from the second support component 30. The direction from the torso structure 200 away from the head structure 300 is the downward direction.

[0044] The shoulder joint structure 100 provided in this embodiment extends obliquely downward from one end connected to the second support component 30 to the end away from the second support component 30 via a third support component 50. That is, the third support component 50 is obliquely downward from the end close to the second support component 30 to the end away from the second support component 30, facing away from the head structure 300 of the humanoid robot 1000. This allows the end of the third support component 50 away from the second support component 30 to connect with the arm structure 400, thereby improving the humanoid shoulder joint effect of the shoulder joint structure 100. It also enables the arm structure 400 connected to the third support component 50 to form a humanoid arm structure, thus improving the humanoid effect of the humanoid robot 1000 formed by the shoulder joint structure 100.

[0045] Referring to Figures 1 to 5, in one specific embodiment, the third support component 50 of the shoulder joint structure 100 includes a first connecting shell 51 and a second connecting shell 52 that overlap each other, with the first connecting shell 51 and the second connecting shell 52 overlapping each other along the front-rear direction of the humanoid robot 1000. The first connecting shell 51 includes an integrally formed first connecting portion 511 and a first extension portion 512, with a smooth transition at the connection between the first connecting portion 511 and the first extension portion 512. The second connecting shell 52 includes an integrally formed second connecting portion 521 and a second extension portion 522, with a smooth transition at the connection between the second connecting portion 521 and the second extension portion 522. In the orthogonal projection of the second axis L2, i.e., in the front-rear direction of the humanoid robot 1000, the first connecting portion 511 and the second connecting portion 521 are positioned opposite each other and spaced apart to form a receiving cavity 53, and the first extension portion 512 and the second extension portion 522 overlap each other. The first connecting portion 511 is closer to the second support component 30 relative to the first extension portion 512, the second connecting portion 521 is closer to the second support component 30 relative to the second extension portion 522, and at least a portion of the second support component 30 away from the first support component 10 is housed in the receiving cavity 53.

[0046] The shoulder joint structure 100 provided in this embodiment, on the one hand, is formed by the first extension 512 of the first connecting shell 51 and the second extension 522 of the second connecting shell 52 covering each other, and the first connecting portion 511 of the first connecting shell 51 and the second connecting portion 521 of the second connecting shell 52 are arranged at intervals to form a receiving cavity 53. At least a portion of the end of the second support component 30 away from the first support component 10 is received in the receiving cavity 53, so as to reduce the space occupied by the shoulder joint structure 100 in the humanoid robot 1000, so as to facilitate the design of other components connected to the shoulder joint structure 100. On the other hand, the first connecting portion 511 and the first extension 512 are smoothly transitioned, and the second connecting portion 521 and the second extension 522 are also smoothly transitioned, so that the outer surface of the third support component 50 of the shoulder joint structure 100 is smoother, and the humanoid shoulder joint effect of the shoulder joint structure 100 is better.

[0047] Referring to Figures 1 to 5, in one specific embodiment, in the orthographic projection of the second axis L2, i.e., in the front-back direction of the humanoid robot 1000, the periphery of the first connecting portion 511 and the periphery of the second connecting portion 521 are both circular, and the center of the circle containing the periphery of the first connecting portion 511 and the center of the circle containing the periphery of the second connecting portion 521 are collinear along the second axis L2. During the rotation of the third support assembly 50 relative to the second support assembly 30 around the second axis L2, the end of the second support assembly 30 furthest from the first support assembly 10 is completely housed in the receiving cavity 53.

[0048] The shoulder joint structure 100 provided in this embodiment has two circular connecting parts, the first connecting part 511 and the second connecting part 521. The center of the circle containing the periphery of the first connecting part 511 and the center of the circle containing the periphery of the second connecting part 521 are collinear along the direction of the second axis L2. The end of the second support component 30 away from the first support component 10 is completely housed in the receiving cavity 53, so that the end of the second support component 30 away from the first support component 10 of the shoulder joint structure 100 does not protrude. This allows the outer surface of the third support component 50 of the shoulder joint structure 100 to be made smoother, thus improving the humanoid shoulder joint effect of the shoulder joint structure 100.

[0049] More specifically, the second support shell 31 is located inside the receiving cavity 53 and the surface of the receiving cavity 53 facing the humanoid robot 1000 is a smooth curved surface, and this part of the curved surface matches the outer surface of the end of the third support shell 54 with the receiving cavity 53, so that the structure formed by connecting the second support shell 31 and the second support shell 31 is a smooth structure, which is beneficial to improving the aesthetics of the shoulder joint structure 100.

[0050] Referring to Figures 1 to 6, in one specific embodiment, the first support assembly 10 of the shoulder joint structure 100 includes a mounting plate 11, a first support shell 12, and a first drive member 13. The mounting plate 11, the first support shell 12, and the first drive member 13 are sequentially connected along a first axis L1. The mounting plate 11 is configured to be fixedly connected to the battery box 203 of the torso structure 200. The mounting plate 11 is disposed on the peripheral sidewall of the first support assembly 10 near the battery box 203 of the torso structure 200. The first support shell 12 extends obliquely upward from the end near the mounting plate 11 to the end away from the mounting plate 11. The mounting surface 10a is disposed on the mounting plate 11 and faces the battery box 203 of the torso structure 200. The stator of the first drive member 13 is housed in the first support shell 12 and fixedly connected to the first support shell 12. The rotor of the first drive member 13 is fixedly connected to the second support assembly 30 and can rotate about the first axis L1 to drive the second support assembly 30 to swing in the front-back direction of the humanoid robot 1000. Wherein, the first axis L1 is the extension direction of the first support shell 12 from one end near the mounting plate 11 to the end away from the mounting plate 11.

[0051] The shoulder joint structure 100 provided in this embodiment, on the one hand, is mounted on a mounting plate 11 via a mounting surface 10a. The mounting plate 11 is fixedly connected to the battery box 203 of the torso structure 200, which helps to improve the connection strength between the first support component 10 of the shoulder joint structure 100 and the battery box 203 of the torso structure 200, thereby reducing the risk of the first support component 10 falling off the battery box 203 of the torso structure 200. Simultaneously, by mounting the plate 11 on the peripheral sidewall of the end of the first support component 10 near the battery box 203 of the torso structure 200, it helps to increase the contact area between the first support component 10 and the battery box 203 of the torso structure 200, thereby better dispersing the stress at the connection point and reducing stress concentration at the connection point, thus reducing wear at the connection point. On the other hand, the first driving member 13 drives the second support component 30 to rotate around the first axis L1. That is, the first driving member 13 can drive the second support component 30, the third support component 50 and the arm structure 400 connected to the third support component 50 to swing in the front and back direction of the humanoid robot 1000, so that the shoulder joint structure 100 can realize a human-like forward and backward arm swinging action.

[0052] Referring to Figures 1 to 7, in one specific embodiment, the second support assembly 30 of the shoulder joint structure 100 includes a second support shell 31 and a second drive member 32. The second support shell 31 is fixedly connected to the rotor of the first drive member 13, and the stator of the second drive member 32 is housed in and fixedly connected to the second support shell 31. The rotor of the second drive member 32 is fixedly connected to the third support assembly 50 and can rotate around the second axis L2 to drive the third support assembly 50 to swing in the left-right direction of the humanoid robot 1000. The second axis L2 is perpendicular to the first axis L1. When the arm structure 400 of the humanoid robot 1000 is in a naturally drooping state, the second axis L2 is parallel to the front-back direction of the humanoid robot 1000.

[0053] The shoulder joint structure 100 provided in this embodiment drives the third support component 50 to rotate around the second axis L2 through the second drive component 32. That is, the second drive component 32 can drive the third support component 50 and the arm structure 400 connected to the third support component 50 to swing in the left and right direction of the humanoid robot 1000, so that the shoulder joint structure 100 can realize a human-like left and right arm swinging action.

[0054] Referring to Figures 1 to 7, in one specific embodiment, the first support shell 12 of the shoulder joint structure 100 is provided with a first limiting portion 121 and a first calibration portion 122, and the second support shell 31 of the shoulder joint structure 100 is provided with a second limiting portion 311 and a second calibration portion 312. The first limiting portion 121 is configured to cooperate with the second limiting portion 311 to limit the angle by which the first driving member 13 drives the second support shell 31 to rotate relative to the first support shell 12 about the first axis L1. The first calibration portion 122 is configured to cooperate with the second calibration portion 312. When the first calibration portion 122 and the second calibration portion 312 are aligned, the orthographic projection of the third support component 50 in the left-right direction of the humanoid robot 1000 bends and extends approximately along the up-down direction of the humanoid robot 1000.

[0055] The shoulder joint structure 100 provided in this embodiment has two advantages. First, by limiting the angle at which the first driving member 13 drives the second support component 30 to rotate relative to the first support component 10 around the first axis L1 through the first limiting part 121 of the first support shell 12 of the shoulder joint structure 100 and the second limiting part 311 of the second support shell 31 of the shoulder joint structure 100, the rotation of the second support component 30 relative to the first support component 10 around the first axis L1 can be limited, thus preventing interference with surrounding components during the rotation of the second support component 30 around the first axis L1. Second, by cooperating with the first calibration part 122 and the second calibration part 312, and when the first calibration part 122 and the second calibration part 312 are aligned, the orthographic projection of the third support component 50 in the left-right direction of the humanoid robot 1000 extends along the up-down direction of the humanoid robot 1000. That is, the third support component 50 and the arm structure 400 connected to the third support component 50 are in a centered position in the front-back direction of the humanoid robot 1000, which simplifies the programming of the rotation of the first driving member 13 of the shoulder joint structure 100 and helps to improve the stability of the first driving member 13 driving the second support component 30 to rotate.

[0056] In this embodiment, the first limiting part 121 is a boss, the second limiting part 311 is a boss, and the outer wall of the first limiting part 121 mates with the outer wall of the second limiting part 311. It is understood that in some other embodiments, the first limiting part 121 is a boss, the second limiting part 311 is a groove, and the inner wall of the first limiting part 121 and the second limiting part 311 engage in a limiting fit. Alternatively, the first limiting part 121 is a groove, the second limiting part 311 is a boss, and the inner wall of the first limiting part 121 mates with the outer wall of the second limiting part 311; this disclosure does not impose any limitations on this.

[0057] In this embodiment, the first calibration part 122 and the second calibration part 312 are both grooves, and the first calibration part 122 and the second calibration part 312 can be aligned by a retaining member. When the first calibration part 122 and the second calibration part 312 are aligned, the openings of the first calibration part 122 and the second calibration part 312 are positioned opposite each other along the direction of the first axis L1, and the first calibration part 122 and the second calibration part 312 are in communication. It can be understood that in some other embodiments, the first calibration part 122 and the second calibration part 312 are both bosses, and the first calibration part 122 and the second calibration part 312 can be aligned by a retaining sleeve. When the first calibration part 122 and the second calibration part 312 are aligned, the first calibration part 122 and the second calibration part 312 are positioned opposite each other along the direction of the first axis L1. When the first calibration unit 122 and the second calibration unit 312 are aligned, the second support component 30 is in an initial position relative to the first support component 10. This initial position is configured as the zero point for the third support component 50 to swing in the forward-backward direction of the humanoid robot 1000. Therefore, in designing the algorithm program to control the movement angle of the third support component 50, the algorithm program for the first drive member 13 to drive the second support component 30 and the third support component 50 to swing in the forward-backward direction of the humanoid robot 1000 is designed with the initial position as the design zero point. This simplifies the design of the algorithm program for the first drive member 13 to drive the second support component 30 and the third support component 50 to swing in the forward-backward direction of the humanoid robot 1000, and improves the stability of the algorithm program during operation.

[0058] It should be understood that during the swinging of the third support component 50 of the humanoid robot 1000 in the forward-backward direction, the arm structure 400 of the humanoid robot 1000 can swing forward or backward. When the first calibration part 122 of the first support shell 12 is aligned with the second calibration part 312 of the second support shell 31, the arm structure 400 of the humanoid robot 1000 is in its initial position, which is configured as the zero point for the swinging of the arm structure 400 in the forward-backward direction. When the first drive member 13 drives the second support component 30, the third support component 50, and the arm structure 400 to rotate clockwise around the first axis L1, the arm structure 400 of the humanoid robot 1000 can swing forward. When the first driving component 13 drives the second support component 30, the third support component 50, and the arm structure 400 to rotate counterclockwise around the first axis L1, the arm structure 400 of the humanoid robot 1000 can swing towards the rear of the humanoid robot 1000. Therefore, the algorithm for the first driving component 13 to drive the second support component 30, the third support component 50, and the arm structure 400 to swing in the forward-backward direction of the humanoid robot 1000 is simpler, which helps improve the stability of the algorithm during operation.

[0059] Referring to Figures 1 to 5, in one specific embodiment, the third support assembly 50 of the shoulder joint structure 100 includes a third support shell 54 and a third drive member 55. The third support shell 54 is fixedly connected to the rotor of the second drive member 32, and the stator of the third drive member 55 is housed in the third support shell 54 and configured to be fixedly connected to the arm structure 400. The rotor of the third drive member 55 is capable of rotating about a third axis L3 to drive the arm structure 400 to rotate about the vertical direction of the humanoid robot 1000. The third axis L3 is coplanar with the first axis L1 and perpendicular to the second axis L2.

[0060] The shoulder joint structure 100 provided in this embodiment drives the arm structure 400 connected to the third support component 50 to rotate around the third axis L3 via the third drive member 55. That is, the third drive member 55 can drive the arm structure 400 connected to the third support component 50 to rotate around the humanoid robot 1000 in the up and down direction, so that the shoulder joint structure 100 can achieve a human-like arm rotation movement in the up and down direction.

[0061] Referring to Figures 1 to 7, in one specific embodiment, the second support shell 31 of the shoulder joint structure 100 is provided with a third limiting portion 313 and a third calibration portion 314, and the third support shell 54 of the shoulder joint structure 100 is provided with a fourth limiting portion 541 and a fourth calibration portion 542. The third limiting portion 313 is configured to cooperate with the fourth limiting portion 541 to limit the angle by which the second driving member 32 drives the third support shell 54 to rotate relative to the second support shell 31 about the second axis L2. The third calibration portion 314 is configured to cooperate with the fourth calibration portion 542. When the third calibration portion 314 and the fourth calibration portion 542 are aligned, the orthographic projection of the third support assembly 50 in the front-back direction of the humanoid robot 1000 extends along the vertical direction of the humanoid robot 1000.

[0062] The shoulder joint structure 100 provided in this embodiment, on the one hand, limits the angle at which the second driving member 32 drives the third support assembly 50 to rotate relative to the second support assembly 30 around the second axis L2 by limiting the third limiting part 313 of the second support shell 31 of the shoulder joint structure 100 and the fourth limiting part 541 of the third support shell 54 of the shoulder joint structure 100. This can prevent interference with surrounding components during the rotation of the third support assembly 50 around the second axis L2. On the other hand, by cooperating with the third calibration part 314 and the fourth calibration part 542, and when the third calibration part 314 and the fourth calibration part 542 are aligned, the orthographic projection of the third support component 50 in the front-back direction of the humanoid robot 1000 extends along the vertical direction of the humanoid robot 1000. That is, the third support component 50 and the arm structure 400 connected to the third support component 50 are in the center position in the left-right direction of the humanoid robot 1000, so as to simplify the programming of the rotation of the second drive member 32 of the shoulder joint structure 100 and improve the stability of the second drive member 32 driving the third support component 50 to rotate.

[0063] In this embodiment, the third limiting part 313 is a boss, the fourth limiting part 541 is a boss, and the outer wall of the third limiting part 313 mates with the outer wall of the fourth limiting part 541. It is understood that in some other embodiments, the third limiting part 313 is a boss, the fourth limiting part 541 is a groove, and the inner wall of the third limiting part 313 mates with the inner wall of the fourth limiting part 541. Alternatively, the third limiting part 313 is a groove, the fourth limiting part 541 is a boss, and the inner wall of the third limiting part 313 mates with the outer wall of the fourth limiting part 541; this disclosure does not impose any limitations on this.

[0064] In this embodiment, the third calibration part 314 and the fourth calibration part 542 are both grooves, and the third calibration part 314 and the fourth calibration part 542 can be aligned by a retaining member. When the third calibration part 314 and the fourth calibration part 542 are aligned, the openings of the third calibration part 314 and the fourth calibration part 542 are opposite to each other along the direction of the second axis L2, and the third calibration part 314 and the fourth calibration part 542 are connected. It can be understood that in some other embodiments, the third calibration part 314 and the fourth calibration part 542 are both bosses, and the third calibration part 314 and the fourth calibration part 542 can be aligned by a retaining sleeve. When the third calibration part 314 and the fourth calibration part 542 are aligned, the third calibration part 314 and the fourth calibration part 542 are opposite to each other along the direction of the first axis L1. When the third calibration unit 314 and the fourth calibration unit 542 are aligned, the third support component 50 is in an initial position relative to the second support component 30. This initial position is configured as the zero point for the third support component 50 to swing in the left-right direction of the humanoid robot 1000. Therefore, in designing the algorithm program to control the movement angle of the third support component 50, the algorithm program for the second drive member 32 to drive the third support component 50 to swing in the left-right direction of the humanoid robot 1000 is designed with the initial position as the design zero point. This simplifies the design of the algorithm program for the second drive member 32 to drive the third support component 50 to swing in the left-right direction of the humanoid robot 1000, and improves the stability of the algorithm program during operation.

[0065] It is important to understand that during the left-right swinging motion of the third support component 50 of the humanoid robot 1000, the arm structure 400 of the humanoid robot 1000 can swing to the left or right of the humanoid robot 1000. When the third calibration part 314 of the second support shell 31 is aligned with the fourth calibration part 542 of the third support shell 54, the arm structure 400 of the humanoid robot 1000 is in its initial position, which is configured as the zero point of the left-right swinging motion of the arm structure 400. When the second drive member 32 drives the third support component 50 and the arm structure 400 to rotate clockwise around the second axis L2, the arm structure 400 of the humanoid robot 1000 can swing to the left of the humanoid robot 1000. When the second drive unit 32 drives the third support component 50 and the arm structure 400 to rotate counterclockwise around the second axis L2, the arm structure 400 of the humanoid robot 1000 can swing towards the right side of the humanoid robot 1000. Therefore, the algorithm for the second drive unit 32 to drive the third support component 50 and the arm structure 400 to swing in the left-right direction of the humanoid robot 1000 is simpler, which helps improve the stability of the algorithm during operation.

[0066] Referring to Figures 1 to 8, in one specific embodiment, the third support assembly 50 of the shoulder joint structure 100 further includes an elastic abutment 56 and a rotating member 57. The end of the second support shell 31 furthest from the first support assembly 10 is received within the third support shell 54. One end of the second support shell 31 along the second axis L2 is fixedly connected to one end of the elastic abutment 56, and the other end of the second support shell 31 along the second axis L2 is configured for the second drive member 32 to pass through and is fixedly connected to the third support shell 54. The rotating member 57 rotatably connects the other end of the elastic abutment 56 and the third support shell 54.

[0067] The shoulder joint structure 100 provided in this embodiment has two main advantages. First, the elastic abutment member 56 is elastically held between one end of the second support shell 31 and the third support shell 54, and the second driving member 32 is fixedly connected to the other end of the second support shell 31 and the third support shell 54. This allows the shoulder joint structure 100 to have a certain buffering capacity during vibration through the elastic abutment member 56, reducing the probability of rigid collision between the second support assembly 30 and the third support assembly 50, and thus improving the vibration resistance of the shoulder joint structure 100. Simultaneously, the elastic abutment member 56 facilitates the installation of the end of the second support assembly 30 onto the third support assembly 50. Second, the rotating member 57 is rotatably connected between the elastic abutment member 56 and the third support shell 54, which improves the smoothness of the rotation of the third support assembly 50 relative to the second support assembly 30 around the second axis L2, thereby enhancing the rotational flexibility of the shoulder joint structure 100.

[0068] In this embodiment, the third support shell 54 is formed by covering the first connecting shell 51 and the second connecting shell 52. The elastic abutment 56 is formed by multiple spring pieces, one end of which is connected and the other end of which is separated from each other. The plane where the connected ends of the multiple spring pieces are located is different from the plane where the separated ends of the multiple spring pieces are located, and they are spaced apart. The connected ends of the multiple spring pieces of the elastic abutment 56 are connected to a rotating member 57. The rotating member 57 is rotatably connected between the first connecting portion 511 of the first connecting shell 51 and the connected ends of the multiple spring pieces of the elastic abutment 56. The separated ends of the multiple spring pieces of the elastic abutment 56 abut against the stator of the second support shell 31 or the second driving member 32. The rotor of the second driving member 32 is fixedly connected to the second connecting shell 52 so that the rotor of the second driving member 32 can drive the second connecting shell 52 and the third support shell 54 to rotate as a whole around the second axis L2.

[0069] The shoulder joint structure 100 provided in this embodiment has, on the one hand, a rotating member 57 connected to one end of a plurality of elastic tabs of an elastic abutment member 56. The rotating member 57 is rotatably connected between the first connecting portion 511 of the first connecting shell 51 and the end of the elastic abutment member 56 connected to the plurality of elastic tabs. The ends of the plurality of elastic tabs of the elastic abutment member 56 that are separated from each other abut against the stator of the second support shell 31 or the second driving member 32, so that the shoulder joint structure 100 has a certain buffering capacity during vibration through the elastic abutment member 56, which can reduce the probability of rigid collision between the second support assembly 30 and the third support assembly 50, and is beneficial to improving the vibration resistance of the shoulder joint structure 100. At the same time, the provision of the elastic abutment member 56 also facilitates the installation of the end of the second support assembly 30 into the receiving cavity 53 formed by the first connecting portion 511 and the second connecting portion 521. On the other hand, the first connection portion 511 between the elastic support member 56 and the third support shell 54 is rotatably connected by the rotating member 57, which helps to improve the smoothness of the second driving member 32 driving the third support assembly 50 to rotate around the second axis L2 relative to the second support assembly 30, thereby improving the flexibility of the shoulder joint structure 100 rotation.

[0070] Referring to Figures 1 to 6, in one specific embodiment, the mounting surface 10a of the first support component 10 of the shoulder joint structure 100 is perpendicular to the left-right direction of the humanoid robot 1000. The first support component 10 also has a cut surface 10b, which penetrates the mounting plate 11 of the first support shell 12 and is connected to the mounting surface 10a. The cut surface 10b is perpendicular to the up-down direction of the humanoid robot 1000.

[0071] The shoulder joint structure 100 provided in this embodiment has several advantages. Firstly, the first support component 10 extends obliquely upwards from one end of the mounting surface 10a. Since the mounting surface 10a is perpendicular to the left-right direction of the humanoid robot 1000, and parallel to the front-back and up-down directions of the humanoid robot 1000, the contact area between the mounting surface 10a and the torso structure 200 is larger. This helps reduce the stress on the mounting surface 10a on a single surface area, thereby reducing wear at the connection between the first support component 10 and the torso structure 200. Secondly, the cutting surface 10b penetrates the first support shell 12 and connects to the mounting surface 10a. Furthermore, the cutting surface 10b is perpendicular to the up-down direction of the humanoid robot 1000, and parallel to the front-back and left-right directions of the humanoid robot 1000. This helps reduce the space occupied by the second support shell 31 in the torso structure 200, facilitating a more rational layout design for the components of the torso structure 200.

[0072] Please refer to Figures 1 to 6. In one specific embodiment, the first support component 10 of the shoulder joint structure 100 further includes a reinforcing rib 14. The reinforcing rib 14 extends along the direction of the first axis L1 and is disposed on the peripheral sidewall of the first support shell 12 and connected to the side of the mounting plate 11 facing away from the mounting surface 10a.

[0073] The shoulder joint structure 100 provided in this embodiment has reinforcing ribs 14 disposed on the peripheral sidewall of the first support shell 12 and extending to connect with the mounting plate 11, thereby improving the strength of the connection between the first support shell 12 and the mounting plate 11, and thus improving the strength and stability of the connection between the shoulder joint structure 100 and the torso structure 200. Simultaneously, the reinforcing ribs 14 extend along the first axis L1, which helps improve the bending resistance of the first support shell 12, thereby enabling the shoulder joint structure 100 to withstand greater forces from the arm structure 400.

[0074] Furthermore, the first support shell 12 of the shoulder joint structure 100 has heat dissipation holes 15, which penetrate the peripheral sidewall of the first support shell 12 so that the first drive member 13 housed in the first support shell 12 can dissipate heat through the heat dissipation holes 15.

[0075] The above are some embodiments of this disclosure. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of this disclosure, and these improvements and modifications are also considered to be within the scope of protection of this disclosure.

Claims

1. A shoulder joint structure, wherein, For use in a humanoid robot, the humanoid robot includes a torso structure, a head structure, and an arm structure; the shoulder joint structure includes: A first support component has a mounting surface at one end, the mounting surface being configured to connect with the torso structure, and the first support component extending obliquely upward from the mounting surface; wherein, the direction from the torso structure toward the head structure is upward; A second support assembly is rotatably connected to the end of the first support assembly away from the mounting surface about a first axis; and The third support component is rotatably connected to the end of the second support component away from the first support component about a second axis, the first axis and the second axis intersecting; the end of the second support component away from the first support component is housed in the third support component, and the end of the third support component away from the second support component is configured to be connected to the arm structure; in the orthographic projection of the second axis, the third support component is curved, and the structure formed by the connection of the second support component and the third support component is "C" shaped, and the opening of the "C" shape faces the torso structure.

2. The shoulder joint structure as described in claim 1, wherein, From the end of the third support component near the second support component to the end of the third support component away from the second support component, the third support component bends downwards; wherein, the direction from the torso structure away from the head structure is downwards.

3. The shoulder joint structure as described in claim 2, wherein, The third support component includes a first connecting shell and a second connecting shell that fit together. The first connecting shell includes a first connecting portion and a first extension portion, with a smooth transition at the connection between the first connecting portion and the first extension portion; the second connecting shell includes a second connecting portion and a second extension portion, with a smooth transition at the connection between the second connecting portion and the second extension portion; in the orthographic projection of the second axis, the first connecting portion and the second connecting portion are positioned opposite each other and spaced apart to form a receiving cavity, and the first extension portion and the second extension portion overlap each other; at least a portion of the second support assembly away from the first support assembly is housed in the receiving cavity.

4. The shoulder joint structure as described in claim 3, wherein, In the orthographic projection of the second axis, the periphery of both the first connecting part and the periphery of the second connecting part are circular, and the center of the circle containing the periphery of the first connecting part and the center of the circle containing the periphery of the second connecting part are collinear; during the rotation of the third support assembly around the second axis, the end of the second support assembly away from the first support assembly is completely received in the receiving cavity.

5. The shoulder joint structure as described in claim 1, wherein, The first support assembly includes a mounting plate, a first support shell, and a first driving component; The mounting plate is disposed on the peripheral sidewall of the first support assembly near the torso structure, the first support shell extends obliquely upward from the end near the mounting plate to the end away from the mounting plate, and the mounting surface is disposed on the mounting plate and faces the torso structure; The stator of the first driving member is housed in the first support shell and fixedly connected to the first support shell. The rotor of the first driving member is fixedly connected to the second support assembly and rotates about the first axis to drive the second support assembly to swing in the back-and-forth direction of the humanoid robot. The first axis is the extension direction of the first support shell from one end near the mounting plate to one end away from the mounting plate.

6. The shoulder joint structure as described in claim 5, wherein, The second support assembly includes a second support shell and a second driving component; The second support shell is fixedly connected to the rotor of the first driving member, the stator of the second driving member is housed in the second support shell and fixedly connected to the second support shell, and the rotor of the second driving member is fixedly connected to the third support assembly and rotates around the second axis to drive the third support assembly to swing in the left and right direction of the humanoid robot; wherein, the second axis is perpendicular to the first axis.

7. The shoulder joint structure as described in claim 6, wherein, The first support shell is provided with a first limiting part and a first calibration part, and the second support shell is provided with a second limiting part and a second calibration part; The first limiting part is configured to cooperate with the second limiting part to limit the angle by which the first driving member drives the second support shell to rotate relative to the first support shell about the first axis; The first calibration unit is configured to cooperate with the second calibration unit. When the first calibration unit and the second calibration unit are aligned, the orthographic projection of the third support component in the left-right direction of the humanoid robot extends along the up-down direction of the humanoid robot.

8. The shoulder joint structure as described in claim 6, wherein, The third support component includes a third support shell and a third driving component; The third support shell is fixedly connected to the rotor of the second driving member. The stator of the third driving member is housed in the third support shell and configured to be fixedly connected to the arm structure. The rotor of the third driving member rotates around a third axis to drive the arm structure to rotate around the humanoid robot in the up-down direction. The third axis is coplanar with the first axis and perpendicular to the second axis.

9. The shoulder joint structure as described in claim 8, wherein, The second support shell is provided with a third limiting part and a third calibration part, and the third support shell is provided with a fourth limiting part and a fourth calibration part; The third limiting part is configured to cooperate with the fourth limiting part to limit the angle by which the second driving member drives the third support shell to rotate relative to the second support shell about the second axis; The third calibration unit is configured to cooperate with the fourth calibration unit. When the third calibration unit is aligned with the fourth calibration unit, the orthographic projection of the third support component in the front-back direction of the humanoid robot extends along the vertical direction of the humanoid robot.

10. The shoulder joint structure as described in claim 8, wherein, The third support component also includes an elastic abutment and a rotating component; The end of the second support shell away from the first support assembly is housed in the third support shell; one end of the second support shell along the second axis is fixedly connected to one end of the elastic abutment, and the other end of the second support shell along the second axis is configured for the second drive member to pass through and is fixedly connected to the third support shell; the rotating member is rotatably connected to the other end of the elastic abutment and the third support shell.

11. The shoulder joint structure as described in claim 5, wherein, The mounting surface is perpendicular to the left-right direction of the humanoid robot; The first support component also has a cut surface that penetrates the mounting plate of the first support shell and is connected to the mounting surface. The cut surface is perpendicular to the vertical direction of the humanoid robot.

12. The shoulder joint structure as described in claim 5, wherein, The first support assembly further includes a reinforcing rib extending along the first axis. The reinforcing rib is disposed on the peripheral sidewall of the first support shell and connected to the side of the mounting plate facing away from the mounting surface.

13. A humanoid robot, wherein, include: Trunk structure; The head structure is connected to the torso structure along the vertical direction of the humanoid robot; The shoulder joint structure as described in claims 1 to 12 is connected to the trunk structure; as well as An arm structure is connected to the end of the shoulder joint structure that is away from the torso structure.

14. The humanoid robot of claim 13, wherein, The torso structure includes a first shell, a second shell, a battery box, and fasteners. The first shell and the second shell are joined together along the front-rear direction of the humanoid robot to form a receiving space. The battery box is fixed in the receiving space. The fasteners are sleeved on the first shell and the second shell to make the first shell and the second shell close together and fixed. The mounting surface of the shoulder joint structure is fixedly connected to one side of the battery box along the left-right direction of the humanoid robot. The first support component of the shoulder joint structure is completely received in the receiving space.

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