CN117301022A - Humanoid robot - Google Patents

Abstract

The invention discloses a humanoid robot, which comprises a trunk assembly, wherein arm assemblies are arranged on two sides of the upper part of a driving rod assembly, a waist-hip assembly is arranged at the bottom of the driving assembly, and leg assemblies are arranged on two sides of the bottom of the waist-hip assembly; the waist-hip assembly comprises a trunk seat board and a waist seat board, and an electric push rod is arranged between the trunk seat board and the waist seat board; the hip joint seat is rotationally arranged in the hip joint frame, the hip joint seat is rotationally arranged on the two sides of the bottom of the waist seat plate, and the surface of the waist seat plate is provided with a first hip driving component and a second hip driving component. The beneficial effects are that: the robot is integrally of a humanoid structure, and drives the driving assembly, the arm assembly and the leg assembly to integrally move through the waist-hip assembly, and the arm assembly and the leg assembly are matched to independently move, so that all parts of the robot can move in multiple degrees of freedom in whole and part, and can perform complex movement.

Description

Humanoid robot

Technical Field

The invention relates to the technical field of robots, in particular to a humanoid robot.

Background

With the development of technology, in order to ensure the operation safety of people in special environments, robots are often adopted to replace people to perform operation work in special environments. The working capacity of the robot is directly affected by how much degree of freedom the components of the robot are. However, the conventional robots are affected by the structure, and the degree of freedom of each component is small, so that complicated and delicate actions cannot be performed, and the use effect and the use range are not ideal.

Disclosure of Invention

The object of the present invention is to provide a humanoid robot in order to solve the above problems, as described in detail below.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the invention provides a humanoid robot which comprises a trunk assembly, wherein arm assemblies are arranged on two sides of the upper part of a driving rod assembly, waist and hip assemblies are arranged at the bottom of the driving assembly, and leg assemblies are arranged on two sides of the bottom of the waist and hip assemblies;

the waist-hip assembly comprises a trunk seat board and a waist seat board, and an electric push rod is hinged between the trunk seat board and the waist seat board and used for driving the trunk seat board to move so as to realize multidirectional swinging of the trunk assembly; the hip joint seat comprises a waist seat plate, wherein hip sleeves are rotationally arranged at two sides of the bottom of the waist seat plate, hip joint frames in U-shaped structures are arranged at the ends, away from each other, of the two hip sleeves, hip joint seats are rotationally arranged inside the hip joint frames, a first hip driving assembly and a second hip driving assembly are arranged on the surface of the waist seat plate, the first hip driving assembly is in transmission connection with the hip sleeves and used for driving the hip sleeves to rotate along the axes of the hip sleeves, and the second hip driving assembly is in transmission connection with the hip joint seats and used for driving the hip joint seats to rotationally swing inside the hip joint frames;

The trunk assembly comprises an electric box and a back frame, the electric box and the back frame are arranged on the surface of the trunk seat plate, a controller is arranged on the back of the back frame and used for controlling each component to move, a side frame is arranged on the front side surface of the back frame, and the arm assemblies are arranged on two sides of the side frame;

the arm assembly comprises a big arm fixing sleeve connected with the side frame, a big arm sleeve is rotationally arranged in the big arm fixing sleeve, a big arm joint frame which is in a U-shaped structure is arranged at the end part of the big arm sleeve, which is far away from the big arm fixing sleeve, a big arm joint seat is rotationally arranged in the big arm joint frame, a first big arm driving assembly is arranged outside the big arm fixing sleeve and used for driving the big arm sleeve to rotate along the axis of the big arm joint seat, a second big arm driving assembly is arranged in the big arm sleeve and used for driving the big arm joint seat to rotate in the big arm joint frame, an axial rotation elbow joint assembly and a swinging elbow joint assembly are sequentially arranged at the end part of the big arm joint seat, a small arm is arranged at the end part of the swinging elbow joint assembly, and a hand mounting seat and a hand driving assembly used for driving the hand mounting seat to rotate along the axis of the small arm are arranged at the end part of the small arm;

The leg assembly comprises a thigh framework connected with the hip joint seat, the bottom end of the thigh framework is rotationally provided with a knee joint framework, the bottom end of the knee joint framework is provided with a shank framework, the bottom end of the shank framework is movably provided with a sole assembly, the thigh framework is provided with a knee joint driving assembly and a sole driving assembly, the knee joint driving assembly is in transmission connection with the knee joint framework and used for driving the knee joint framework to swing and rotate, and the sole driving assembly is in transmission connection with the sole assembly and used for driving the sole assembly to swing.

By adopting the humanoid robot, the electric push rod stretches to drive the trunk seat plate to rotate, so that the trunk assembly is driven to swing, and the waist movement of a person is simulated; the first hip driving component drives the hip sleeve to rotate along the axis of the hip sleeve, the second hip driving component drives the hip joint seat to rotate and swing in the hip joint frame, the hip joint movement of a person is simulated, and the multidirectional swing of the leg component is realized; the first large arm driving assembly drives the large arm sleeve to rotate along the axis of the large arm sleeve, and the second large arm driving assembly drives the large arm joint seat to rotate in the large arm joint frame, so that the degree of freedom operation of the large arm joint seat in two directions is realized, and the movement of a large arm joint of a person is simulated; the axial rotary elbow joint assembly can rotate along the axis of the big arm fixing sleeve, the swing elbow joint assembly rotates and swings, and the axial rotary elbow joint assembly and the swing elbow joint assembly are matched to realize the motion of two degrees of freedom in two directions so as to simulate the motion of a human elbow joint; the hand driving assembly drives the hand mounting seat to rotate along the axis of the small arm so as to simulate the motion of the wrist; the knee joint driving component drives the knee joint skeleton to swing and rotate to simulate the movement of a human knee joint, and the sole driving component drives the sole component to swing to simulate the movement of a human sole; the robot is integrally of a humanoid structure, and drives the driving assembly, the arm assembly and the leg assembly to integrally move through the waist-hip assembly, and the arm assembly and the leg assembly are matched to independently move, so that all parts of the robot can move in multiple degrees of freedom in the whole and in part, can perform complex movement, realize complex tasks and meet complex and fine working requirements of special environments.

Preferably, the electric push rods are provided with three groups, are uniformly distributed circumferentially by taking the axis of the waist seat plate as a reference, and are distributed in a V-shaped structure.

Preferably, the first hip driving assembly is provided with two groups and corresponds to two hip sleeves respectively, the first hip driving assembly comprises a first hip motor, a first hip driven gear and a first hip driving shaft, the first hip driven gear is arranged on the outer wall of the hip sleeve, the first hip motor is arranged on the surface of the waist seat plate, the first hip motor is electrically connected with the controller, the output end of the first hip motor is provided with a first hip driving bevel gear, the first hip driving shaft is rotatably arranged on the surface of the waist seat plate, the two ends of the first hip driving shaft are respectively provided with a first hip driven bevel gear and a first hip driving gear, the first hip driven bevel gear is meshed with the first hip driving bevel gear, and the first hip driving gear is meshed with the first hip driven gear.

Preferably, the second hip drive assembly comprises a second hip motor, a second hip drive shaft, a second hip transition shaft, a second hip drive sleeve and a second hip drive tooth, wherein the second hip drive tooth is arranged outside the hip joint seat, the second hip motor is arranged on the bottom surface of the waist seat plate, the second hip motor is electrically connected with the controller, the output end of the second hip motor is provided with a second hip drive bevel gear, the second hip drive shaft is rotatably arranged on the surface of the waist seat plate, two ends of the second hip drive shaft are respectively provided with a second hip driven bevel gear and a second hip drive bevel gear, the second hip driven bevel gear is meshed with the second hip drive bevel gear, the second hip transition shaft is rotatably arranged on the surface of the waist seat plate, the second hip drive sleeve is rotatably arranged inside the bone sleeve, the two ends of the second hip drive sleeve are provided with a second hip drive bevel gear and a second hip drive bevel gear, the second hip drive bevel gear is rotatably arranged on the two ends of the second hip drive sleeve, and the second hip drive bevel gear is meshed with the second hip drive bevel gear, and the second hip drive bevel gear is rotatably arranged on the inner side of the waist seat plate.

Preferably, the first big arm driving assembly comprises a first big arm motor, a big arm transition gear and a big arm driven gear, the outer wall of the big arm fixing sleeve is provided with a leakage groove in a penetrating mode, the big arm driven gear is arranged on the outer wall of the big arm sleeve, the big arm transition gear is arranged above the leakage groove in a rotating mode, the big arm transition gear is meshed with the big arm driven gear, the first big arm motor is arranged on the outer wall of the big arm fixing sleeve and is electrically connected with the controller, the output end of the first big arm motor is provided with a big arm driving gear, and the big arm driving gear is meshed with the big arm transition gear.

Preferably, the second large arm driving assembly comprises a second large arm motor, a large arm transmission shaft and large arm transmission teeth, the large arm transmission teeth are arranged on the outer side of the large arm joint seat, the second large arm motor is rotationally connected with the large arm sleeve, the second large arm motor is electrically connected with the controller, the output end of the second large arm motor stretches into the large arm sleeve and is provided with a large arm driving bevel gear, the large arm transmission shaft is rotationally arranged inside the large arm sleeve, the large arm transmission shaft is rotationally provided with large arm driven bevel gears and large arm driving teeth on the outer side, the large arm driving teeth are meshed with the large arm transmission teeth, and the large arm driven bevel gear is meshed with the large arm driving bevel gear.

Preferably, the axial rotary elbow joint assembly comprises an elbow sleeve, a first elbow motor is arranged on the inner wall of the elbow sleeve, the first elbow motor is electrically connected with the controller, and the output end of the first elbow motor is connected with the large arm joint seat;

the swing elbow joint assembly comprises an elbow fixing frame, the elbow fixing frame is connected with an elbow sleeve, a second elbow motor is arranged on the surface of the elbow sleeve and electrically connected with the controller, and the output end of the second elbow motor is connected with the forearm through an elbow rotating frame.

Preferably, the hand driving assembly comprises a hand driving motor and a hand fixing block, the hand driving motor is electrically connected with the controller, a hand driving bevel gear is arranged at the output end of the hand driving motor, the hand fixing block is connected with the end part of the small arm, the hand fixing block is far away from the side surface of the small arm, and is provided with a hand rotating shaft extending horizontally, the end part of the hand rotating shaft is connected with the hand mounting seat, the surface of the fixing block is rotationally provided with a hand driving bevel gear, the hand driving bevel gear is meshed with the hand driving bevel gear, a hand driven bevel gear is arranged at the outer side of the hand rotating shaft, and the hand driven bevel gear is meshed with the hand driving bevel gear.

Preferably, the knee joint driving assembly comprises a knee joint motor, the knee joint motor is arranged on the outer side of the thigh frame, the knee joint motor is electrically connected with the controller, the output end of the knee joint motor is connected with a knee joint rotating disc, the surface of the knee joint rotating disc is eccentrically and rotationally connected with a knee joint transmission rod, and the end part of the knee joint transmission rod is rotationally connected with the knee joint frame.

Preferably, the sole component comprises a foot plate, a fixing seat is arranged on the surface of the foot plate, a cross rotating shaft is rotatably connected to the side face of the fixing seat, the upper end of the cross rotating shaft is connected with a sole connecting column, and the sole connecting column is connected with a shank frame;

the sole drive assembly comprises a sole motor, a sole transmission shaft and a sole drive shaft, wherein the sole drive shaft is rotatably arranged inside a knee joint framework, the outer side of the sole drive shaft is rotatably provided with a sole fixing sleeve and sole transmission plates, the sole transmission plates are totally two and respectively positioned on two sides of the sole fixing sleeve, the outer side of the sole fixing sleeve is provided with a sole fixing shaft, the outer side of the sole fixing shaft is rotatably provided with a sole rotating sleeve, a fixing seat and two spherical joints corresponding to the sole rotating sleeve are respectively provided with a sole connecting rod, the end parts of the sole rotating sleeve are provided with sole driven bevel gears, the inner side of the sole transmission plates are provided with sole driving bevel gears, the sole driving bevel gears are meshed with the sole driven bevel gears, the sole motor is arranged on the outer side of a large leg frame, the sole motor is electrically connected with a controller, the output end of the sole motor is provided with sole driving gears, the sole transmission shaft is rotatably arranged on the outer side of the large leg frame, the fixing seat and the sole rotating sleeve is respectively provided with sole driving gears, the sole driving gears are connected with sole eccentric gears, and sole driving gears are rotatably connected with sole eccentric transmission shafts.

The beneficial effects are that: the robot is integrally of a humanoid structure, and drives the driving assembly, the arm assembly and the leg assembly to integrally move through the waist-hip assembly, and the arm assembly and the leg assembly are matched to independently move, so that all parts of the robot can move in multiple degrees of freedom in the whole and in part, can perform complex movement, realize complex tasks and meet complex and fine working requirements of special environments.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of a waist-hip assembly;

FIG. 3 is a schematic perspective view of the waist-hip assembly from the upward perspective;

FIG. 4 is a schematic view of a first hip drive assembly;

FIG. 5 is a schematic perspective view of a second hip drive assembly;

FIG. 6 is a bottom view of the second hip drive assembly;

FIG. 7 is a schematic perspective view of an arm assembly;

FIG. 8 is a schematic structural view of a first large arm drive assembly;

FIG. 9 is a schematic structural view of a second large arm drive assembly;

FIG. 10 is a schematic structural view of a hand drive assembly;

FIG. 11 is a schematic perspective view of a leg assembly;

FIG. 12 is a rear perspective schematic view of the leg assembly;

FIG. 13 is a schematic view of the sole drive assembly;

fig. 14 is an enlarged schematic view of a portion a of fig. 13.

The reference numerals are explained as follows:

1. a torso assembly; 11. a back frame; 12. an electric box; 13. a controller; 14. a side frame; 2. a waist-hip assembly; 21. a torso seat plate; 22. a waist seat plate; 23. an electric push rod; 24. hip joint frame; 25. hip joint seat; 26. a hip sleeve; 27. a first hip drive assembly; 271. a first hip motor; 272. a first hip drive bevel gear; 273. a first hip driven bevel gear; 274. a first hip shaft; 275. a first hip drive gear; 276. a first hip driven gear; 28. a second hip drive assembly; 281. a second hip motor; 282. a second hip drive bevel gear; 283. a second hip drive gear; 284. a second hip transition gear; 285. a second hip shaft; 286. a second hip transition shaft; 287. a second hip driven gear; 288. a second hip shaft; 289. a second hip drive tooth; 2810. a second hip drive tooth; 2811. a second hip drive bevel gear; 2812. a second hip drive sleeve; 2813. a second hip drive bevel gear; 2814. a second hip driven bevel gear; 3. an arm assembly; 31. a large arm fixing sleeve; 32. a large arm sleeve; 33. a large arm joint frame; 34. a large arm joint seat; 35. a first boom drive assembly; 351. a first large arm motor; 352. a large arm driving gear; 353. a large arm transition gear; 354. a large arm driven gear; 36. a second boom drive assembly; 361. a second large arm motor; 362. large arm driving teeth; 363. a large arm transmission shaft; 364. a large arm drive bevel gear; 365. a large arm driven bevel gear; 366. large arm driving teeth; 37. an axial rotation elbow joint assembly; 371. an elbow sleeve; 372. a first elbow motor; 38. a rocking elbow joint assembly; 381. an elbow fixing frame; 382. a second elbow motor; 383. an elbow rotating frame; 39. a forearm; 310. a hand drive assembly; 311. a hand mounting base; 312. a leakage groove; 313. a hand driving motor; 314. a hand drive bevel gear; 315. a hand fixing block; 316. a hand rotation shaft; 317. a hand driven bevel gear; 318. a hand drive bevel gear; 4. a leg assembly; 41. thigh skeletons; 42. a sole drive assembly; 421. a sole motor; 422. sole driving gear; 423. sole transition gear; 424. sole transmission shaft; 425. sole driven gear; 426. sole eccentric wheel; 427. a sole transmission rod; 428. a sole connecting rod; 429. a sole drive shaft; 4210. sole driving bevel gear; 4211. a sole transmission plate; 4212. a sole fixing sleeve; 4213. a sole fixing shaft; 4214. a sole rotating sleeve; 4215. a sole driven bevel gear; 43. a lower leg rest; 44. a sole assembly; 441. a sole connecting column; 442. a cross rotating shaft; 443. foot plates; 444. a fixing seat; 45. a knee joint skeleton; 46. a knee joint drive assembly; 461. a knee joint motor; 462. a knee joint rotating disc; 463. knee joint transmission pole.

Description of the embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.

Referring to fig. 1-14, the invention provides a humanoid robot, which comprises a trunk component 1, wherein arm components 3 are arranged on two sides of the upper part of a driving rod component, a waist-hip component 2 is arranged at the bottom of the driving component, and leg components 4 are arranged on two sides of the bottom of the waist-hip component 2;

the waist-hip assembly 2 comprises a trunk seat board 21 and a waist seat board 22, and an electric push rod 23 is hinged between the trunk seat board 21 and the waist seat board 22 and is used for driving the trunk seat board 21 to move so as to realize multidirectional swinging of the trunk assembly 1; the hip joint seat is characterized in that hip sleeves 26 are rotatably arranged on two sides of the bottom of the waist seat plate 22, the ends, away from each other, of the two hip sleeves 26 are provided with hip joint frames 24 in a U-shaped structure, hip joint seats 25 are rotatably arranged in the hip joint frames 24, a first hip driving component 27 and a second hip driving component 28 are arranged on the surface of the waist seat plate 22, the first hip driving component 27 is in transmission connection with the hip sleeves 26 and used for driving the hip sleeves 26 to rotate along the axes of the hip sleeves, and the second hip driving component 28 is in transmission connection with the hip joint seats 25 and used for driving the hip joint seats 25 to rotationally swing in the hip joint frames 24;

The trunk assembly 1 comprises an electric box 12 and a back frame 11, wherein the electric box 12 and the back frame 11 are arranged on the surface of a trunk seat plate 21, a controller 13 is arranged on the back surface of the back frame 11 and used for controlling the movement of each component, a side frame 14 is arranged on the front side surface of the back frame 11, and the arm assemblies 3 are arranged on two sides of the side frame 14;

the arm assembly 3 comprises a big arm fixing sleeve 31 connected with the side frame 14, a big arm sleeve 32 is rotatably arranged in the big arm fixing sleeve 31, a big arm joint frame 33 which is in a U-shaped structure is arranged at the end part of the big arm sleeve 32 far away from the big arm fixing sleeve 31, a big arm joint seat 34 is rotatably arranged in the big arm joint frame 33, a first big arm driving assembly 35 is arranged outside the big arm fixing sleeve 31 and used for driving the big arm sleeve 32 to rotate along the axis of the big arm joint seat, a second big arm driving assembly 36 is arranged in the big arm sleeve 32 and used for driving the big arm joint seat 34 to rotate in the big arm joint frame 33, an axial rotary elbow joint assembly 37 and a swinging elbow joint assembly 38 are sequentially arranged at the end part of the big arm joint seat 34, a small arm 39 is arranged at the end part of the swinging elbow joint assembly 38, and a hand mounting seat 311 and a hand driving assembly 310 used for driving the hand mounting seat 311 to rotate along the axis of the small arm 39 are arranged at the end part of the small arm;

the leg assembly 4 comprises a thigh skeleton 41 connected with the hip joint seat 25, a knee joint skeleton 45 is rotatably arranged at the bottom end of the thigh skeleton 41, a shank frame 43 is arranged at the bottom end of the knee joint skeleton 45, a sole assembly 44 is movably arranged at the bottom end of the shank frame 43, a knee joint driving assembly 46 and a sole driving assembly 42 are arranged on the thigh skeleton 41, the knee joint driving assembly 46 is in transmission connection with the knee joint skeleton 45 and used for driving the knee joint skeleton 45 to swing and rotate, and the sole driving assembly 42 is in transmission connection with the sole assembly 44 and used for driving the sole assembly 44 to swing.

As an alternative embodiment, the electric push rods 23 are provided with three groups, and are uniformly distributed by taking the axis of the waist seat board 22 as the reference circumference, each group of electric push rods 23 are provided with two electric push rods and are distributed in a V-shaped structure, and two ends of each electric push rod 23 are respectively hinged with the trunk seat board 21 and the waist seat board 22 through a bull's eye hinge, so that the electric push rods 23 can drive the trunk seat board 21 to swing along multiple directions to simulate the waist movement of a person.

The first hip driving assembly 27 is provided with two groups and corresponds to two hip bushings 26 respectively, the first hip driving assembly 27 comprises a first hip motor 271, a first hip driven gear 276 and a first hip driving shaft 274, the first hip driven gear 276 is arranged on the outer wall of the hip bushing 26, the first hip motor 271 is arranged on the surface of the waist seat plate 22, the first hip motor 271 is electrically connected with the controller 13, the output end of the first hip motor 271 is provided with a first hip driving bevel gear 272, the first hip driving shaft 274 is rotatably arranged on the surface of the waist seat plate 22, two ends of the first hip driving shaft 274 are respectively provided with a first hip driven bevel gear 273 and a first hip driving gear 275, the first hip driven bevel gear 273 is meshed with the first hip driving bevel gear 272, the first hip driving gear 275 is meshed with the first hip driven gear 276, and thus, the first hip motor 271 works, the first hip driving bevel gear 273 and the first hip driving bevel gear 273 are meshed with the first driving shaft 274 to drive the first driving shaft 274 to rotate, and the first hip driving bevel gear 275 is meshed with the first hip driving shaft 276 along the axis of the first hip driving shaft 276.

The second hip drive assembly 28 comprises a second hip motor 281, a second hip drive shaft 285, a second hip transition shaft 286, a second hip drive shaft 288, a second hip drive sleeve 2812 and a second hip drive tooth 2810, the second hip drive tooth 2810 is arranged outside the hip joint seat 25, the second hip motor 281 is arranged on the bottom surface of the waist seat 22, the second hip motor 281 is electrically connected with the controller 13, the output end of the second hip motor 281 is provided with the second hip drive bevel gear 282, the second hip drive shaft 285 is rotatably arranged on the surface of the waist seat 22, two ends of the second hip drive shaft 285 are respectively provided with the second hip driven bevel gear 2814 and the second hip drive gear 283, the second hip driven bevel gear 2814 is meshed with the second hip drive bevel gear 282, the second hip transition shaft is rotatably arranged on the surface of the waist seat 22, the end portion of the second hip transition shaft 286 is provided with the second hip transition gear 284, the second hip transition gear 284 is meshed with the second bone drive gear 283, the second hip drive sleeve 26 is rotatably arranged on the inner side of the second hip seat 22, the second hip drive shaft is meshed with the second drive shaft 288, the second hip drive shaft is rotatably arranged on the inner side of the second hip joint sleeve 26, the second hip drive shaft is meshed with the second drive shaft 288, the second drive shaft is rotatably arranged on the inner side of the second hip drive sleeve 26, the second hip drive shaft is meshed with the second drive bevel gear, the second drive shaft is driven by the second drive shaft is driven by the second drive shaft 288, the second drive shaft is driven by the inner drive shaft is driven by the drive shaft by the sleeve, and is driven by the drive shaft 2, and is meshed with the second drive shaft is respectively, and is rotatably arranged by the inner drive shaft is driven by the driving shaft 2. The second hip driving gear 283, the second hip transition gear 284 and the second hip driven gear 287 are in meshed transmission to drive the second hip driving sleeve 2812 to rotate, the second hip driving bevel gear 2813 and the second hip driving bevel gear 2811 are in meshed transmission to drive the second hip driving shaft 288 to rotate, and the second hip driving teeth 289 and the second hip driving teeth 2810 are in meshed transmission to drive the hip joint seat 25 to rotationally swing in the hip joint frame 24.

The first big arm driving assembly 35 comprises a big arm motor 351, a big arm transition gear 353 and a big arm driven gear 354, the outer wall of the big arm fixing sleeve 31 is provided with a leakage groove 312 in a penetrating way, the big arm driven gear 354 is arranged on the outer wall of the big arm sleeve 32, the big arm transition gear 353 is rotatably arranged above the leakage groove 312, the big arm transition gear 353 is meshed with the big arm driven gear 354, the big arm motor 351 is arranged on the outer wall of the big arm fixing sleeve 31, the big arm motor 351 is electrically connected with the controller 13, the output end of the big arm motor 351 is provided with a big arm driving gear 352, the big arm driving gear 352 is meshed with the big arm transition gear 353, and thus, the big arm motor 351 works, the big arm transition gear 353 and the big arm driven gear 354 are meshed and driven to drive the big arm sleeve 32 to rotate.

The second boom driving assembly 36 includes a second boom motor 361, a boom transmission shaft 363, and a boom transmission gear 362, where the boom transmission gear 362 is disposed outside the boom joint seat 34, the second boom motor 361 is rotationally connected with the boom sleeve 32, the second boom motor 361 is electrically connected with the controller 13, an output end of the second boom motor 361 extends into the boom sleeve 32 and is provided with a boom driving bevel gear 364, the boom transmission shaft 363 is rotationally disposed inside the boom sleeve 32, the boom driven bevel gear 365 and the boom driving gear 366 are disposed outside the rotation of the boom transmission shaft 363, the boom driving gear 366 is meshed with the boom transmission gear 362, the boom driven bevel gear 365 is meshed with the boom driving bevel gear 364, so that the second boom motor 361 works, the boom driving bevel gear 364 and the boom driven bevel gear are meshed to drive the boom transmission shaft 363 to rotate, and the boom transmission gear 362 is meshed to drive the boom joint seat 34 to rotationally swing inside the boom joint seat 33.

The axial rotary elbow joint assembly 37 comprises an elbow sleeve 371, a first elbow motor 372 is arranged on the inner wall of the elbow sleeve 371, the first elbow motor 372 is electrically connected with the controller 13, the output end of the first elbow motor 372 is connected with the large arm joint seat 34, and the first elbow motor 372 works to enable the elbow sleeve 371 to rotate along the axis of the first elbow motor 372;

the swing elbow joint assembly 38 comprises an elbow fixing frame 381, the elbow fixing frame 381 is connected with an elbow sleeve 371, a second elbow motor 382 is arranged on the surface of the elbow sleeve 371, the second elbow motor 382 is electrically connected with the controller 13, and the output end of the second elbow motor 382 is connected with the forearm 39 through an elbow rotating frame 383, so that the second elbow motor 382 works to enable the elbow rotating frame 383 to drive the forearm 39 to rotate and swing to simulate the movement of the elbow joint.

The hand driving assembly 310 comprises a hand driving motor 313 and a hand fixing block 315, the hand driving motor 313 is electrically connected with the controller 13, a hand driving bevel gear 314 is arranged at the output end of the hand driving motor 313, the hand fixing block 315 is connected at the end part of the small arm 39, a hand rotating shaft 316 which extends horizontally is arranged on the side surface of the hand fixing block 315 far away from the small arm 39 in a rotating mode, the end part of the hand rotating shaft 316 is connected with the hand mounting seat 311, a hand driving bevel gear 318 is arranged on the surface of the fixing block in a rotating mode, the hand driving bevel gear 318 is meshed with the hand driving bevel gear 314, a hand driven bevel gear 317 is arranged on the outer side of the hand rotating shaft 316, the hand driven bevel gear 317 is meshed with the hand driving bevel gear 318, and in this way, the hand driving bevel gear 314, the hand driving bevel gear 318 and the hand driven bevel gear 317 are meshed and transmitted, and the hand rotating shaft 316 drives the hand mounting seat 311 to rotate along the axis of the small arm 39 to simulate wrist motion.

The knee joint driving assembly 46 comprises a knee joint motor 461, the knee joint motor 461 is arranged on the outer side of the thigh frame 41, the knee joint motor 461 is electrically connected with the controller 13, the output end of the knee joint motor 461 is connected with a knee joint rotating disc 462, the surface of the knee joint rotating disc 462 is eccentrically rotated and connected with a knee joint transmission rod 463, the end part of the knee joint transmission rod 463 is rotationally connected with the knee joint framework 45, and thus, the knee joint motor 461 works, the knee joint rotating disc 462 rotates, and the knee joint transmission rod 463 drives the knee joint framework 45 to rotationally swing so as to simulate knee joint movement.

The sole assembly 44 comprises a sole 443, a fixing seat 444 is arranged on the surface of the sole 443, a cross rotating shaft 442 is rotatably connected to the side surface of the fixing seat 444, a sole connecting column 441 is connected to the upper end of the cross rotating shaft 442, and the sole connecting column 441 is connected with the lower leg frame 43; the sole driving assembly 42 comprises a sole motor 421, a sole transmission shaft 424 and a sole driving shaft 429, wherein the sole driving shaft 429 is rotatably arranged in a knee joint framework 45, the outer side of the sole driving shaft 429 is rotatably provided with a sole fixing sleeve 4212 and a sole driving plate 4211, the total number of the sole driving plates 4211 is two and are respectively positioned at two sides of the sole fixing sleeve 4212, the outer side of the sole fixing sleeve 4212 is provided with a sole fixing shaft 4213, the outer side of the sole fixing shaft 4213 is rotatably provided with a sole rotating sleeve 4214, two sides of the fixing seat 444 and the sole rotating sleeve 4214 are respectively provided with a spherical joint, a sole connecting rod 428 is connected between the two spherical joints corresponding to the fixing seat 444 and the sole rotating sleeve 4214, the end part of the sole rotating sleeve 4214 is provided with a sole driven bevel gear 4215, the inner side of the sole driving bevel gear 4211 is provided with a sole driving bevel gear 4210, the sole driving bevel gear 4210 is meshed with the sole driven bevel gear 4215, the sole motor 421 is arranged outside the thigh frame 41, the sole motor 421 is electrically connected with the controller 13, the output end of the sole motor 421 is provided with a sole driving gear 422, a sole transmission shaft 424 is rotatably arranged outside the thigh frame 41, both ends of the sole transmission shaft 424 are respectively provided with a sole driven gear 425 and a sole eccentric gear 426, a sole transition gear 423 is meshed between the sole driven gear 425 and the sole driving gear 422, the surface of the sole eccentric gear 426 is rotatably connected with a sole transmission rod 427, the sole transmission rod 427 is rotatably connected with a sole transmission plate 4211, thus the sole motor 421 works, the sole driving gear 422, the sole transition gear 423 and the sole driven gear 425 are meshed for transmission, the sole eccentric gear 426 is driven to rotate, the sole transmission rod 427 drives the sole transmission plate 4211 to rotate, the sole driving bevel gear 4210 and the sole driven bevel gear 4215 are meshed for transmission, the sole rotation sleeve 4214 is driven to rotate, the sole connecting rod 428 is driven by the sole rotating sleeve 4214, and cooperates with the fixing seat 444 and the cross rotating shaft 442 to enable the foot plate 443 to shake so as to simulate foot motions.

With the structure, the electric push rod 23 stretches and contracts to drive the trunk seat plate 21 to rotate, so that the trunk assembly 1 is driven to swing and simulate the waist movement of a person; the first hip driving component 27 drives the hip sleeve 26 to rotate along the axis of the hip sleeve, the second hip driving component 28 drives the hip joint seat 25 to rotationally swing in the hip joint frame 24, the hip joint movement of a person is simulated, and the multidirectional swing of the leg component 4 is realized; the first large arm driving assembly 35 drives the large arm sleeve 32 to rotate along the axis of the large arm sleeve, the second large arm driving assembly 36 drives the large arm joint seat 34 to rotate in the large arm joint frame 33, so that the degree of freedom operation of the large arm joint seat 34 in two directions is realized, and the movement of a large arm joint of a person is simulated; the axial rotary elbow joint assembly 37 can rotate along the axis of the big arm fixing sleeve 31, the swing elbow joint assembly 38 rotates and swings, and the axial rotary elbow joint assembly 37 and the swing elbow joint assembly 38 are matched to realize the motion of two degrees of freedom and simulate the motion of human elbow joints; the hand driving component 310 drives the hand mounting seat 311 to rotate along the axis of the forearm 39 to simulate the motion of the wrist; the knee joint driving component 46 drives the knee joint skeleton 45 to swing and rotate to simulate the movement of a human knee joint, and the sole driving component 42 drives the sole component 44 to swing to simulate the movement of a human sole; the whole human-shaped structure drives the driving assembly, the arm assembly 3 and the leg assembly 4 to carry out the whole movement through the waist-hip assembly 2, and the arm assembly 3 and the leg assembly 4 are matched to carry out the independent movement, so that each part of the robot can carry out the movement of a plurality of degrees of freedom of the whole and part, can carry out the complex movement, realize the complex task, and meet the complex and detailed working demands of special environments.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A humanoid robot, characterized in that: the novel waist-hip belt comprises a trunk assembly (1), wherein arm assemblies (3) are arranged on two sides of the upper part of the driving rod assembly, a waist-hip assembly (2) is arranged at the bottom of the driving assembly, and leg assemblies (4) are arranged on two sides of the bottom of the waist-hip assembly (2);

the waist-hip assembly (2) comprises a trunk seat board (21) and a waist seat board (22), and an electric push rod (23) is hinged between the trunk seat board (21) and the waist seat board (22) and is used for driving the trunk seat board (21) to move so as to realize multidirectional swinging of the trunk assembly (1); the hip joint seat comprises a hip seat plate (22), wherein hip sleeves (26) are rotatably arranged on two sides of the bottom of the waist seat plate (22), a U-shaped hip joint seat (25) is rotatably arranged in the hip joint seat (24) at the end parts, away from the two hip sleeves (26), of the two hip joint sleeves, a first hip driving component (27) and a second hip driving component (28) are arranged on the surface of the waist seat plate (22), the first hip driving component (27) is in transmission connection with the hip sleeves (26) and used for driving the hip sleeves (26) to rotate along the axes of the first hip driving component and the second hip driving component (28) is in transmission connection with the hip joint seat (25) and used for driving the hip joint seat (25) to rotationally swing in the hip joint seat (24);

The trunk assembly (1) comprises an electric box (12) and a back frame (11), the electric box (12) and the back frame (11) are arranged on the surface of the trunk seat plate (21), a controller (13) is arranged on the back of the back frame (11) and used for controlling each component to move, a side frame (14) is arranged on the front side surface of the back frame (11), and the arm assemblies (3) are arranged on two sides of the side frame (14);

the arm assembly (3) comprises a big arm fixing sleeve (31) connected with the side frame (14), the big arm fixing sleeve (31) is internally provided with a big arm sleeve (32) in a rotating mode, the end portion of the big arm sleeve (32) away from the big arm fixing sleeve (31) is provided with a big arm joint frame (33) with a U-shaped structure, the inside of the big arm joint frame (33) is rotationally provided with a big arm joint seat (34), the outer side of the big arm fixing sleeve (31) is provided with a first big arm driving assembly (35) for driving the big arm sleeve (32) to rotate along the axis of the big arm fixing sleeve, the inside of the big arm sleeve (32) is provided with a second big arm driving assembly (36) for driving the big arm joint seat (34) to rotate inside the big arm joint frame (33), the end portion of the big arm joint seat (34) is sequentially provided with an axial rotation elbow joint assembly (37) and a swinging elbow joint assembly (38), the end portion of the swinging elbow assembly (38) is provided with a small arm (39), and the end portion of the small arm (39) is provided with a hand mounting seat (311) and a small arm driving assembly (310) for driving the small arm (311) to rotate along the axis of the hand;

Leg part (4) are including thigh skeleton (41) of being connected with hip joint seat (25), thigh skeleton (41) bottom is rotated and is provided with knee joint skeleton (45), knee joint skeleton (45) bottom is provided with shank frame (43), shank frame (43) bottom activity is provided with sole subassembly (44), be provided with knee joint drive assembly (46) and sole drive assembly (42) on thigh skeleton (41), knee joint drive assembly (46) are connected with knee joint skeleton (45) transmission for drive knee joint skeleton (45) swing rotation, sole drive assembly (42) are connected with sole subassembly (44) transmission for drive sole subassembly (44) swing.

2. A humanoid robot as claimed in claim 1, characterized in that: the electric push rods (23) are provided with three groups, the electric push rods are uniformly distributed circumferentially by taking the axis of the waist seat plate (22) as a reference, and each group of electric push rods (23) is provided with two electric push rods and distributed in a V-shaped structure.

3. A humanoid robot as claimed in claim 1, characterized in that: the first hip driving assembly (27) is provided with two groups and corresponds two hip bushings (26) respectively, the first hip driving assembly (27) comprises a first hip motor (271), a first hip driven gear (276) and a first hip driving shaft (274), the first hip driven gear (276) is arranged on the outer wall of the hip bushing (26), the first hip motor (271) is arranged on the surface of the waist seat plate (22), the first hip motor (271) is electrically connected with the controller (13), the output end of the first hip motor (271) is provided with a first hip driving bevel gear (272), the first hip driving shaft (274) is rotatably arranged on the surface of the waist seat plate (22), the two ends of the first hip driving shaft (274) are respectively provided with a first hip driven bevel gear (273) and a first hip driving bevel gear (275), the first hip driven bevel gear (273) is meshed with the first hip driving bevel gear (272), and the first hip driving bevel gear (276) is meshed with the first hip driven bevel gear (276).

4. A humanoid robot according to claim 3, characterized in that: the second hip drive assembly (28) comprises a second hip motor (281), a second hip driving shaft (285), a second hip transition shaft (286), a second hip driving shaft (288), a second hip driving sleeve (2812) and second hip driving teeth (2810), wherein the second hip driving teeth (2810) are arranged on the outer side of a hip joint seat (25), the second hip motor (281) is arranged on the bottom surface of a waist seat plate (22), the second hip motor (281) is electrically connected with a controller (13), the output end of the second hip motor (281) is provided with a second hip driving bevel gear (282), the second hip driving shaft (285) is rotatably arranged on the surface of the waist seat plate (22), two ends of the second hip driving shaft (285) are respectively provided with a second hip driven bevel gear (4) and a second hip driving gear (283), the second hip driving bevel gear (2814) is meshed with the second hip driving bevel gear (282), the second hip transition shaft (286) is arranged on the bottom surface of the waist seat plate (22), the output end of the second hip motor (281) is provided with a second hip driving bevel gear (282), the second hip driving shaft (285) is rotatably arranged on the inner surface of the waist seat plate (22), the second hip driving shaft (284) is meshed with the second hip driving bevel gear (283), the two ends of the second hip driving sleeve (2812) are provided with a second hip driven gear (287) and a second hip driving bevel gear (2813), the second hip driven gear (287) is meshed with the second hip transition gear (284), the second hip driving shaft (288) is rotatably arranged inside the hip sleeve (26), the outer side of the second hip driving shaft (288) is provided with a second hip driving bevel gear (2811) and a second hip driving tooth (289), the second hip driving tooth (289) is meshed with the second hip driving tooth (2810), and the second hip driving bevel gear (2811) is meshed with the second hip driving bevel gear (2813).

5. A humanoid robot as claimed in claim 1, characterized in that: the first big arm driving assembly (35) comprises a first big arm motor (351), a big arm transition gear (353) and a big arm driven gear (354), a leakage groove (312) is formed in the outer wall of the big arm fixing sleeve (31) in a penetrating mode, the big arm driven gear (354) is arranged on the outer wall of the big arm sleeve (32), the big arm transition gear (353) is arranged above the leakage groove (312) in a rotating mode, the big arm transition gear (353) is meshed with the big arm driven gear (354), the first big arm motor (351) is arranged on the outer wall of the big arm fixing sleeve (31), the first big arm motor (351) is electrically connected with the controller (13), the big arm driving gear (352) is arranged at the output end of the first big arm motor (351), and the big arm driving gear (352) is meshed with the big arm transition gear (353).

6. A humanoid robot as claimed in claim 5, wherein: the second big arm driving assembly (36) comprises a second big arm motor (361), a big arm transmission shaft (363) and big arm transmission teeth (362), the big arm transmission teeth (362) are arranged on the outer side of the big arm joint seat (34), the second big arm motor (361) is rotationally connected with the big arm sleeve (32), the second big arm motor (361) is electrically connected with the controller (13), the output end of the second big arm motor (361) stretches into the inside of the big arm sleeve (32) and is provided with a big arm driving bevel gear (364), the big arm transmission shaft (363) is rotationally arranged in the big arm sleeve (32), big arm driven bevel gears (365) and big arm driving teeth (366) are arranged on the rotating outer side of the big arm transmission shaft (363), the big arm driving teeth (366) are meshed with the big arm transmission teeth (362), and the big arm driven bevel gears (365) are meshed with the big arm driving bevel gears (364).

7. The humanoid robot of claim 6, wherein: the axial rotary elbow joint assembly (37) comprises an elbow sleeve (371), a first elbow motor (372) is arranged on the inner wall of the elbow sleeve (371), the first elbow motor (372) is electrically connected with the controller (13), and the output end of the first elbow motor (372) is connected with the big arm joint seat (34);

the swing elbow joint assembly (38) comprises an elbow fixing frame (381), the elbow fixing frame (381) is connected with an elbow sleeve (371), a second elbow motor (382) is arranged on the surface of the elbow sleeve (371), the second elbow motor (382) is electrically connected with the controller (13), and the output end of the second elbow motor (382) is connected with the forearm (39) through an elbow rotating frame (383).

8. A humanoid robot as claimed in claim 7, wherein: the hand drive assembly (310) comprises a hand drive motor (313) and a hand fixing block (315), the hand drive motor (313) is electrically connected with the controller (13), a hand driving bevel gear (314) is arranged at the output end of the hand drive motor (313), the hand fixing block (315) is connected at the end of a small arm (39), a hand rotating shaft (316) which horizontally extends is arranged on the side surface of the hand fixing block (315) far away from the small arm (39) in a rotating mode, the end of the hand rotating shaft (316) is connected with a hand mounting seat (311), a hand driving bevel gear (318) is arranged on the surface of the fixing block in a rotating mode, the hand driving bevel gear (318) is meshed with the hand driving bevel gear (314), a hand driven bevel gear (317) is arranged on the outer side of the hand rotating shaft (316), and the hand driven bevel gear (317) is meshed with the hand driving bevel gear (318).

9. A humanoid robot as claimed in claim 1, characterized in that: the knee joint driving assembly (46) comprises a knee joint motor (461), the knee joint motor (461) is arranged outside a thigh framework (41), the knee joint motor (461) is electrically connected with the controller (13), the output end of the knee joint motor (461) is connected with a knee joint rotating disc (462), the surface eccentric rotation of the knee joint rotating disc (462) is connected with a knee joint transmission rod (463), and the end part of the knee joint transmission rod (463) is rotationally connected with the knee joint framework (45).

10. A humanoid robot as claimed in claim 9, wherein: the sole assembly (44) comprises a foot plate (443), a fixing seat (444) is arranged on the surface of the foot plate (443), a cross rotating shaft (442) is rotatably connected to the side face of the fixing seat (444), a sole connecting column (441) is connected to the upper end of the cross rotating shaft (442), and the sole connecting column (441) is connected with a lower leg frame (43);

the sole driving assembly (42) comprises a sole motor (421), a sole driving shaft (424) and a sole driving shaft (429), the sole driving shaft (429) is rotatably arranged inside a knee joint framework (45), a sole fixing sleeve (4212) and a sole driving plate (4211) are rotatably arranged on the outer side of the sole driving shaft (429), the sole driving plate (4211) is provided with two sole driven bevel gears (4215) in common and respectively positioned on two sides of the sole fixing sleeve (4212), a sole fixing shaft (4213) is arranged on the outer side of the sole fixing sleeve (4212), a sole rotating sleeve (4214) is rotatably arranged on the outer side of the sole fixing shaft (4213), spherical joints are respectively arranged on two sides of the sole rotating sleeve (4214), a sole connecting rod (428) is connected between the two spherical joints corresponding to the fixing base (444) and the sole rotating sleeve (4214), a sole driven bevel gear (4215) is arranged at the end of the sole rotating sleeve, a sole driving motor (4211) is provided with a sole driving bevel gear (421) and a driving bevel gear (4214) is arranged on the inner side of the sole driving motor (4211), a sole driving bevel gear (4241) is meshed with a sole driving bevel gear (41), the sole transmission shaft (424) rotates and sets up in the thigh skeleton (41) outside, sole transmission shaft (424) both ends are provided with sole driven gear (425) and sole eccentric wheel (426) respectively, the meshing has sole transition gear (423) between sole driven gear (425) and sole driving gear (422), sole eccentric wheel (426) surface rotation is connected with sole transfer line (427), sole transfer line (427) rotate with sole drive plate (4211) and are connected.