CN108044637B

CN108044637B - Humanoid robot

Info

Publication number: CN108044637B
Application number: CN201711437189.0A
Authority: CN
Inventors: 陈宏福; 钱玉峰; 陈飞飞
Original assignee: Shaanxi Jietai Intelligent Transmission Co ltd
Current assignee: Shaanxi Jietai Intelligent Transmission Co ltd
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2023-10-20
Anticipated expiration: 2037-12-26
Also published as: CN108044637A

Abstract

The invention discloses a humanoid robot, which comprises a head component, a neck component, an arm component, a flexible hand component, a main body component and a leg component, wherein the head component is provided with a tongue component, a mouth component and an eye component, and each component is provided with a driving steering engine and a driving action component thereof which are respectively corresponding to each other; the tongue component comprises a tongue telescoping component, a tongue up-down tilting component and a tongue left-right swinging component; the main body component comprises a shoulder frame structure, human vertebra imitation and a main body base, the main body component is connected with the upper end of the leg component through the main body base, the arm components are arranged on two sides of the shoulder frame structure, the flexible hand component comprises a palm component, a big finger and four fingers, the flexible hand component is arranged at the lower end of the arm component, the upper end of the shoulder frame structure is provided with a neck component, and the upper end of the neck component is provided with a head component. The flexibility of the robot in simulating human vertebra activities is improved, the activity amplitude effectiveness of the robot is improved, and the effective flexibility of grabbing is improved.

Description

Humanoid robot

Technical Field

The invention relates to a robot, in particular to a humanoid robot.

Background

With the continuous appearance of robot products, the robot is applied to a greater extent, however, some existing humanoid robots with heads have rapid and flexible movements and strong jumping and other action capabilities, but do not have rich expression action functions with tongue and mouth angle expressions and the like, and can not provide people with rich expression experience and pleasant mood feeling in use communication, and also do not have the same flexibility degree as human spines and the like, so that the spinal activity flexibility of the humanoid robot is limited.

Disclosure of Invention

The invention provides the humanoid robot which is high in action flexibility, rich in communication expression and capable of realizing the humanoid flexibility effect to a greater extent, and aims to solve the problems that the existing humanoid robot is insufficient in communication expression, insufficient in action flexibility, limited in activity flexibility of the spine and the like.

The invention adopts the concrete technical scheme for solving the technical problems that: a humanoid robot comprising a head assembly and a neck assembly, characterized in that: the device also comprises an arm component, a flexible hand component, a main body component and a leg component, wherein the head component is provided with a tongue component, a mouth component and an eye component, and each component is provided with a corresponding driving steering engine and a driving action component thereof; the tongue component comprises a tongue telescoping component, a tongue up-down tilting component and a tongue left-right swinging component; the main body component comprises a shoulder frame structure, human vertebra imitation and a main body base, the main body component is connected with the upper ends of leg components through the main body base, arm components are arranged at two sides of the shoulder frame structure, the flexible hand component comprises a palm component, a big finger and four fingers, the flexible hand component is arranged at the lower end of the arm component, the upper end of the shoulder frame structure is provided with a neck component, and the upper end of the neck component is provided with a head component; the main body assembly also is provided with a main body frame, a shoulder steering engine, an energy battery, a battery frame and electric push rods, wherein the energy battery is arranged on the battery frame, the battery frame is arranged on the main body frame, the upper end of the main body frame is connected with a shoulder frame structure, the left end and the right end of the shoulder frame structure are provided with arm rotating steering engines, the shoulder steering engines are connected with arm assemblies, the electric push rods are arranged on two sides of a main body base, the upper ends of the two electric push rods are connected with the main body frame, and the position between the middle of the main body base and the lower end of the main body frame is connected with human body vertebrae. The flexibility of the installation and connection of the main body component and the flexibility of bending down activities are improved. The flexibility of the robot in simulating human vertebra activities is improved, the activity amplitude effectiveness of the robot is improved, and the effective flexibility of grabbing is improved.

Preferably, the leg assembly comprises a thigh and a shank, the thigh side linear driving unit, the thigh front linear driving unit, a nylon gear knee, the shank linear driving unit, a sole and a sole middle motor are arranged on the thigh, the thigh side linear driving unit and the thigh front linear driving unit are arranged on the thigh, the upper ends of the thigh side linear driving unit and the thigh front linear driving unit are connected with a main body base of the main body assembly, the nylon gear knee comprises two groups of gear sets which are meshed with each other, wherein each group of upper gears is connected with the lower end of the thigh, each group of lower gears is connected with the upper end of the shank, the shank linear driving unit and the sole middle motor are arranged on the shank, the lower end of the shank is connected with the sole, and the lower ends of the sole middle motor and the shank linear driving unit are connected with the sole. The flexibility of leg activities is improved, and the flexibility of robot activities is improved.

Preferably, the leg assembly is provided with two thighs, each thigh is provided with two thigh side linear driving units and one thigh front linear driving unit, and the three linear driving units are distributed on the thighs in a triangular shape; the two thigh side linear driving units do telescopic motion to realize the left-right swing of the leg structure, and the thigh front linear driving unit does telescopic motion to realize the front-back swing of the leg structure. The flexibility of leg activities is improved, and the flexibility of robot activities is improved.

Preferably, the thigh side linear driving unit, the thigh front linear driving unit and the shank linear driving unit all adopt linear driver structures, the linear driver comprises a direct current brushless motor and a driver framework, the direct current brushless motor is arranged on the driver framework, the driver framework adopts an aluminum structure, the driver framework adopts a hollow cavity frame structure, the direct current brushless motor is arranged at the upper section position of the side edge of the driver framework, a synchronous driving device is arranged on the driver framework, a screw rod and a gear box are arranged in the hollow cavity frame of the driver framework, the synchronous driving device is connected with a direct current brushless motor driving shaft, a single-rod-shaped ball rod end joint bearing is arranged at the bottom end of the driver framework, a wire drawing hook is arranged at the side edge of the driver framework, a screw rod is arranged on the synchronous driving device, and a position moving mechanism is arranged on the screw rod. The flexibility of leg activities is improved, the flexibility of robot activities is improved, and the robot gripping device has more flexible gripping effectiveness.

Preferably, the arm assembly comprises a shoulder steering engine, a big arm rotating part, a big arm steering engine fixing part, a small arm steering engine, a small arm rotating part, a wrist steering engine and a wrist rotating part, wherein the shoulder rotating part is arranged on the big arm rotating part, the shoulder steering engine is arranged on the shoulder rotating part, the big arm steering engine and the big arm steering engine fixing part are arranged on the big arm rotating part, the small arm steering engine is arranged on the small arm rotating part, the wrist rotating part is arranged on the wrist, and the shoulder rotating part is connected with the arm rotating steering engine on the main body assembly; the arm rotates steering wheel drive shoulder rotation piece and rotates, and the shoulder steering wheel drives the big arm rotation piece to rotate, and the big arm steering wheel drives big arm steering wheel mounting to rotate, and the forearm steering wheel drives forearm rotation piece back-and-forth swing, and wrist rotation piece realizes back-and-forth swing under wrist steering wheel's rotation. The flexible activity and effectiveness of the arm component are improved.

Preferably, the human spine comprises an upper spine section, a middle connecting seat and a lower spine section, wherein the upper spine section and the lower spine section are respectively and movably connected with the middle connecting seat, the upper spine section and the lower spine section are both in a chain type connecting structure, and the upper spine section and the lower spine section are respectively arranged in two different directions of the middle connecting seat; the chain type connecting structure comprises two sections of outside link blocks, two sections of inside link rods and two sections of outside connecting blocks, wherein the two sections of outside link blocks and the two sections of outside link blocks adopt longitudinal interactive links, an inclined interactive link structure is adopted between the two sections of inside link rods and the two sections of outside link blocks, and the two sections of inside link rods mutually adopt joint interlocking link structures. The flexibility of the robot simulating the human vertebra activities is improved, and the activity amplitude effectiveness of the robot is improved.

Preferably, the middle connecting seat is provided with four linking side surfaces, and the upper spine section and the lower spine section are respectively arranged on two adjacent linking side surfaces to form different bending directions of the upper spine section and the lower spine section. The flexibility of the robot simulating the human vertebra activities is improved, and the activity amplitude effectiveness of the robot is improved.

Preferably, the mouth component comprises a mouth component and a mouth angle component, the mouth angle component comprises a mouth angle steering engine, a steering engine disc, a crank disc, a connecting rod, a sliding block, a guide block and a swinging arm, the steering engine disc is arranged on the mouth angle steering engine, the crank disc is arranged on the steering engine disc, two symmetrical connecting rods are arranged on the crank disc, the guide block and the sliding block are arranged on the connecting rod, a poking rod is arranged on the sliding block, and the mouth angle swinging arm is arranged on the poking rod. And the mouth rich expression communication effectiveness experience is improved.

Preferably, the tongue up-down tilting assembly comprises a base, a main shaft, a tilting steering engine, a swinging block and a tilting rope wheel assembly, wherein the main shaft and the tilting steering engine are arranged on the base, the tilting rope wheel assembly is arranged on the tilting steering engine, the swinging block is arranged on the tilting rope wheel assembly, the tongue is arranged on the swinging block, the tilting rope wheel assembly comprises a driving rope wheel, a rope wheel connecting block, a driven rope wheel and a rope, and the tongue up-down tilting assembly is used for finishing the tongue up-down tilting expression action. Improving tongue rich expression communication experience.

The beneficial effects of the invention are as follows: the flexibility of the robot in simulating human vertebra activities is improved, and the activity amplitude effectiveness of the robot is improved; the flexibility of the robot simulating the human vertebra activities is improved, and the activity amplitude effectiveness of the robot is improved. The flexibility of leg activities is improved, the flexible stability of robot activities is improved, and the robot has higher and stronger grabbing flexibility.

Description of the drawings:

the invention is described in further detail below with reference to the drawings and the detailed description.

Fig. 1 is a schematic structural view of a humanoid robot of the present invention.

Fig. 2 is a schematic structural view of a head assembly and a neck assembly in the humanoid robot of the present invention.

Fig. 3 is a schematic structural view of an arm assembly of the humanoid robot of the present invention.

Fig. 4 is a schematic structural view of a flexible hand assembly in the humanoid robot of the present invention.

Fig. 5 is a schematic structural view of a body assembly in the humanoid robot of the present invention.

Fig. 6 is a schematic view of the structure of the human spine-like body of the humanoid robot of the present invention.

Fig. 7 is a schematic structural view of a leg assembly in the humanoid robot of the present invention.

Fig. 8 is a schematic view of a linear driver structure employed by the linear unit of fig. 7.

Fig. 9 is a schematic structural view of a mouth assembly in the humanoid robot of the present invention.

Fig. 10 is a schematic diagram of the structure of the humanoid robot tongue assembly of the present invention.

Detailed Description

In the embodiments shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, a humanoid robot comprises a head assembly 10, a neck assembly 20, an arm assembly 30, a flexible hand assembly 50, a main body assembly 40 and a leg assembly 60, wherein the head assembly is provided with a head shell 11, a chin 14, a tongue assembly, a mouth assembly and an eye assembly 12, and each assembly is provided with a driving steering engine and driving action components thereof corresponding to each other; the tongue assembly comprises a tongue telescoping assembly, a tongue up-and-down tilting assembly and a tongue left-and-right swinging assembly, the mouth assembly is used for completing mouth opening and closing action expressions and/or mouth corner smiling action expressions, the eye assembly is used for completing eyeball left-and-right movement action expressions and/or eyelid blinking action expressions, and the tongue assembly is used for completing tongue telescoping, up-and-down tilting and left-and-right swinging action expressions; the main body assembly 40 comprises a shoulder frame structure 41, a human vertebra imitation 70 and a main body base 46, the main body assembly 40 is connected with the upper end of a leg assembly 60 through the main body base 46, the two sides of the shoulder frame structure 41 are provided with an arm assembly 30, the flexible hand assembly 50 comprises a palm part 53, a big finger 51 and four fingers 52, the flexible hand assembly 50 is arranged at the lower end of the arm assembly 30, the upper end of the shoulder frame structure 41 is provided with a neck assembly 20, the upper end of the neck assembly 20 is provided with a head assembly 10, the palm part 53 is internally provided with a palm control unit, and the palm control unit controls the movement and the opening and closing movement of the big finger 51 and the Qu Shen of the four fingers 52. The leg assembly includes a thigh, a shank, a thigh side linear driving unit, a thigh front linear driving unit, a nylon gear knee, a shank linear driving unit, a sole and a sole middle motor, a thigh side linear driving unit 61 and a thigh front linear driving unit 65 are installed on the thigh, upper ends of the thigh side linear driving unit 61 and the thigh front linear driving unit 65 are connected with the main body base 46 of the main body assembly 40, the nylon gear knee includes two sets of gear sets 62 engaged with each other, wherein each set of upper gears 621 is connected with a lower end of the thigh, each set of lower gears 622 is connected with an upper end of the shank, a shank linear driving unit 64 and a sole middle motor 66 are installed on the shank, a lower end of the shank is connected with the sole 63, and lower ends of the sole middle motor 66 and the shank linear driving unit 64 are connected with the sole 63. The leg assembly is provided with two thighs, each thigh is provided with two thigh side linear driving units 61 and one thigh front linear driving unit 65, and the three linear driving units are distributed on the thighs in a triangular shape; the two thigh side linear driving units 61 perform telescopic motions to realize left and right swinging of the leg structure, and the thigh front linear driving unit 65 performs telescopic motions to realize front and rear swinging of the leg structure. The thigh side linear drive unit, thigh place ahead linear drive unit and shank linear drive unit all adopt linear drive structure, linear drive includes DC brushless motor 6A and driver skeleton 6B, DC brushless motor 6A installs on driver skeleton 6B, driver skeleton 6B adopts aluminium matter structure, driver skeleton adopts cavity frame structure, DC brushless motor 6A installs in driver skeleton 6B side upper segment position department, establish synchronous drive device on the driver skeleton 6B, establish lead screw and/gear box 6K in driver skeleton cavity frame 6H, synchronous drive device is connected with the DC brushless motor drive shaft, single-rod-shaped ball end joint bearing 6C is established to driver skeleton bottom, the wire hook is established to driver skeleton 6B side, establish the lead screw on the synchronous drive device, establish position moving mechanism on the lead screw. The wire drawing hook includes a 1# wire drawing hook 6D and a 2# wire drawing hook 6E, the 1# wire drawing hook 6D being provided at an upper position of the 2# wire drawing hook 6E. An upper connection block 6F is mounted on the top end of the driver skeleton 6B, and a linear bearing 6G is mounted on the upper connection block 6F. The arm assembly comprises a shoulder steering wheel, a big arm steering wheel 38, a big arm steering wheel 33, a big arm steering wheel fixing piece, a small arm steering wheel, a wrist steering wheel and a wrist steering wheel, wherein the shoulder steering wheel is arranged on the big arm steering wheel, the shoulder steering wheel is arranged on the shoulder steering wheel, the big arm steering wheel 34 and the big arm steering wheel fixing piece 31 are arranged on the big arm steering wheel 38, the small arm steering wheel 35 is arranged on the big arm steering wheel fixing piece 31, the small arm steering wheel 32 is arranged on the small arm steering wheel 35, the wrist steering wheel 36 is arranged on the small arm steering wheel 32, the wrist steering wheel 37 is arranged on the wrist steering wheel 36, and the shoulder steering wheel is connected with the arm steering wheel on the main assembly; the arm rotates steering wheel drive shoulder rotation piece and rotates, and the arm rotates steering wheel and drives the big arm rotation piece to rotate, and the big arm steering wheel drives big arm steering wheel mounting to rotate, and the forearm steering wheel drives forearm rotation piece back-and-forth swing, and wrist rotation piece realizes back-and-forth swing under wrist steering wheel's rotation. The main body assembly 40 is provided with a shoulder frame structure 41, a main body frame 48, a shoulder steering engine 42, an energy battery 49, a battery frame 44, an electric push rod 45, a human body imitation vertebra 70 and a main body base 46, the energy battery 49 is arranged on the battery frame 44, the battery frame 44 is arranged on the main body frame 48, the upper end of the main body frame 48 is connected with the shoulder frame structure 41, arm rotating steering engines are arranged at the left end and the right end of the shoulder frame structure 41, the shoulder steering engine 42 is connected with the arm assembly 30, the electric push rods 45 are arranged at the two sides of the main body base 46, the upper ends of the two electric push rods 45 are connected with the main body frame 48, and the human body imitation vertebra 70 is connected between the middle of the main body base 46 and the lower end of the main body frame 48. The lower ends of the two electric push rods 45 are connected to the main body base 46 through the rotary connecting arms 47, and the rotary connecting arms 47 twist to drive the electric push rods 45 and the main body frame 48 to tilt left and right, so that the waist twisting action is realized, and the flexible waist twisting effect is improved. The human body-imitated vertebra 70 comprises an upper spine section, a middle connecting seat and a lower spine section, wherein the upper spine section and the lower spine section are respectively movably connected with the middle connecting seat, the upper spine section and the lower spine section are both in a chain type connecting structure, and the upper spine section and the lower spine section are respectively arranged in two different directions of the middle connecting seat; the chain type connecting structure comprises two sections of outside link blocks, two sections of inside link rods and two sections of outside connecting blocks, wherein the two sections of outside link blocks and the two sections of outside link blocks adopt longitudinal interactive links, an inclined interactive link structure is adopted between the two sections of inside link rods and the two sections of outside link blocks, and the two sections of inside link rods mutually adopt joint interlocking link structures. The intermediate connecting seat 7E is provided with four linking side surfaces, and an upper spine segment and a lower spine segment are respectively arranged on two adjacent linking side surfaces to form different bending directions of the upper spine segment and the lower spine segment. Wherein the upper spinal column segment comprises an upper outer side link block 7A, an upper inner side link rod 7C and a last outer side link block 7B, and a main body frame 48 is arranged at the upper end of the upper spinal column segment; the lower spinal column segment comprises a lower outer link block 8A, a lower inner link rod 8C and a lower outer link block 8B, and is mounted on a lower link seat 7D. The two sections of outside linking blocks are provided with an upper curve wheel groove and a lower curve wheel groove on each outside linking single block, and the two sections of inside linking rods (7C and 8C) are linked with the two sections of outside linking blocks through the curve wheel grooves. The two sections of inner side link rods are provided with locking lips at two ends of each inner side link rod, the locking lips at the two ends are arranged in opposite directions, and the locking lips after the two sections of inner side link rods are installed form a joint interlocking structure. Improving the flexibility of forming the interlocking structure of the joints with each other is effective in better ensuring that all joints of this section bend the same amount in the same direction. The lower spine segment adopts an upper end head of a secondary outside link block at the uppermost end to be a horizontal surface end head which is flush with the bottom end surface of the middle connecting seat. The two sections of the inner side connecting rods at the uppermost end of the lower spine section are movably connected with the two sections of the outer side connecting blocks through screws or bolts, and the two sections of the outer side connecting blocks are movably connected with the two sections of the outer side connecting blocks. The lower spine segment is provided with 4 joints after being connected, and can be bent forwards or backwards by more than 90 degrees. The upper spine segment is provided with 3 joints after being connected, and can be bent to more than 60 degrees left and right. The mouth component comprises a mouth component 13 and a mouth component 15, the mouth component 15 comprises a mouth steering engine 91, a steering engine disc 92, a crank disc, a connecting rod, a sliding block 94, a guide block and a swinging arm 95, the steering engine disc is arranged on the mouth steering engine, the crank disc is arranged on the steering engine disc 92, two symmetrical connecting rods 93 are arranged on the crank disc, the guide block and the sliding block are arranged on the connecting rods, a poking rod is arranged on the sliding block, a mouth swinging arm 96 is arranged on the poking rod, and the mouth component is used for completing mouth opening and closing action expressions and/or mouth smiling action expressions. The tongue up-down tilting assembly comprises a base 81, a main shaft 82, a tilting steering engine 83, a swinging block 89 and a tilting rope wheel assembly, wherein the main shaft and the tilting steering engine are arranged on the base, the tilting rope wheel assembly is arranged on the tilting steering engine 83, the swinging block 89 is arranged on the tilting rope wheel assembly, and the tongue 03 is arranged on the swinging block. The tilt sheave assembly includes an active sheave 84, sheave connection blocks 85, passive sheaves 87, and cords 86. The tongue up-down tilting assembly is used for completing the tongue up-down tilting expression action. The tongue telescopic assembly comprises a tongue telescopic steering engine, a dovetail groove male and female plate assembly, a rack assembly and a swinging piece, wherein the rack assembly is arranged on the tongue telescopic steering engine, the dovetail groove male and female plate assembly is arranged on the rack assembly, the swinging piece is arranged on the dovetail groove male and female plate assembly, the tongue is arranged on the swinging piece, and the dovetail groove female plate moves linearly back and forth to drive the tongue to move in a telescopic manner. The rack assembly includes a rack, a gear, and a gear connection block. The dovetail groove male-female plate assembly comprises a dovetail groove male plate and a dovetail groove female plate.

In the description of the positional relationship of the present invention, the terms such as "inner", "outer", "upper", "lower", "left", "right", and the like, which indicate an orientation or positional relationship based on that shown in the drawings, are merely for convenience of description of the embodiments and for simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present invention.

The foregoing and construction describes the basic principles, principal features and advantages of the present invention product, as will be appreciated by those skilled in the art. The foregoing examples and description are provided to illustrate the principles of the invention and to provide various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A humanoid robot comprising a head assembly and a neck assembly, characterized in that: the device also comprises an arm component, a flexible hand component, a main body component and a leg component, wherein the head component is provided with a tongue component, a mouth component and an eye component, and each component is provided with a corresponding driving steering engine and a driving action component thereof; the tongue component comprises a tongue telescoping component, a tongue up-down tilting component and a tongue left-right swinging component; the main body component comprises a shoulder frame structure, human vertebra imitation and a main body base, the main body component is connected with the upper ends of leg components through the main body base, arm components are arranged at two sides of the shoulder frame structure, the flexible hand component comprises a palm component, a thumb and four fingers, the flexible hand component is arranged at the lower end of the arm component, the upper end of the shoulder frame structure is provided with a neck component, and the upper end of the neck component is provided with a head component; the main body assembly also is provided with a main body frame, the arm rotates steering engine, the energy battery, the battery frame and the electric push rods, the energy battery is arranged on the battery frame, the battery frame is arranged on the main body frame, the upper end of the main body frame is connected with a shoulder frame structure, the left end and the right end of the shoulder frame structure are provided with arm rotation steering engines, the arm rotation steering engines are connected with arm assemblies, the electric push rods are arranged on two sides of the main body base, the upper ends of the two electric push rods are connected with the main body frame, and the position between the middle of the main body base and the lower end of the main body frame is connected with human body vertebra imitation.

2. The humanoid robot of claim 1 wherein: the leg assembly comprises thighs and shanks, wherein the thighs side linear driving unit, the thighs front linear driving unit, a nylon gear knee, the shanks linear driving unit, soles and motors in the middle of the soles are arranged on the thighs, the thighs side linear driving unit and the shanks front linear driving unit are arranged on the thighs, the upper ends of the thighs side linear driving unit and the shanks front linear driving unit are connected with a main body base of the main body assembly, the nylon gear knee comprises two groups of gear sets which are meshed with each other, each group of upper gears is connected with the lower ends of the thighs, each group of lower gears is connected with the upper ends of the shanks, the shanks are provided with the shanks linear driving unit and the motors in the middle of the soles, and the lower ends of the shanks are connected with the soles.

3. A humanoid robot as claimed in claim 1 or 2, characterized in that: the leg assembly is provided with two thighs, each thigh is provided with two thigh side linear driving units and one thigh front linear driving unit, and the three linear driving units are distributed on the thighs in a triangular shape; the two thigh side linear driving units do telescopic motion to realize the left-right swing of the leg structure, and the thigh front linear driving unit does telescopic motion to realize the front-back swing of the leg structure.

4. A humanoid robot according to claim 3, characterised in that: the thigh side linear drive unit, thigh place ahead linear drive unit and shank linear drive unit all adopt linear drive structure, linear drive includes DC brushless motor and driver skeleton, DC brushless motor establishes on the driver skeleton, the driver skeleton adopts aluminium matter structure, the driver skeleton adopts the cavity frame structure, DC brushless motor establishes in driver skeleton side upper segment position department, establish synchronous drive device on the driver skeleton, establish lead screw and gear box in driver skeleton cavity frame, synchronous drive device is connected with the DC brushless motor drive shaft, single pole shape bulb rod end joint bearing is established to driver skeleton bottom, the stay wire hook is established to driver skeleton side, establish the lead screw on the synchronous drive device, establish position moving mechanism on the lead screw.

5. The humanoid robot of claim 1 wherein: the arm assembly comprises a shoulder steering engine, a large arm rotating part, a large arm steering engine fixing part, a small arm steering engine, a small arm rotating part, a wrist steering engine and a wrist rotating part, wherein the shoulder rotating part is arranged on the large arm rotating part, the shoulder steering engine is arranged on the shoulder rotating part, the large arm steering engine and the large arm steering engine fixing part are arranged on the large arm steering engine fixing part, the small arm steering engine is arranged on the small arm rotating part, the wrist rotating part is arranged on the wrist steering engine, and the shoulder rotating part is connected with the arm rotating steering engine on the main body assembly; the arm rotates steering wheel drive shoulder rotation piece and rotates, and the shoulder steering wheel drives the big arm rotation piece to rotate, and the big arm steering wheel drives big arm steering wheel mounting to rotate, and the forearm steering wheel drives forearm rotation piece back-and-forth swing, and wrist rotation piece realizes back-and-forth swing under wrist steering wheel's rotation.

6. The humanoid robot of claim 1 wherein: the human body-imitated vertebra comprises an upper spine section, a middle connecting seat and a lower spine section, wherein the upper spine section and the lower spine section are respectively and movably connected with the middle connecting seat, the upper spine section and the lower spine section are both in a chain type connecting structure, and the upper spine section and the lower spine section are respectively arranged in two different directions of the middle connecting seat; the chain type connecting structure comprises two sections of outside link blocks, two sections of inside link rods and two sections of outside connecting blocks, wherein the two sections of outside link blocks and the two sections of outside link blocks adopt longitudinal interactive links, an inclined interactive link structure is adopted between the two sections of inside link rods and the two sections of outside link blocks, and the two sections of inside link rods mutually adopt joint interlocking link structures.

7. The humanoid robot of claim 6 wherein: the middle connecting seat is provided with four linking side surfaces, and the upper spine section and the lower spine section are respectively arranged on two adjacent linking side surfaces to form different bending directions of the upper spine section and the lower spine section.

8. The humanoid robot of claim 1 wherein: the mouth assembly comprises a mouth assembly and a mouth angle assembly, the mouth angle assembly comprises a mouth angle steering engine, a steering engine disc, a crank disc, a connecting rod, a sliding block, a guide block and a swinging arm, the steering engine disc is arranged on the mouth angle steering engine, the crank disc is arranged on the steering engine disc, two symmetrical connecting rods are arranged on the crank disc, the guide block and the sliding block are arranged on the connecting rods, a poking rod is arranged on the sliding block, the mouth angle swinging arm is arranged on the poking rod, and the mouth assembly is used for completing mouth opening and closing action expressions and/or mouth angle smiling action expressions.

9. The humanoid robot of claim 1 wherein: the tongue up-down tilting assembly comprises a base, a main shaft, a tilting steering engine, a swinging block and a tilting rope wheel assembly, wherein the main shaft and the tilting steering engine are arranged on the base, the tilting rope wheel assembly is installed on the tilting steering engine, the swinging block is arranged on the tilting rope wheel assembly, the tongue is arranged on the swinging block, the tilting rope wheel assembly comprises a driving rope wheel, a rope wheel connecting block, a driven rope wheel and a rope, and the tongue up-down tilting assembly is used for completing the tongue up-down tilting expression action.