Hip and leg connecting structure of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a hip and leg connecting structure of a humanoid robot and the humanoid robot. The hip and leg connecting structure of the humanoid robot mainly comprises a hip structural part, a first leg connecting part and a second leg connecting part, a first assembling face of the hip structural part abuts against a first matching face of the first leg connecting part, a first clamping structure is clamped with a first butt joint structure, and a second assembling face abuts against a second matching face of the second leg connecting part. The second clamping structure is clamped with the second butt joint structure, and mutual limiting and matching of the hip structural part and the first leg connecting part and mutual limiting and matching of the hip structural part and the second leg connecting part are formed under the arrangement of clamping and abutting, and the clamping position and the abutting position bear acting force firstly; a number of fasteners for connecting the hip structure with the first leg connector and the hip structure with the second leg connector may be protected.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a hip-leg connection structure of a humanoid robot and the humanoid robot. Background Art

[0002] In the field of robotics, humanoid robots have always been the focus of research. The design of this type of robot usually covers the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. Through the coordinated work of these joint modules in different positions, humanoid robots can simulate various human movements and postures, such as walking, standing, bending over and carrying objects, achieving a high degree of imitation of human behavior.

[0003] The hip position of the humanoid robot is used to connect the waist and legs, and plays a connecting role. The force at this position is complex, and the requirements for the strength of the structural parts themselves and the connection strength after assembly are high to meet the operational stability requirements of the humanoid robot. The hip position in the prior art generally uses a hip bracket to connect different joint modules respectively, and the joint modules are usually installed on the hip bracket through fasteners. Due to the complex force at the hip position, it may be subjected to forces in various directions, which will cause the connection of the fastener to be subjected to shear force perpendicular to its axis. The fastener is easily damaged, and the failure of the connection between the hip bracket and the joint module will cause the entire humanoid robot to malfunction. Summary of the invention

[0004] The present application provides a hip-leg connection structure of a humanoid robot and a humanoid robot, aiming to solve the problem that fasteners at the hip position of the existing humanoid robot are easily damaged by shearing.

[0005] In one embodiment, a hip-leg connection structure of a humanoid robot is provided, which mainly includes a hip structure, a first leg connection member and a second leg connection member, wherein the hip structure member is constructed with a first assembly surface and a second assembly surface, a first clamping structure is arranged adjacent to the first assembly surface, and a second clamping structure is arranged adjacent to the second assembly surface; the first leg connection member is constructed with a first mating surface, and a first docking structure is arranged adjacent to the first mating surface; the second leg connection member is constructed with a second mating surface, and a second docking structure is arranged adjacent to the second mating surface; wherein the first assembly surface is arranged in abutment with the first mating surface, and the hip structure member and the first leg connection member are connected by a plurality of fasteners, the second assembly surface is arranged in abutment with the second mating surface, and the hip structure member and the second leg connection member are connected by a plurality of fasteners; the first clamping structure is clamped with the first docking structure to limit the vertical position of the hip structure member relative to the first leg connection member, and the second clamping structure is clamped with the second docking structure to limit the vertical position of the hip structure member relative to the second leg connection member.

[0006] In one embodiment, the hip structure further comprises a substantially horizontal reference surface, the reference surface being above the first mounting surface and the second mounting surface, the reference surface being used for connecting the waist structure.

[0007] In one embodiment, in the front direction of the humanoid robot, the projections of the reference plane and the first assembly surface and the second assembly surface in the vertical direction approximately form an isosceles triangle, and the projections of the first assembly surface and the second assembly surface are waist sides of the isosceles triangle.

[0008] In one embodiment, the hip-leg connection structure also includes a left leg pitch joint and a right leg pitch joint; the first leg connecting member is used to connect the right leg pitch joint, and the second leg connecting member is used to connect the left leg pitch joint; the rotation axis of the right leg pitch joint is perpendicular to the first mating surface, and the rotation axis of the left leg pitch joint is perpendicular to the second mating surface.

[0009] In one embodiment, the first docking structure includes a first clamping block and a second clamping block, and in the vertical direction, the first clamping block is located above the second clamping block, and the first clamping block and the second clamping block are respectively arranged at the two ends of the first matching surface; the hip structure is respectively provided with a third clamping block and a fourth clamping block adjacent to the two ends of the first assembly surface, and in the vertical direction, the third clamping block is located above the fourth clamping block; the second docking structure includes a fifth clamping block and a sixth clamping block, and in the vertical direction, the fifth clamping block is located above the sixth clamping block, and the fifth clamping block and the sixth clamping block are respectively arranged at the two ends of the first matching surface; the hip structure is respectively provided with a seventh clamping block and an eighth clamping block adjacent to the two ends of the second assembly surface, and in the vertical direction, the seventh clamping block is located above the eighth clamping block; The first card block is arranged in abutment with the third card block, the second card block is arranged in abutment with the fourth card block, the first card block is above the third card block, the second card block is below the fourth card block, the card connection surface of the first card block and the third card block is approximately horizontal or the angle between them and the horizontal plane is an acute angle, the card connection surface of the second card block and the fourth card block is approximately horizontal or the angle between them and the horizontal plane is an acute angle; the fifth card block is arranged in abutment with the seventh card block, the sixth card block is arranged in abutment with the eighth card block, the fifth card block is above the seventh card block, the sixth card block is below the eighth card block, the card connection surface of the fifth card block and the seventh card block is approximately horizontal or the angle between them and the horizontal plane is an acute angle, the card connection surface of the sixth card block and the eighth card block is approximately horizontal or the angle between them and the horizontal plane is an acute angle.

[0010] In one embodiment, the hip structure is provided with a ninth block and a tenth block respectively at two ends adjacent to the first assembly surface, in the vertical direction, the ninth block is located above the tenth block, and the ninth block and the tenth block are respectively arranged at two ends of the first matching surface; the first docking structure includes an eleventh block and a twelfth block, in the vertical direction, the eleventh block is located above the twelfth block, and the eleventh block and the twelfth block are respectively adjacent to two ends of the first matching surface; the hip structure is provided with a thirteenth block and a fourteenth block respectively at two ends adjacent to the second assembly surface, in the vertical direction, the thirteenth block is located above the fourteenth block; the second docking structure includes a fifteenth block and a sixteenth block, in the vertical direction, the fifteenth block is located above the sixteenth block, and the fifteenth block and the sixteenth block are respectively adjacent to two ends of the second mating surface; the ninth card block is abutted against the eleventh card block, the tenth card block is abutted against the twelfth card block, the ninth card block is above the eleventh card block, the tenth card block is below the twelfth card block, the engaging surfaces of the ninth card block and the eleventh card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle, the engaging surfaces of the tenth card block and the twelfth card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle; the thirteenth card block is abutted against the fifteenth card block, the fourteenth card block is abutted against the sixteenth card block, the thirteenth card block is above the fifteenth card block, the fourteenth card block is below the sixteenth card block, the engaging surfaces of the thirteenth card block and the fifteenth card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle, the engaging surfaces of the fourteenth card block and the sixteenth card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle.

[0011] In one embodiment, the first clamping structure further has a first extension section, which is respectively connected to the third clamping block and the fourth clamping block; the second clamping structure further has a second extension section, which is respectively connected to the seventh clamping block and the eighth clamping block.

[0012] In one embodiment, the first clamping structure and the first docking structure have two sets of clamping surfaces set apart from each other along the first axis, and the first clamping structure and the first docking structure have two sets of clamping surfaces set apart from each other along the second axis; the second clamping structure and the second docking structure have two sets of clamping surfaces set apart from each other along the third axis, and the second clamping structure and the second docking structure have two sets of clamping surfaces set apart from each other along the fourth axis.

[0013] In one embodiment, the angle between the first axis and the second axis is 90 degrees; the angle between the third axis and the fourth axis is 90 degrees.

[0014] In one embodiment, the clamping forms of the two groups of clamping surfaces along the first axis are opposite to each other; and the clamping forms of the two groups of clamping surfaces along the third axis are opposite to each other.

[0015] In one embodiment, a humanoid robot is provided, which mainly includes the hip-leg connection structure of the humanoid robot as described above.

[0016] In one embodiment, the humanoid robot further includes a waist structure and two symmetrically arranged leg structures, wherein the leg structures are respectively connected to the first leg connecting member and the second leg connecting member.

[0017] Beneficial effects of this application:

[0018] In a humanoid robot hip-leg connection structure and a humanoid robot of the present application, the hip-leg connection structure mainly includes a hip structure, a first leg connection and a second leg connection. The hip structure constructs a first assembly surface and a second assembly surface, and respectively sets a first clamping structure and a second clamping structure. The first leg connection is correspondingly constructed with a first mating surface and a first docking structure. The second leg connection is correspondingly constructed with a second mating surface and a second docking structure. The first assembly surface abuts the first mating surface, and the first clamping structure is clamped with the first docking structure. The second assembly surface abuts the second mating surface, and the second clamping structure is clamped with the second docking structure. The hip structure and the first leg connection, as well as the hip structure and the second leg connection, are connected together by a number of fasteners. Such a setting forms mutual limitation and cooperation under the setting of clamping and abutting. When the connection is subjected to load, the abutting surface and the clamping joint first bear the force, thereby avoiding the force acting on the fastener, thereby achieving an anti-shear effect and protecting the fastener. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 is a front view schematic diagram of a humanoid robot after the hip structure, the first leg connection member and the second leg connection member are assembled in one embodiment of the present application;

[0021] Figure 2 is a schematic diagram of the three-dimensional structure of the humanoid robot after the hip structure and the first leg connection member are assembled in one embodiment of the present application;

[0022] Figure 3is an exploded schematic diagram of a hip structure and a first leg connection member of a humanoid robot in one embodiment of the present application;

[0023] Figure 4 is a schematic diagram of the three-dimensional structure of the humanoid robot after the hip structure and the second leg connection member are assembled in one embodiment of the present application;

[0024] Figure 5 is an exploded schematic diagram of a hip structure and a second leg connecting member of a humanoid robot in one embodiment of the present application;

[0025] Figure 6 is a schematic diagram of the three-dimensional structure of the first leg connecting member of the humanoid robot in one embodiment of the present application;

[0026] Figure 7 is a schematic diagram of the three-dimensional structure of the second leg connecting member of the humanoid robot in one embodiment of the present application;

[0027] Figure 8 is a schematic diagram of the three-dimensional structure of the hip structure of a humanoid robot in one embodiment of the present application;

[0028] Fig. 9 yes Figure 8 A schematic diagram of the three-dimensional structure of the hip structure from another perspective;

[0029] Fig.10 is a schematic structural diagram of a humanoid robot after the hip structure, the first leg connection member and the second leg connection member are assembled in one embodiment of the present application;

[0030] Fig.11 is a front view schematic diagram of a hip-leg connection structure, a left leg pitch joint, and a right leg pitch joint of a humanoid robot after being assembled in one embodiment of the present application;

[0031] Fig.12 is a cross-sectional schematic diagram of a hip-leg connection structure, a left leg pitch joint, and a right leg pitch joint of a humanoid robot after being assembled in one embodiment of the present application;

[0032] Fig.13 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0033] Reference numerals in the figures:

[0034] 1. Hip structure; 11. First assembly surface; 12. Second assembly surface; 13. First clamping structure; 131. First extension section; 14. Second clamping structure; 141. Second extension section; 15. Reference surface; 16a. Third clamping block; 16b. Fourth clamping block; 17a. Seventh clamping block; 17b. Eighth clamping block; 18a. Ninth clamping block; 18b. Tenth clamping block; 19a. Thirteenth clamping block; 19b. Fourteenth clamping block;

[0035] 2. first leg connector; 21. first mating surface; 22. first docking structure; 221. first clamping block; 222. second clamping block; 223. eleventh clamping block; 224. twelfth clamping block;

[0036] 3. Second leg connector; 31. Second mating surface; 32. Second docking structure; 321. Fifth clamping block; 322. Sixth clamping block; 323. Fifteenth clamping block; 324. Sixteenth clamping block;

[0037] 51. Right leg pitch joint; 52. Left leg pitch joint; 53. Leg roll joint module; 54. Leg yaw joint module;

[0038] 6. Thigh structure; 7. Knee joint module; 8. Calf; 9. Waist structure; 10. Sole of the foot.

[0039] Among them, d1 is a schematic diagram of the rotation axis of the left leg pitch joint, d2 is a schematic diagram of the rotation axis of the right leg pitch joint; d3 is a schematic diagram of the first axis, d4 is a schematic diagram of the second axis, d5 is a schematic diagram of the third axis, and d6 is a schematic diagram of the fourth axis; X represents the horizontal direction, Y represents the front-back direction, and Z represents the vertical direction, and X, Y, and Z are perpendicular to each other. DETAILED DESCRIPTION

[0040] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0046] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0047] In one embodiment, see Figures 1 to 5 , provides a hip-leg connection structure of a humanoid robot, which mainly includes a hip structure 1, a first leg connection 2 and a second leg connection 3. The hip structure 1 is configured with a first assembly surface 11 and a second assembly surface 12. A first clamping structure 13 is provided adjacent to the first assembly surface 11, and a second clamping structure 14 is provided adjacent to the second assembly surface 12. The first leg connection 2 is configured with a first mating surface 21, and a first docking structure 22 is provided adjacent to the first mating surface 21; the second leg connection 3 is configured with a second mating surface 31, and a second docking structure 32 is provided adjacent to the second mating surface 31. The first assembly surface 11 can refer to Figure 4 As shown, the second assembly surface 12 can refer to Figure 2 , Figure 3 As shown, the first clamping structure 13 and the second clamping structure 14 can refer to Figure 3 As shown, the second mating surface 31 can refer to Figure 5 Indicates.

[0048] In the above embodiment, the first assembly surface 11 is arranged in abutment with the first matching surface 21, and the hip structure 1 is connected to the first leg connection member 2 through a plurality of fasteners, and the second assembly surface 12 is arranged in abutment with the second matching surface 31, and the hip structure 1 is connected to the second leg connection member 3 through a plurality of fasteners. The first clamping structure 13 is clamped with the first docking structure 22 to limit the position of the hip structure 1 relative to the first leg connection member 2 in the vertical direction Z, and the second clamping structure 14 is clamped with the second docking structure 32 to limit the position of the hip structure 1 relative to the second leg connection member 3 in the vertical direction Z.

[0049] In the above-mentioned embodiment, the first assembly surface 11 abuts against the first matching surface 21, and the first clamping structure 13 clamps against the first docking structure 22, thereby realizing the limitation between the hip structural component 1 and the first leg connecting component 2. The clamping and abutting cooperation forms a mutual limitation perpendicular to the assembly direction of the hip structural component 1 and the first leg connecting component 2, which can limit the position of the hip structural component 1 relative to the first leg connecting component 2 in the vertical direction Z. When the hip is subjected to force, it can first bear the force perpendicular to the assembly direction of the hip structural component 1 and the first leg connecting component 2. At this time, the fasteners used for fastening the connection between the hip structural component 1 and the first leg connecting component 2 will not be directly subjected to force, thereby playing the role of anti-shear protection for each fastener, and avoiding damage to the fasteners due to impact force in the shear direction.

[0050] In the above-mentioned embodiment, the second assembly surface 12 abuts against the second matching surface 31, and the second clamping structure 14 clamps against the second docking structure 32, thereby realizing the limitation and cooperation between the hip structural component 1 and the second leg connecting component 3. The cooperation of the clamping and abutting forms a mutual limitation perpendicular to the assembly direction of the hip structural component 1 and the second leg connecting component 3, which can limit the position of the hip structural component 1 in the vertical direction Z relative to the second leg connecting component 3. When the hip is subjected to force, it can first bear the force perpendicular to the assembly direction of the hip structural component 1 and the second leg connecting component 3. At this time, the fasteners used for fastening the connection between the hip structural component 1 and the second leg connecting component 3 will not be directly subjected to force, thereby playing the role of anti-shear protection for each fastener, and avoiding damage to the fasteners due to impact force in the shear direction.

[0051] In one embodiment, the hip structure 1 may be an integrated structural component, and may be integrally formed into a frame structure including a first assembly surface 11 and a second assembly surface 12, so as to be connectable to the first leg connector 2 and the second leg connector 3. The integrally formed hip structure 1 has the advantage of a simple assembly process because it has two assembly surfaces with determined angles. The integrally formed hip structure 1 may play a structural role similar to that of the human pelvis, and may also achieve the advantages of high structural strength and low space occupancy.

[0052] In one embodiment, see Figure 1 , Figure 8 and Fig. 9 The hip structure 1 further comprises a substantially horizontal reference surface 15 , which is above the first assembly surface 11 and the second assembly surface 12 . The reference surface 15 can be used to connect and support the waist structure 9 .

[0053] In one embodiment, the reference plane 15 is used to support the waist structure 9, and cooperates with the symmetrical leg structure to have better balance as a whole. In the natural standing state, the substantially horizontal reference plane 15 is located in the horizontal plane formed by the horizontal direction X and the front-back direction Y.

[0054] In one embodiment, see Figure 1 , Figure 2 and Figure 4 The projections of the reference plane 15, the first assembly surface 11 and the second assembly surface 12 in the horizontal direction X are roughly an isosceles triangle, and the projections of the first assembly surface 11 and the second assembly surface 12 are roughly the two waist sides of the isosceles triangle.

[0055] In the above arrangement, the angles between the first assembly surface 11 and the second assembly surface 12 of the hip structure 1 are equal compared to the horizontal reference plane 15, so that the positions of the first assembly surface 11 and the second assembly surface 12 can be balanced and the stability during movement is better.

[0056] In one embodiment, the projections of the first assembly surface 11 and the second assembly surface 12 in the horizontal direction X are roughly isosceles triangles, so that the angle between the assembly direction of the hip structure 1 and the first leg connecting member 2 and the horizontal plane is equal to the angle between the assembly direction of the hip structure 1 and the second leg connecting member 3 and the horizontal plane. The left and right leg structures are symmetrically arranged, and the first leg connecting member 2 is symmetrical with the second leg connecting member 3.

[0057] When the humanoid robot is in a balanced state, part of the force will be converted into component forces along the horizontal direction X and the vertical direction Z through the above-mentioned angle matching setting, and the horizontal component forces generated by the first leg connecting member 2 and the second leg connecting member 3 are equal in magnitude and opposite in direction, and can offset each other, which can protect the hip structure 1 and improve the structural stability of the waist and hip area.

[0058] In one embodiment, in the front direction of the humanoid robot, the projections of the reference plane 15, the first assembly surface 11 and the second assembly surface 12 in the horizontal direction X are roughly equilateral triangles. The three surfaces arranged in this way have better structural stability, and the forces perpendicular to the three surfaces will be distributed, which is beneficial to the structural strength of the hip structure 1 and ensures the structural stability of the hip position.

[0059] In one embodiment, see Fig.11 and Fig.12 The hip-leg connection structure also includes a right leg pitch joint 51 and a left leg pitch joint 52; the first leg connection member 2 is used to connect the right leg pitch joint 51, and the second leg connection member 3 is used to connect the left leg pitch joint 52. The rotation axis of the right leg pitch joint 51 is perpendicular to the first mating surface 21, and the rotation axis of the left leg pitch joint 52 is perpendicular to the second mating surface 31.

[0060] In one embodiment, the left leg pitch joint 52 and the right leg pitch joint 51 are symmetrically arranged, and the symmetrical reference plane may be a vertical plane perpendicular to the reference plane 15 .

[0061] In one embodiment, see Figure 3 , Figure 5 and Fig.12The first docking structure 22 includes a first clamping block 221 and a second clamping block 222. In the vertical direction Z, the first clamping block 221 is located above the second clamping block 222. The first clamping block 221 and the second clamping block 222 are respectively arranged at two ends of the first mating surface 21. The hip structure 1 is respectively provided with a third clamping block 16a and a fourth clamping block 16b at two ends adjacent to the first assembly surface 11. In the vertical direction Z, the third clamping block 16a is located above the fourth clamping block 16b.

[0062] The first clamping block 221 and the second clamping block 222 form a spanning area of ​​the first docking structure 22, which is convenient for increasing the bonding area between the first docking structure 22 and the hip structure 1, thereby increasing the bonding degree and effectively improving its own structural strength. The spanning area of ​​the third clamping block 16a and the fourth clamping block 16b is convenient for increasing the span of the first assembly surface 11 of the hip structure 1 in the vertical direction Z, so as to adapt to the spacing between the first clamping block 221 and the second clamping block 222, which can increase the structural strength of the hip structure 1 itself and cooperate to increase the bonding degree between it and the first docking structure 22.

[0063] In the vertical direction Z, the first card block 221 is located above the second card block 222 and the third card block 16a is located above the fourth card block 16b, wherein the height comparison standard is, for example, the position of the horizontal plane where the center of gravity of the first card block 221 is located in the vertical direction Z is higher than the position of the horizontal plane where the center of gravity of the second card block 222 is located in the vertical direction Z; the position of the horizontal plane where the center of gravity of the third card block 16a is located in the vertical direction Z is higher than the position of the horizontal plane where the center of gravity of the fourth card block 16b is located in the vertical direction Z.

[0064] The second docking structure 32 includes a fifth clamping block 321 and a sixth clamping block 322. In the vertical direction Z, the fifth clamping block 321 is located above the sixth clamping block 322. The fifth clamping block 321 and the sixth clamping block 322 are respectively arranged at the two ends of the second mating surface 31. The hip structure 1 is respectively provided with a seventh clamping block 17a and an eighth clamping block 17b at the two ends adjacent to the second assembly surface 12. In the vertical direction Z, the seventh clamping block 17a is located above the eighth clamping block 17b. The arrangement of the second docking structure 32 and the hip structure 1 adjacent to the second assembly surface 12 is consistent with the principle of the arrangement of the first docking structure 22 and the hip structure 1 adjacent to the first assembly surface 11, and will not be repeated here.

[0065] In one embodiment, see Figure 3 , Figure 5 and Fig.12The first clamping block 221 is arranged in abutment with the third clamping block 16a, the second clamping block 222 is arranged in abutment with the fourth clamping block 16b, the first clamping block 221 is above the third clamping block 16a, the second clamping block 222 is below the fourth clamping block 16b, the clamping surface of the first clamping block 221 and the third clamping block 16a is roughly horizontal or the angle between them and the horizontal plane is an acute angle, and the clamping surface of the second clamping block 222 and the fourth clamping block 16b is roughly horizontal or the angle between them and the horizontal plane is an acute angle.

[0066] In an exemplary embodiment, the angle between the engaging surfaces of the second engaging block 222 and the fourth engaging block 16b and the horizontal plane is approximately 30 degrees. Engaging at this angle can better withstand the force in the vertical direction Z while also bearing the force in the horizontal direction X.

[0067] The first clamping block 221 is arranged to abut against the third clamping block 16a, and the second clamping block 222 is arranged to abut against the fourth clamping block 16b, which is equivalent to the first clamping block 221 and the second clamping block 222 clamping the third clamping block 16a and the fourth clamping block 16b, realizing the clamping of the first docking structure 22 and the hip structural member 1, and the two mutually form a clamping from the first clamping block 221 to the second clamping block 222. In addition, the third clamping block 16a abuts against the first clamping block 221 at a position away from the fourth clamping block 16b, and the fourth clamping block 16b abuts against the second clamping block 222 at a position away from the third clamping block 16a, and the abutting directions are opposite, which is equivalent to the third clamping block 16a and the fourth clamping block 16b supporting the first clamping block 221 and the second clamping block 222 from the inside, and the first docking structure 22 and the hip structural member 1 limit and support each other, thereby increasing the degree of combination, increasing the connection strength, and having a better shear resistance effect.

[0068] The engaging surfaces of the first clamping block 221 and the third clamping block 16a are roughly horizontal or have an acute angle with the horizontal plane, and the engaging surfaces of the second clamping block 222 and the fourth clamping block 16b are roughly horizontal or have an acute angle with the horizontal plane. Such a setting can fully resist the load in the direction of gravity or the impact load, and avoid the shearing effect of the load in this direction on the fastener. When the current humanoid robot is in a stationary state, it is generally in a natural standing state. The load in the direction of gravity is usually the gravity of the parts above the waist and the supporting force of the lower limbs. The angle setting of the engaging surface can fully cope with the load in this direction.

[0069] In an exemplary embodiment, the angle between the engaging surfaces of the first engaging block 221 and the third engaging block 16a and the horizontal plane is approximately 30 degrees. Engaging at this angle can better withstand the force in the vertical direction Z while also bearing the force in the horizontal direction X.

[0070] In one embodiment, see Figure 3 , Figure 5 and Fig.12, the fifth clamping block 321 is arranged in abutment with the seventh clamping block 17a, the sixth clamping block 322 is arranged in abutment with the eighth clamping block 17b, the fifth clamping block 321 is above the seventh clamping block 17a, the sixth clamping block 322 is below the eighth clamping block 17b, the clamping surface of the fifth clamping block 321 and the seventh clamping block 17a is substantially horizontal or the angle between the clamping surface and the horizontal plane is an acute angle, and the clamping surface of the sixth clamping block 322 and the eighth clamping block 17b is substantially horizontal or the angle between the clamping surface and the horizontal plane is an acute angle. This setting is consistent with the principle of the first clamping block 221, the second clamping block 222, the third clamping block 16a, and the fourth clamping block 16b, and will not be repeated here.

[0071] In an exemplary embodiment, the angle between the engaging surfaces of the fifth engaging block 321 and the seventh engaging block 17a, and the sixth engaging block 322 and the eighth engaging block 17b and the horizontal plane is approximately 30 degrees. Engaging at this angle can better withstand the force in the vertical direction Z while also bearing the force in the horizontal direction X.

[0072] In one embodiment, see Fig.10 The hip structure 1 is provided with a ninth clamping block 18a and a tenth clamping block 18b respectively at two ends adjacent to the first assembly surface 11. In the vertical direction Z, the ninth clamping block 18a is located above the tenth clamping block 18b. The ninth clamping block 18a and the tenth clamping block 18b are respectively provided at two ends of the first assembly surface 11. The first docking structure 22 includes an eleventh clamping block 223 and a twelfth clamping block 224. In the vertical direction Z, the eleventh clamping block 223 is located above the twelfth clamping block 224. The eleventh clamping block 223 and the twelfth clamping block 224 are respectively adjacent to two ends of the first mating surface 21.

[0073] The spanning area of ​​the ninth clamping block 18a and the tenth clamping block 18b is convenient for increasing the span of the first assembly surface 11 of the hip structure 1 in the vertical direction Z, which can increase the structural strength of the hip structure 1 itself and increase the degree of integration between it and the first docking structure 22.

[0074] The eleventh block 223 and the twelfth block 224 form a spanning area of ​​the first docking structure 22, which is convenient for increasing the bonding area between the first docking structure 22 and the hip structure 1, adapting to the distance between the ninth block 18a and the tenth block 18b, thereby increasing the bonding degree and being able to effectively improve its own structural strength.

[0075] In the vertical direction Z, the ninth block 18a is located above the tenth block 18b and the eleventh block 223 is located above the twelfth block 224, wherein the height comparison standard is, for example, the position of the horizontal plane where the center of gravity of the ninth block 18a is located in the vertical direction Z is higher than the position of the horizontal plane where the center of gravity of the tenth block 18b is located in the vertical direction Z; the position of the horizontal plane where the center of gravity of the eleventh block 223 is located in the vertical direction Z is higher than the position of the horizontal plane where the center of gravity of the twelfth block 224 is located in the vertical direction Z.

[0076] The hip structure 1 is provided with a thirteenth clamping block 19a and a fourteenth clamping block 19b at both ends adjacent to the second assembly surface 12, respectively. In the vertical direction Z, the thirteenth clamping block 19a is located above the fourteenth clamping block 19b. The second docking structure 32 includes a fifteenth clamping block 323 and a sixteenth clamping block 324. In the vertical direction Z, the fifteenth clamping block 323 is located above the sixteenth clamping block 324. The fifteenth clamping block 323 and the sixteenth clamping block 324 are respectively adjacent to both ends of the second mating surface 31. The arrangement of the second docking structure 32 and the hip structure 1 adjacent to the second assembly surface 12 is consistent with the principle of the arrangement of the first docking structure 22 and the hip structure 1 adjacent to the first assembly surface 11, and will not be repeated here.

[0077] In one embodiment, see Fig.10 The ninth card block 18a is arranged in abutment with the eleventh card block 223, the tenth card block 18b is arranged in abutment with the twelfth card block 224, the ninth card block 18a is above the eleventh card block 223, the tenth card block 18b is below the twelfth card block 224, the card connection surface between the ninth card block 18a and the eleventh card block 223 is roughly horizontal or the angle between them and the horizontal plane is an acute angle, the card connection surface between the tenth card block 18b and the twelfth card block 224 is roughly horizontal or the angle between them and the horizontal plane is an acute angle.

[0078] The ninth clamping block 18a is arranged in abutment with the eleventh clamping block 223, and the tenth clamping block 18b is arranged in abutment with the twelfth clamping block 224, which is equivalent to the ninth clamping block 18a and the tenth clamping block 18b clamping the eleventh clamping block 223 and the twelfth clamping block 224, realizing the clamping of the first docking structure 22 and the hip structural member 1, and the two mutually form a clamping from the ninth clamping block 18a to the tenth clamping block 18b. In addition, the eleventh clamping block 223 abuts against the ninth clamping block 18a at a position away from the twelfth clamping block 224, and the twelfth clamping block 224 abuts against the tenth clamping block 18b at a position away from the eleventh clamping block 223, and the abutting directions are opposite, which is equivalent to the eleventh clamping block 223 and the twelfth clamping block 224 supporting the ninth clamping block 18a and the tenth clamping block 18b from the inside, and the first docking structure 22 and the hip structural member 1 limit and support each other, increase the degree of combination, increase the connection strength, and have a better shear resistance effect.

[0079] The engaging surfaces of the ninth clamping block 18a and the eleventh clamping block 223 are approximately horizontal or have an acute angle with the horizontal plane, and the engaging surfaces of the tenth clamping block 18b and the twelfth clamping block 224 are approximately horizontal or have an acute angle with the horizontal plane. Such a setting can fully resist the load or impact load in the direction of gravity and avoid the shearing effect of the load in this direction on the fastener. When the current humanoid robot is in a stationary state, it is generally in a natural standing state. The load in the direction of gravity is usually the gravity of the parts above the waist and the supporting force of the lower limbs. The angle setting of the engaging surface can fully cope with the load in this direction.

[0080] The thirteenth clamping block 19a is arranged in abutment with the fifteenth clamping block 323, the fourteenth clamping block 19b is arranged in abutment with the sixteenth clamping block 324, the thirteenth clamping block 19a is above the fifteenth clamping block 323, the fourteenth clamping block 19b is below the sixteenth clamping block 324, the clamping surface of the thirteenth clamping block 19a and the fifteenth clamping block 323 is substantially horizontal or the angle between the clamping surface and the horizontal plane is an acute angle, and the clamping surface of the fourteenth clamping block 19b and the sixteenth clamping block 324 is substantially horizontal or the angle between the clamping surface and the horizontal plane is an acute angle. This setting is consistent with the principles of the ninth clamping block 18a, the tenth clamping block 18b, the eleventh clamping block 223, and the twelfth clamping block 224, and will not be repeated here.

[0081] In an exemplary embodiment, the angle between each clamping surface mentioned in the above embodiment and the horizontal plane is approximately 30 degrees. Clamping at this angle can be more conducive to mainly bearing the force in the vertical direction Z while also bearing the force in the horizontal direction X.

[0082] In one embodiment, see Figure 8 and Fig. 9 The first clamping structure 13 also has a first extension section 131, which is connected to the third clamping block 16a and the fourth clamping block 16b respectively; the second clamping structure 14 also has a second extension section 141, which is connected to the seventh clamping block 17a and the eighth clamping block 17b respectively. In this way, the two clamping blocks at both ends of the vertical direction Z are connected by an extension structure, so that a set of two back-to-back clamping surface structures are formed into a bidirectional bearing structure, avoiding the formation of horizontal outward force due to the dispersed bearing of the two clamping surface structures. The first extension section 131 and the second extension section 141 or similar structures can vertically conduct or balance the vertical force received by the two clamping surface structures at both ends.

[0083] The first extension section 131 is used to form a connection position between the third clamping block 16a and the fourth clamping block 16b, which are connected as a whole and can also increase the structural strength of the hip connector. The second extension section 141 is used to form a connection position between the seventh clamping block 17a and the eighth clamping block 17b, which are connected as a whole and can also increase the structural strength of the hip connector.

[0084] In one embodiment, see Figure 8 and Fig. 9 The hip connector is an integrally constructed structural member, and separate toothed blocks are provided on the first extension section 131 and the second extension section 141. The toothed blocks and the clamping blocks are spaced apart to increase the contact position with the leg connector.

[0085] In one embodiment, see Figure 8 and Fig. 9 The third clamping block 16a, the fourth clamping block 16b and the toothed block are provided with a plurality of assembly holes, the extension direction of the assembly holes is parallel to the clamping surface between the third clamping block 16a and the first clamping block 221, the first leg connecting member 2 is provided with a plurality of corresponding assembly holes, and the fastener is used to sequentially pass through the corresponding two assembly holes to realize the connection of the first leg connecting member 2. The seventh clamping block 17a, the eighth clamping block 17b and the toothed block are provided with a plurality of assembly holes, the extension direction of the assembly holes is parallel to the clamping surface between the seventh clamping block 17a and the fifth clamping block 321, the second leg connecting member 3 is correspondingly provided with a plurality of assembly holes, and the fastener is used to sequentially pass through the corresponding two assembly holes to realize the fastening connection of the second leg connecting member 3.

[0086] In one embodiment, see Figure 8 and Fig. 9 , along the front-to-back direction Y, the third clamping block 16a and the fourth clamping block 16b are arranged in multiple groups, corresponding to the first clamping block 221 and the second clamping block 222 are arranged in multiple groups, forming multiple groups of clamping surfaces in the front-to-back direction Y; along the front-to-back direction Y, the seventh clamping block 17a and the eighth clamping block 17b are arranged in multiple groups, corresponding to the fifth clamping block 321 and the sixth clamping block 322 are arranged in multiple groups, forming multiple groups of clamping surfaces in the front-to-back direction Y.

[0087] In one embodiment, the first clamping structure 13 further has a third extension section respectively connecting the ninth clamping block 18a and the tenth clamping block 18b; the second clamping structure 14 further has a fourth extension section respectively connecting the thirteenth clamping block 19a and the fourteenth clamping block 19b.

[0088] In one embodiment, the hip connector is an integrally constructed structural member, and separate toothed blocks are provided on the third extension segment and the fourth extension segment. The toothed blocks are spaced apart from the clamping blocks to increase the contact position with the leg connector.

[0089] In one embodiment, see Figures 2 to 7, it can also be considered that the first clamping structure 13 and the first docking structure 22 have two sets of clamping surfaces set apart from each other along the first axis, and the first clamping structure 13 and the first docking structure 22 have two sets of clamping surfaces set apart from each other along the second axis; the second clamping structure 14 and the second docking structure 32 have two sets of clamping surfaces set apart from each other along the third axis, and the second clamping structure 14 and the second docking structure 32 have two sets of clamping surfaces set apart from each other along the fourth axis.

[0090] In the above-mentioned embodiment, the two sets of clamping surfaces arranged in opposite directions along the first axis and the two sets of clamping surfaces arranged in opposite directions along the second axis can form a first clamping structure 13 and a first docking structure 22 that are completely limited, and can resist loads in multiple directions, and the shear resistance effect is better. The two sets of clamping surfaces arranged in opposite directions along the third axis and the two sets of clamping surfaces arranged in opposite directions along the fourth axis can form a second clamping structure 14 and a second docking structure 32 that are completely limited, and can resist loads in multiple directions, and the shear resistance effect is better.

[0091] In one embodiment, see Figure 6 and Figure 7 , the angle between the first axis and the second axis is 90 degrees, that is, the two axes are two mutually perpendicular axes in a plane parallel to the first mating surface 21; the angle between the third axis and the fourth axis is 90 degrees, that is, the two axes are two mutually perpendicular axes in a plane parallel to the second mating surface 31. Such an arrangement makes the two sets of clamping surfaces arranged in opposite directions along the first axis perpendicular to the two sets of clamping surfaces arranged in opposite directions along the second axis, forming shear protection in two mutually perpendicular directions; the two sets of clamping surfaces arranged in opposite directions along the third axis are perpendicular to the two sets of clamping surfaces arranged in opposite directions along the fourth axis, forming shear protection in two mutually perpendicular directions.

[0092] In one embodiment, see Figure 6 and Figure 7 The two sets of clamping surfaces along the first axis have opposite clamping forms; the two sets of clamping surfaces along the third axis have opposite clamping forms. In this way, the two sets of clamping surfaces along the first axis can resist loads in opposite directions respectively, and the anti-shearing range is more comprehensive; the two sets of clamping surfaces along the third axis can resist loads in opposite directions respectively, and the anti-shearing range is more comprehensive.

[0093] In one embodiment, see Fig.13 , a humanoid robot is provided, which mainly includes the hip-leg connection structure of the humanoid robot in any of the above embodiments. The beneficial effects of the hip-leg connection structure of the humanoid robot are detailed in the above embodiments and will not be repeated here.

[0094] In one embodiment, see Fig.13 The humanoid robot also includes a waist structure 9 and two symmetrically arranged leg structures, and the leg structures are respectively connected to the first leg connecting member 2 and the second leg connecting member 3.

[0095] In one embodiment, see Fig.13 , the leg structure of the humanoid robot also includes a leg roll joint module 53, a leg yaw joint module 54, a thigh structure 6 and a knee joint module 7, and one end of the thigh structure 6 is fixedly connected to the output flange of the leg yaw joint module 54. The thigh structure 6 is set to transmit yaw motion, and the direct connection method has a direct driving effect and is easy to control. In addition, when the humanoid robot is standing naturally, the rotation axis of the leg yaw joint module 54 is in the vertical direction Z, and the force transmission in the standing state is also along the vertical direction Z. The knee joint module 7 is fixedly connected to the other end of the thigh structure 6, and the rotation axis of the knee joint module 7 is set horizontally. The setting of the knee joint module 7 can imitate the lower leg part of a human being to achieve actions such as kicking. Such a setting avoids the traditional scheme of setting a joint module at the hip and adopting a rocker drive, which saves the setting of the joint module at the hip and avoids the bloatedness of the hip.

[0096] In one embodiment, see Fig.13 The humanoid robot further includes a shank 8, one end of which is connected to the output flange of the knee joint module 7. The shank 8 is directly driven by the knee joint module 7, the knee joint module 7 is directly arranged at the connection between the thigh structure 6 and the shank 8, one side of the output end is directly connected to the thigh or the shank 8, and the rotation of the knee joint module 7 can drive the shank 8 to rotate relative to the thigh.

[0097] In one embodiment, see Fig.13 The humanoid robot also includes a head, neck, torso, waist structure 9, hips, arms and legs. The legs also include soles 10. The soles 10 drive two sets of crank rocker groups to rotate through two foot drive joint modules on the calf 8. The rockers drive the soles 10 to achieve omnidirectional movement. Such a multi-degree-of-freedom robot can imitate humanoid walking, standing, bending and other movements. Combined with the arms, it can also achieve complex behaviors such as carrying and climbing.

[0098] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A hip-leg connection structure of a humanoid robot, characterized in that: include: A hip structural member, wherein the hip structural member is configured with a first assembly surface and a second assembly surface, a first clamping structure is disposed adjacent to the first assembly surface, and a second clamping structure is disposed adjacent to the second assembly surface; and A first leg connector, wherein the first leg connector is configured with a first mating surface, and a first docking structure is disposed adjacent to the first mating surface; a second leg connector, the second leg connector being configured with a second mating surface, and a second docking structure being disposed adjacent to the second mating surface; The first assembly surface is disposed in abutment with the first matching surface, and the hip structure and the first leg connection member are connected by a plurality of fasteners, and the second assembly surface is disposed in abutment with the second matching surface, and the hip structure and the second leg connection member are connected by a plurality of fasteners; The first clamping structure is clamped with the first docking structure to limit the vertical position of the hip structure relative to the first leg connector, and the second clamping structure is clamped with the second docking structure to limit the vertical position of the hip structure relative to the second leg connector.

2. The hip-leg connection structure according to claim 1, characterized in that: The hip structure also includes a substantially horizontal reference surface, the reference surface being above the first mounting surface and the second mounting surface, the reference surface being used to connect to the waist structure.

3. The hip-leg connection structure according to claim 2, characterized in that: In the front direction of the humanoid robot, the projections of the reference plane, the first assembly surface and the second assembly surface in the horizontal direction substantially form an isosceles triangle, and the projections of the first assembly surface and the second assembly surface are waist sides of the isosceles triangle.

4. The hip-leg connection structure according to claim 1, characterized in that: Also includes: Left leg pitch joint, right leg pitch joint; The first leg connecting member is used to connect the right leg pitch joint, and the second leg connecting member is used to connect the left leg pitch joint; The rotation axis of the right leg pitch joint is perpendicular to the first matching surface, and the rotation axis of the left leg pitch joint is perpendicular to the second matching surface.

5. The hip-leg connection structure according to claim 1, characterized in that: The first docking structure comprises a first clamping block and a second clamping block, wherein the first clamping block is located above the second clamping block in the vertical direction, and the first clamping block and the second clamping block are respectively arranged at two ends of the first mating surface; The hip structure is provided with a third clamping block and a fourth clamping block respectively at two ends adjacent to the first assembly surface, and in the vertical direction, the third clamping block is located above the fourth clamping block; The second docking structure comprises a fifth card block and a sixth card block, wherein the fifth card block is located above the sixth card block in the vertical direction, and the fifth card block and the sixth card block are respectively arranged at two ends of the first mating surface; The hip structure is provided with a seventh clamping block and an eighth clamping block respectively at two ends of the second assembly surface, and the seventh clamping block is located above the eighth clamping block in the vertical direction; The first card block is disposed in contact with the third card block, the second card block is disposed in contact with the fourth card block, the first card block is above the third card block, the second card block is below the fourth card block, the engaging surfaces of the first card block and the third card block are substantially horizontal or have an acute angle with the horizontal plane, and the engaging surfaces of the second card block and the fourth card block are substantially horizontal or have an acute angle with the horizontal plane; The fifth card block is arranged in abutment with the seventh card block, the sixth card block is arranged in abutment with the eighth card block, the fifth card block is above the seventh card block, the sixth card block is below the eighth card block, the card connection surface between the fifth card block and the seventh card block is substantially horizontal or the angle between them and the horizontal plane is an acute angle, and the card connection surface between the sixth card block and the eighth card block is substantially horizontal or the angle between them and the horizontal plane is an acute angle.

6. The hip-leg connection structure according to claim 1, characterized in that: The hip structure is provided with a ninth clamping block and a tenth clamping block respectively at two ends adjacent to the first assembly surface, the ninth clamping block is located above the tenth clamping block in the vertical direction, and the ninth clamping block and the tenth clamping block are respectively provided at two ends of the first assembly surface; The first docking structure includes an eleventh clamping block and a twelfth clamping block. In the vertical direction, the eleventh clamping block is located above the twelfth clamping block. The eleventh clamping block and the twelfth clamping block are respectively adjacent to two ends of the first mating surface. The hip structure is provided with a thirteenth clamping block and a fourteenth clamping block respectively at two ends adjacent to the second assembly surface, and in the vertical direction, the thirteenth clamping block is located above the fourteenth clamping block; The second docking structure comprises a fifteenth clamping block and a sixteenth clamping block, wherein the fifteenth clamping block is located above the sixteenth clamping block in the vertical direction, and the fifteenth clamping block and the sixteenth clamping block are respectively adjacent to two ends of the second mating surface; The ninth card block is disposed in abutment with the eleventh card block, the tenth card block is disposed in abutment with the twelfth card block, the ninth card block is above the eleventh card block, the tenth card block is below the twelfth card block, the engaging surfaces of the ninth card block and the eleventh card block are substantially horizontal or the angle between them and the horizontal plane is an acute angle, and the engaging surfaces of the tenth card block and the twelfth card block are substantially horizontal or the angle between them and the horizontal plane is an acute angle; The thirteenth card block is arranged in abutment with the fifteenth card block, the fourteenth card block is arranged in abutment with the sixteenth card block, the thirteenth card block is above the fifteenth card block, and the fourteenth card block is below the sixteenth card block. The engaging surfaces of the thirteenth card block and the fifteenth card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle, and the engaging surfaces of the fourteenth card block and the sixteenth card block are roughly horizontal or the angle between them and the horizontal plane is an acute angle.

7. The hip-leg connection structure according to claim 5, characterized in that: The first clamping structure also has a first extension section, which is respectively connected to the third clamping block and the fourth clamping block; the second clamping structure also has a second extension section, which is respectively connected to the seventh clamping block and the eighth clamping block.

8. The hip-leg connection structure according to claim 1, characterized in that: The first clamping structure and the first docking structure have two sets of clamping surfaces set apart from each other along the first axis, and the first clamping structure and the first docking structure have two sets of clamping surfaces set apart from each other along the second axis; the second clamping structure and the second docking structure have two sets of clamping surfaces set apart from each other along the third axis, and the second clamping structure and the second docking structure have two sets of clamping surfaces set apart from each other along the fourth axis.

9. The hip-leg connection structure according to claim 8, characterized in that: The included angle between the first axis and the second axis is 90 degrees; the included angle between the third axis and the fourth axis is 90 degrees.

10. The hip-leg connection structure according to claim 9, characterized in that: The clamping forms of the two groups of clamping surfaces along the first axis are opposite to each other; the clamping forms of the two groups of clamping surfaces along the third axis are opposite to each other.

11. A humanoid robot, characterized in that: include: A hip-leg connection structure for a humanoid robot as claimed in any one of claims 1 to 10.

12. The humanoid robot according to claim 11, characterized in that: Also includes: Waist structure; as well as Two leg structures are symmetrically arranged, and the leg structures are respectively connected to the first leg connecting piece and the second leg connecting piece.

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