Three-degree-of-freedom waist structure and humanoid robot

Abstract

The embodiment of the invention provides a three-degree-of-freedom waist structure and a humanoid robot, and relates to the technical field of humanoid robots. The three-degree-of-freedom waist structure of the humanoid robot comprises a first joint mounting piece and a second joint mounting piece. And a waist turnover joint is arranged in the first joint mounting piece. The output end of the waist turnover joint is connected with the robot lower limb structure. And the second joint mounting piece is rotationally connected with the first joint mounting piece. And a waist side-sway joint and a waist pitching joint are arranged in the second joint mounting piece. The waist side-sway joint and the waist pitching joint are sequentially arranged in the direction of the output shaft of the waist pitching joint. And the output end of the waist side sway joint is connected with the first joint mounting piece through a crank connecting rod mechanism. The output end of the waist pitching joint is connected with the robot chest structure. A full series connection mode can be adopted, the whole structure is compact, the structure is prevented from being bloated, good structural rigidity is achieved, kinematics calculation and control of the series connection structure are simple, and the motion control difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a three-degree-of-freedom waist structure and a humanoid robot. Background Art

[0002] With the rapid development of robotics, humanoid robots are increasingly being used in industries such as industry, services, and healthcare. The requirements for their motion performance and structural design are also becoming increasingly stringent. As the core component of humanoid robot motion, the configuration design of the waist joint directly affects the overall performance of the robot.

[0003] In related technologies, there are two main schemes for the three-degree-of-freedom waist configuration of humanoid robots: the first is a full serial direct-drive structure, that is, the three rotational degrees of freedom (ROLL, PITCH, YAW) are all realized by direct drive of a serial motor; the second is a hybrid structure, in which the ROLL (roll angle, rotation around the X-axis) and PITCH (pitch angle, rotation around the Y-axis) degrees of freedom are realized by a parallel mechanism, and the YAW (yaw angle, rotation around the Z-axis) degree of freedom still uses a serial direct drive.

[0004] While a full-series direct-drive solution offers simple control, it results in a bulky waist structure and, due to a lack of support structure, poor overall rigidity. While using a parallel mechanism to achieve roll and pitch degrees of freedom can significantly reduce structural volume and improve rigidity, the parallel structure significantly increases the kinematic solution and control complexity, posing challenges to motion control. Summary of the Invention

[0005] The purpose of the present invention includes providing a three-degree-of-freedom waist structure and a humanoid robot, which can adopt a full series connection form and make the overall structure compact and have good structural rigidity.

[0006] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a three-degree-of-freedom waist structure, comprising a first joint mounting component and a second joint mounting component, wherein: A lumbar rotation joint is provided in the first joint mounting member, and an output end of the lumbar rotation joint is connected to the lower limb structure of the robot, for driving the first joint mounting member to rotate relative to the lower limb structure of the robot; The second joint mounting part is rotatably connected to the first joint mounting part, and a waist side swing joint and a waist pitch joint are provided in the second joint mounting part, and the waist side swing joint and the waist pitch joint are arranged in sequence along the output axis direction of the waist pitch joint; the output end of the waist side swing joint is connected to the first joint mounting part through a crank-connecting rod mechanism, and is used to drive the second joint mounting part to rotate relative to the first joint mounting part; the output end of the waist pitch joint is connected to the robot chest structure, and is used to drive the robot chest structure to rotate relative to the second joint mounting part.

[0007] In an optional embodiment, the waist rotation joint is arranged at a middle position below the waist side swing joint and the waist pitch joint.

[0008] In an optional embodiment, the crank-connecting rod mechanism includes a crank and a connecting rod, the output end of the lumbar side swing joint is connected to the center position of the crank, one end of the connecting rod is rotatably connected to the crank, and the connection position between the connecting rod and the crank is eccentrically set to the crank, and the other end of the connecting rod is rotatably connected to the first joint mounting member.

[0009] In an optional embodiment, the lines connecting the center position of the crank, the connection position of the connecting rod and the crank, the connection position of the connecting rod and the first joint mounting component, and the connection position of the second joint mounting component and the first joint mounting component in sequence form a parallelogram.

[0010] In an optional embodiment, a chest connection seat is further included, and the output end of the waist pitch joint is connected to the robot chest structure through the chest connection seat.

[0011] In an optional embodiment, a passive support seat is further included, which is rotatably connected to the second joint mounting member, and the second joint mounting member is connected to the robot chest structure through the passive support seat; the chest connection seat and the passive support seat are respectively located on both sides of the second joint mounting member, and the rotating shaft of the passive support seat and the second joint mounting member is collinear with the output axis of the waist pitch joint.

[0012] In a second aspect, the present invention provides a humanoid robot comprising the three-degree-of-freedom waist structure described in any one of the aforementioned embodiments.

[0013] In an optional embodiment, the lower limb structure connected to the three-degree-of-freedom waist structure includes a hip assembly, a thigh assembly, and a calf assembly connected in sequence; the hip assembly includes a hip pitch joint mounting component, a hip lateral swing joint mounting component, and a hip rotation joint mounting component, wherein: A hip pitch joint is provided in the hip pitch joint mounting component, and an output end of the hip pitch joint is connected to the hip lateral swing joint mounting component for driving the hip lateral swing joint mounting component to rotate relative to the hip pitch joint mounting component; The hip lateral swing joint mounting component is provided with a hip lateral swing joint, and the hip lateral swing joint and the hip rotation joint are arranged in sequence along the output axis direction of the hip lateral swing joint; the output end of the hip lateral swing joint is connected to the hip rotation joint mounting component, and is used to drive the hip rotation joint mounting component to rotate relative to the hip lateral swing joint mounting component; A hip rotation joint is provided in the hip rotation joint mounting component, and an output end of the hip rotation joint is connected to the thigh component for driving the thigh component to rotate relative to the hip rotation joint mounting component.

[0014] In an optional embodiment, the hip lateral swing joint and the hip rotation joint are arranged in sequence from the back to the front of the hip assembly along the output axis direction of the hip lateral swing joint; the hip pitch joint and the hip rotation joint are arranged in sequence from the inside to the outside of the hip assembly along the output axis direction of the hip pitch joint.

[0015] In an optional embodiment, the hip lateral swing joint mounting component is also rotatably connected to the hip rotation joint mounting component.

[0016] The three-degree-of-freedom waist structure and the humanoid robot provided by the embodiments of the present invention have the following beneficial effects: The three-degree-of-freedom waist structure provided by the embodiment of the present invention realizes a series rotation connection of the three components by setting a first joint mounting part, a second joint mounting part and a robot chest structure in series. Among them, the output end of the waist side swing joint is connected to the first joint mounting part through a crank-connecting rod mechanism, so that the second joint mounting part can rotate relative to the first joint mounting part, thereby realizing the waist side swing movement. The waist side swing joint can be integrated into the interior of the second joint mounting part, and the second joint mounting part can be driven to move from the inside out, avoiding the bloated waist structure caused by the external drive motor. Furthermore, the waist side swing joint and the waist pitch joint are arranged in sequence along the output axis direction of the waist pitch joint, and the structure is compact, which further reduces the size of the waist structure of the humanoid robot. The present invention can adopt a full series form and make the overall structure compact, avoid bloated structure, and have good structural rigidity. The kinematic solution and control of the series structure are relatively simple, reducing the difficulty of motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a three-degree-of-freedom waist structure provided in this embodiment; Figure 2 Schematic diagram of the exploded structure of the three-degree-of-freedom waist structure provided in this embodiment; Figure 3 A schematic diagram of the partial structure of the three-degree-of-freedom waist structure provided in this embodiment from a first perspective; Figure 4 A schematic diagram of the partial structure of the three-degree-of-freedom waist structure provided by this embodiment from a second perspective; Figure 5 A schematic structural diagram of the lower limb structure provided in this embodiment; Figure 6 A schematic diagram of the exploded structure of the hip assembly provided in this embodiment; Figure 7 A schematic structural diagram of the hip pitch joint mounting assembly provided in this embodiment; Figure 8 A schematic diagram of the structure of the hip lateral swing joint mounting component and the hip rotation joint mounting component provided in this embodiment; Figure 9 for Figure 8 Exploded diagram of the corresponding structure.

[0019] Icons: 100-3DOF waist structure; 10-first joint mounting part; 11-connecting flange; 12-lumbar rotation joint; 13-first connecting column; 20-second joint mounting part; 21-lumbar side swing joint; 211-crank; 212-second connecting column; 22-body; 23-cover; 24-connecting rod; 25-lumbar pitch joint; 26-cover; 30-thoracic connection seat; 31-passive support seat; 32-second limit block; 33-second limit baffle; 200-lower limb structure; 210-hip assembly; 201- Hip pitch joint mounting; 2011-top plate; 2012-clamp; 2013-inertial measurement unit; 2014-reinforcement; 2015-front cover; 2016-rear cover; 202-hip pitch joint; 203-hip lateral swing joint mounting; 2031-side plate; 2032-connecting plate; 204-hip lateral swing joint; 205-hip rotation joint mounting; 2051-first cylinder; 2052-second cylinder; 206-connecting piece; 207-hip rotation joint; 220-thigh assembly; 230-calf assembly. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0023] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0024] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0025] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0026] The overall structure, working principle and technical effects of the three-degree-of-freedom waist structure of the humanoid robot provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings.

[0027] Please refer to Figure 1-Figure 4 The three-degree-of-freedom waist structure 100 provided by the present invention is applied to a humanoid robot. The three-degree-of-freedom waist structure 100 can realize the three-degree-of-freedom rotation of the robot waist, and realize the robot waist rotation, pitch and lateral movement.

[0028] The three-degree-of-freedom waist structure 100 includes a first joint mounting part 10 and a second joint mounting part 20. A waist circumferential joint 12 is provided in the first joint mounting part 10. The output end of the waist circumferential joint 12 is connected to the robot lower limb structure 200, and is used to drive the first joint mounting part 10 to rotate relative to the robot lower limb structure 200. The second joint mounting part 20 is rotatably connected to the first joint mounting part 10. A waist lateral swing joint 21 and a waist pitch joint 25 are provided in the second joint mounting part 20. The waist lateral swing joint 21 and the waist pitch joint 25 are arranged in sequence along the output axis direction of the waist pitch joint 25. The output end of the waist lateral swing joint 21 is connected to the first joint mounting part 10 through a crank-connecting rod 24 crank-connecting rod mechanism, and is used to drive the second joint mounting part 20 to rotate relative to the first joint mounting part 10. The output end of the waist pitch joint 25 is connected to the robot chest structure, and is used to drive the robot chest structure to rotate relative to the second joint mounting part 20.

[0029] It can be understood that the output shaft axes of the waist rotation joint 12, the waist lateral swing joint 21 and the waist pitch joint 25 are perpendicular to each other, and the series connection of the robot waist is achieved by setting the first joint mounting part 10, the second joint mounting part 20 and the robot chest structure to be rotatably connected to each other. Among them, the first joint mounting part 10 is driven by the waist rotation joint 12 set therein, and rotates relative to the robot lower limb structure 200 below to achieve the robot waist rotation movement, that is, the waist twisting movement. Through the rotation connection between the second joint mounting part 20 and the first joint mounting part 10, the output end of the waist lateral swing joint 21 is connected to the first joint mounting part 10 through the crank connecting rod 24 crank connecting rod mechanism. The crank connecting rod 24 crank connecting rod mechanism converts the rotational movement of the output end of the waist lateral swing joint 21 into a cyclic reciprocating motion of the second joint mounting part 20 relative to the first joint mounting part 10, thereby pulling the second joint mounting part 20 to rotate relative to the first joint mounting part 10 to achieve the robot waist lateral swing movement, that is, the movement of bending left and right. By rotatably connecting the second joint mounting member 20 to the robot's thorax structure, the waist pitch joint 25 drives the robot's thorax structure to rotate relative to the second joint mounting member 20, thereby achieving the robot's waist pitch motion, i.e., forward and backward bending. In other words, the present invention utilizes a series connection mechanism between the first joint mounting member 10, the second joint mounting member 20, and the robot's thorax structure. Compared to a parallel connection mechanism, the series connection simplifies kinematics and control, reducing the difficulty of motion control.

[0030] Further, the output end of the waist side-swing joint 21 is connected to the first joint mounting member 10 through a crank and connecting rod 24 crank and connecting rod mechanism, enabling the second joint mounting member 20 to rotate relative to the first joint mounting member 10, thereby realizing the waist side-swing motion. The waist side-swing joint 21 can be integrated inside the second joint mounting member 20 to drive the second joint mounting member 20 to move from the inside out, avoiding the bloated waist structure caused by an external drive motor. Further, the waist side-swing joint 21 and the waist pitch joint 25 are arranged in sequence along the output axis direction of the waist pitch joint 25, with a compact structure, further reducing the size of the waist structure of the humanoid robot.

[0031] Therefore, the three-degree-of-freedom waist structure 100 provided by the embodiment of the present invention can make the overall structure compact on the basis of the series structure, and at the same time has the advantage of being easy to control in the series structure.

[0032] Specifically, the waist swivel joint 12 is arranged at the middle position below the waist side-swing joint 21 and the waist pitch joint 25. The waist side-swing joint 21 and the waist pitch joint 25 are arranged in sequence along the output axis direction of the waist pitch joint 25. It can be understood that the waist side-swing joint 21 and the waist pitch joint 25 are respectively arranged above the waist swivel joint 12 and at the same height, so that the waist swivel joint 12, the waist side-swing joint 21 and the waist pitch joint 25 are integrally distributed in a "pin" shape. It can be understood that through the above motor arrangement method, the overall waist structure can be made more compact, reducing the size of the second joint mounting member 20.

[0033] Specifically, the crank and connecting rod 24 crank and connecting rod mechanism includes a crank 211 and a connecting rod 24. The output end of the waist side-swing joint 21 is connected to the central position of the crank 211 to drive the crank 211 to rotate around its central axis. One end of the connecting rod 24 is rotatably connected to the crank 211, and the connection position of the connecting rod 24 and the crank 211 is eccentrically arranged with respect to the crank 211, so as to pull the end of the connecting rod 24 to move up and down by the rotation of the crank 211. The other end of the connecting rod 24 is rotatably connected to the first joint mounting member 10. In this embodiment, the waist side-swing joint 21 is fixed inside the second joint mounting member 20, thereby changing the relative position of the upper end of the connecting rod 24 and the second joint mounting member 20, and further pulling the second joint mounting member 20 to rotate relative to the first joint mounting member 10 through the connecting rod 24.

[0034] The waist side-swing joint 21 drives the crank 211 to rotate. Since one end of the crank 211 and the connecting rod 24 are eccentrically arranged, the connecting rod 24 and the crank 211 form a crank and connecting rod 24 mechanism. When the crank 211 rotates, it pulls one end of the connecting rod 24 to swing up and down, thereby pulling the body 22 of the second joint mounting member 20 to move. The body 22 together with the cover plate 23 rotates relative to the first joint mounting member 10, thereby realizing the rotation of the second joint mounting member 20 relative to the first joint mounting member 10, and further realizing the left and right swing of the second joint mounting member 20, achieving the action of the robot's waist side-swing.

[0035] Furthermore, when the connection position between the connecting rod 24 and the crank 211 is located at one end of the crank 211 close to the waist pitch joint 25, the lines connecting the center position of the crank 211, the connection position between the connecting rod 24 and the crank 211, the connection position between the connecting rod 24 and the first joint mounting member, and the connection position between the second joint mounting member 20 and the first joint mounting member 10 in sequence form a parallelogram. It can be understood that through the above structure, the center position of the crank 211 and the connection position between the connecting rod 24 and the first joint member are respectively arranged on the left and right sides of the connection position between the second joint mounting member 20 and the first joint mounting member 10, so that the side swing amplitude of the first joint mounting member 10 and the second joint mounting member 20 is increased, so that the robot waist has more postures.

[0036] Specifically, the second joint mounting component 20 includes a body 22 and a cover plate 23. The cover plate 23 covers the side of the body 22 and is fixedly connected to the body 22. A cavity is defined between the cover plate 23 and the body 22. The bottom of the cover plate 23 is rotatably connected to the first joint mounting component 10. The lumbar side swing joint 21 is mounted within the body 22 and is drivingly connected to the crank 211. The crank 211 and the connecting rod 24 are both disposed within the cavity.

[0037] By installing a cover plate 23 on the side of the main body 22 and pivotally connecting it to the first joint mounting member 10, a large gap is created between the main body 22 and the first joint mounting member 10, preventing interference between the main body 22 and the first joint mounting member 10 during rotation. Furthermore, by providing the cover plate 23 to cover the main body 22, internal structures such as the waist swing joint 21 and connecting rod 24 are all covered by the cover plate 23, preventing the internal structure of the robot from being exposed and improving the product's aesthetics.

[0038] Specifically, in this embodiment, a first connecting post 13 is provided on the first joint mounting member 10. A second connecting post 212 is eccentrically provided on the crank 211. The ends of the connecting rod 24 are rotatably connected to the first connecting post 13 and the second connecting post 212 via bearings, respectively. The provision of the first connecting post 13 and the second connecting post 212, along with the bearings, improves the transmission stability of the connecting rod 24.

[0039] Furthermore, the three-degree-of-freedom waist structure 100 also includes a chest connection seat 30. The chest connection seat 30 is used to connect to the robot chest structure. The output end of the waist pitch joint 25 is connected to the robot chest structure through the chest connection seat 30. The waist pitch joint 25 is used to drive the chest connection seat 30 to rotate relative to the second joint mounting member 20, so as to drive the robot chest structure to perform pitch motion relative to the second joint mounting member 20. The output axial axes of the waist swivel joint 12, the waist lateral swing joint 21 and the waist pitch joint 25 are perpendicular to each other. By setting the first joint mounting member 10, the second joint mounting member 20 and the chest connection seat 30 to be rotatably connected to each other, the series connection of the robot waist structure is realized.

[0040] In this embodiment, the thorax connection base 30 is also rotatably connected to the second joint mounting member 20 to enhance the stability of the second joint mounting member 20's support of the robot's thorax structure. Specifically, the thorax connection base 30 is rotatably connected to the second joint mounting member 20 via a bearing. The rotation axis of the thorax connection base 30 and the second joint mounting member 20 is collinear with the output axis of the waist pitch joint 25.

[0041] To facilitate installation of the lumbar pitch joint 25, in this embodiment, a removable cover 26 is provided on the side of the second joint mounting member 20 that is pivotally connected to the thoracic connection seat 30. The cover 26 is removably connected to the main body 22. Specifically, the thoracic connection seat 30 and the cover 26 are pivotally connected via a bearing. The output shaft of the lumbar pitch joint 25 passes through the cover 26 and is driveably connected to the thoracic connection seat 30. This structure facilitates installation of the lumbar pitch joint 25 within the second joint mounting member 20.

[0042] Furthermore, in this embodiment, the three-degree-of-freedom waist structure 100 also includes a passive support seat 31. The passive support seat 31 and the chest connection seat 30 are respectively located on both sides of the second joint mounting member 20. The output end of the waist pitch joint 25 is connected to the robot chest structure through the chest connection seat 30. The second joint mounting member 20 is connected to the robot chest structure through the passive support seat 31. The passive support seat 31 is rotatably connected to the second joint mounting member 20. The rotation axis of the passive support seat 31 and the second joint mounting member 20 is collinear with the rotation axis of the chest connection seat 30 and the second joint mounting member 20. It can be understood that the passive support seat 31 and the chest connection seat 30 are rotatably connected to both sides of the second joint mounting member 20, and are simultaneously connected to the robot chest structure, and the passive support seat 31 and the chest connection seat 30 rotate synchronously. Among them, the waist pitch joint 25 drives the chest connection seat 30 to rotate, driving the robot chest structure to move while pulling the passive support seat 31 to rotate. By providing the passive support seat 31 and the chest connection seat 30 , the robot chest structure can be supported on both sides of the second joint mounting component 20 , thereby improving the stability of the three-degree-of-freedom waist structure 100 .

[0043] In this embodiment, the bottom of the lumbar circumferential joint 12 is driven by a connecting flange 11. This flange 11 is used to connect to the robot's lower limb structure 200. Specifically, the flange 11 is located in the middle of the robot. This flange connection is convenient, can withstand significant pressure, and improves the load-bearing capacity of the lumbar structure.

[0044] Furthermore, a first limiting assembly (not shown) is provided between the connecting flange 11 and the first joint mounting member 10, for limiting the range of rotation of the robot lower limb structure 200 relative to the first joint mounting member 10. Specifically, the first limiting assembly includes a first limiting block and a first limiting baffle. The first limiting block is provided on the connecting flange 11, and the first limiting baffle is provided on the first joint mounting member 10. The connecting flange 11 rotates relative to the first joint mounting member 10, and the first limiting block abuts against the first limiting baffle to limit the range of rotation of the robot lower limb structure 200 relative to the first joint mounting member 10, thereby preventing the rotation angle from being too large.

[0045] Alternatively, in other embodiments, the first limiting baffle can be provided on the connecting flange 11, and the first limiting block can be provided on the first joint mounting member 10. In addition, the first limiting assembly can also be provided as other structures as required, which is not limited in the present invention.

[0046] Furthermore, a second limiting assembly is provided between the chest connection seat 30 and the second joint mounting member 20 to control the range of rotation of the robot's chest structure relative to the second joint mounting member 20. Specifically, the second limiting assembly includes a second limiting block 32 and a second limiting baffle 33. The second limiting block 32 is provided on the chest connection seat 30, and the second limiting baffle 33 is provided on the second joint mounting member 20. When the chest connection seat 30 rotates relative to the second joint mounting member 20, the second limiting block 32 and the second limiting baffle 33 abut to limit the range of rotation of the robot's chest structure relative to the second joint mounting member 20, preventing excessive rotation.

[0047] Optionally, in other embodiments, the second limiting baffle 33 can be provided on the chest connection seat 30, and the second limiting block 32 can be provided on the second joint mounting member 20. In addition, the second limiting assembly can also be provided as other structures as needed, and the present invention is not limited thereto.

[0048] Furthermore, a third limiting assembly (not shown) is disposed between the second joint mounting member 20 and the first joint mounting member 10 to limit the range of rotation of the second joint mounting member 20 relative to the first joint mounting member 10. Specifically, the third limiting assembly includes a third limiting block and a third limiting baffle. The third limiting block is disposed on the second joint mounting member 20, and the third limiting baffle is disposed on the first joint mounting member 10. When the second joint mounting member 20 rotates relative to the first joint mounting member 10, the third limiting block and the third limiting baffle abut to limit the range of rotation of the second joint mounting member 20 relative to the first joint mounting member 10, preventing excessive rotation.

[0049] Optionally, in other embodiments, the third limiting baffle can be provided on the second joint mounting member 20, and the third limiting block can be provided on the first joint mounting member 10. In addition, the third limiting assembly can also be provided as other structures as needed, which is not limited in the present invention.

[0050] Another aspect of the present invention provides a humanoid robot, which includes the three-degree-of-freedom waist structure 100 described above.

[0051] Please refer to Figure 5 and Figure 6 Furthermore, the humanoid robot also includes a lower limb structure 200 connected to the three-degree-of-freedom waist structure 100. The lower limb structure 200 includes a hip assembly 210, a thigh assembly 220, and a calf assembly 230 connected in sequence. The hip assembly 210 includes a hip pitch joint mounting component 201, a hip sway joint mounting component 203, and a hip rotation joint mounting component 205, wherein: A hip pitch joint 202 is provided within the hip pitch joint mounting assembly 201. The output end of the hip pitch joint 202 is connected to the hip lateral swing joint mounting assembly 203, and is used to drive the hip lateral swing joint mounting assembly 203 to rotate relative to the hip pitch joint mounting assembly 201; a hip lateral swing joint 204 is provided on the hip lateral swing joint mounting assembly 203. The output end of the hip lateral swing joint 204 is connected to the hip lateral swing joint mounting assembly 205, and is used to drive the hip lateral swing joint mounting assembly 205 to rotate relative to the hip lateral swing joint mounting assembly 203; a hip lateral swing joint 207 is provided on the hip lateral swing joint mounting assembly 205. The output end of the hip lateral swing joint 207 is connected to the thigh assembly 220, and is used to drive the thigh assembly 220 to rotate relative to the hip lateral swing joint mounting assembly 205.

[0052] The hip assembly 210 includes a hip pitch joint 202, a hip lateral swing joint 204 and a hip swivel joint 207 connected in sequence. The output axis direction of the hip pitch joint 202, the output axis direction of the hip lateral swing joint 204 and the output axis direction of the hip swivel joint 207 are perpendicular to each other. Among them, the hip pitch joint 202 is used to drive the thigh assembly 220 to achieve pitch motion, that is, to rotate the thigh assembly 220 forward or backward. The hip lateral swing joint 204 is used to drive the thigh assembly 220 to achieve lateral swing motion, that is, to rotate to the left or right to achieve side leg lifting or leg retraction motion. The hip swivel joint 207 is used to drive the thigh assembly 220 to achieve swivel motion, that is, to cause the thigh assembly 220 to twist along the axis of the thigh assembly 220.

[0053] In this embodiment, the hip lateral swing joint 204 and the hip swivel joint 207 are arranged sequentially from the rear to the front of the hip assembly 210 along the output axis of the hip lateral swing joint 204. This creates a front-to-back arrangement of the hip lateral swing joint 204 and the hip swivel joint 207. When the hip lateral swing joint 204 drives the robot's legs to lateral swing, the hip swivel joint 207 only rotates. Compared to conventional arrangements of the hip lateral swing joint 204 and the hip swivel joint 207 in an up-and-down manner, this reduces the spatial displacement of the hip swivel joint 207, the torque requirement of the hip lateral swing joint 204, the rotational inertia of the hip lateral swing joint 204, and the rotational inertia of the legs of the humanoid robot, thereby facilitating control of the humanoid robot.

[0054] It should be noted that the hip lateral swing joint 204 and the hip swivel joint 207 are arranged in a front-to-back arrangement. This arrangement refers to the front-to-back arrangement of the hip lateral swing joint 204 and the hip swivel joint 207 when the lower limb structure 200 is standing upright. When the hip pitch joint 202 drives the thigh assembly 220 to rotate forward or backward, the hip lateral swing joint 204 and the hip swivel joint 207 rotate, and the hip lateral swing joint 204 and the hip swivel joint 207 are located at different heights.

[0055] Furthermore, the hip pitch joint 202 and the hip swivel joint 207 are arranged sequentially from the inner side to the outer side of the hip assembly 210 along the output axis of the hip pitch joint 202. It will be appreciated that this structure places the hip pitch joint 202 and the hip swivel joint 207 at the same height, minimizing the spatial displacement of the hip swivel joint 207 during leg motion, reducing the rotational inertia of the robot's legs, and facilitating robot control.

[0056] It is understood that the hip pitch joint mounting assembly 201 has two opposing sides, each of which is provided with a hip sway joint mounting assembly 203. The hip pitch joint 202 drives the hip sway joint mounting assembly 203 to rotate, thereby enabling the entire thigh assembly 220 and calf assembly 230 to rotate about the X-axis relative to the hip pitch joint mounting assembly 201, thereby enabling the robot leg to rotate along the pitch angle (pitch). The hip sway joint 204 is mounted on one side of the hip sway joint mounting assembly 203 and is drivingly connected to the hip swivel joint 207. The hip swivel joint 204 drives the hip swivel joint mounting assembly 205 to rotate about the Y-axis relative to the hip swivel joint mounting assembly 203, thereby enabling the robot leg to rotate along the roll angle (roll). The hip swivel joint 207 is provided within the hip swivel joint mounting assembly 205. The hip swivel joint 207 is connected to the lower thigh assembly 220, driving the thigh assembly 220 relative to the hip swivel joint mounting 205 about the Z axis, thereby achieving yaw rotation of the robot leg. This embodiment utilizes three actuators connected in series to drive the robot leg's rotation along three degrees of freedom. This leg, with its characteristic adult lower limb dimensions and a wide range of joint motion, enables complex full-body movements, fulfilling key industrial humanoid robot functions such as falling and getting up.

[0057] For details, please refer to Figure 6 and Figure 7 The hip pitch joint mounting assembly 201 includes a top plate 2011 and clamps 2012 vertically connected to the bottom ends of the top plate 2011. The hip pitch joint 202 is fixedly connected to the clamps 2012 and located between the clamps 2012. A reinforcement piece 2014 is also connected between the clamps 2012. Specifically, in this embodiment, the two hip pitch joints 202 are respectively fixedly connected to the clamps 2012 at both ends, and the output ends of the output shafts of the two hip pitch joints 202 are respectively directed toward the two sides of the hip pitch joint mounting assembly 201 to respectively drive the hip lateral swing joint mounting assembly 203 at both ends to rotate relative to the hip pitch joint mounting assembly 201. It can be understood that by separately driving the hip lateral swing joint mounting assembly 203 on both sides, the robot legs on both sides of the hip pitch joint mounting assembly 201 can achieve different movements and postures. By providing the reinforcement piece 2014, the connection stability of the clamps 2012 at both ends is improved, so that the output shaft axes of the two hip pitch joints 202 remain on the same straight line.

[0058] Furthermore, the hip assembly 210 also includes a front cover 2015 and a rear cover 2016. The front cover 2015 and the rear cover 2016 are respectively covered on the front and rear sides of the hip pitch joint mounting component 201. The front cover 2015 and the rear cover 2016 are respectively detachably connected to the top plate 2011. Specifically, in this embodiment, the top of the front cover 2015 and the rear cover 2016 are covered on the top plate 2011 and connected to the top plate 2011 by bolts. The bottom of the front cover 2015 and the rear cover 2016 are also detachably connected by bolts. By providing the front cover 2015 and the rear cover 2016, it is convenient to hide the hip pitch joint mounting component 201 and the hip pitch joint 202, thereby improving the stability of the mechanical structure.

[0059] Furthermore, a connector 206 is provided on the top plate 2011. The connector 206 is connected to the output shaft end of the lumbar swivel joint 12. It is understood that the lower limb structure 200 in this embodiment can support the robot's thorax or lumbar structure, and the symmetrical arrangement of the leg structures can enhance the load-bearing capacity of the hip pitch joint mounting member 201 on the robot's lumbar and thorax structures.

[0060] To measure the robot's leg moment of inertia, in this embodiment, an inertial measurement unit (IMU) 2013 is also installed within the hip pitch joint mount 201. The IMU 2013 is mounted on the top plate 2011, on the side of the top plate 2011 facing the rear of the hip assembly 210. The IMU 2013 uses accelerometers and gyroscopes to measure linear acceleration and angular velocity along three axes, providing data for posture calculation and enabling accurate detection of the robot's posture.

[0061] Furthermore, the hip lateral sway joint mounting member 203 is also rotatably connected to the hip lateral rotation joint mounting member 205. It will be appreciated that both the hip lateral rotation joint mounting member 205 and the hip lateral sway joint 204 are mounted on the hip lateral sway joint mounting member 203. The rotation axes of the hip lateral sway joint mounting member 203 and the hip lateral rotation joint mounting member 205 are collinear with the output axis of the hip lateral sway joint 204, thereby enabling the thigh assembly 220 to be sequentially arranged with the hip lateral rotation joint mounting member 205 and the hip lateral sway joint mounting member 203 to provide support.

[0062] Please refer to Figure 6 、 Figure 8 and Figure 9Specifically, the hip lateral swing joint mounting component 203 is specifically a U-shaped frame. The hip lateral swing joint mounting component 203 includes two side plates 2031 arranged in parallel and spaced apart and a connecting plate 2032 connected between the side plates 2031. The side plates 2031, the connecting plate 2032 and the other side plate 2031 are connected in sequence to form a U-shaped frame. The hip lateral swing joint mounting component 205 is located between the two side plates 2031 and is rotatably connected to the side plates 2031. The hip lateral swing joint 204 is provided on one of the side plates 2031. Specifically, the hip lateral swing joint 204 is installed on the outside of the side plate 2031, that is, the outside of the U-shaped frame, and is used to drive the hip lateral swing joint mounting component 205 between the two side plates 2031 to rotate relative to the hip lateral swing joint mounting component 203.

[0063] In this embodiment, the hip sway joint 204 and the hip swivel joint 207 are arranged sequentially from the rear to the front of the lower limb structure 200. Specifically, the hip sway joint 204 is mounted on the rear side panel 2031. It should be understood that the rear to the front of the lower limb structure 200 refers to the direction of the humanoid robot's forward movement. Placing the hip sway joint 204 at the rear of the humanoid robot and the hip swivel joint 207 at the front of the humanoid robot results in a more coordinated overall lower limb structure 200.

[0064] Of course, in other embodiments, the hip lateral swing joint 204 and the hip circumflex joint 207 may also be arranged sequentially along the front-to-back direction of the lower limb structure 200. Specifically, the hip lateral swing joint 204 is mounted on the front side plate 2031. It will be appreciated that arranging the hip lateral swing joint 204 and the hip circumflex joint 207 in the front-to-back direction, i.e., arranging the hip lateral swing joint 204 and the hip circumflex joint 207 at the same height, can reduce the moment of inertia of the hip lateral swing joint 204 driving the hip circumflex joint mounting member 205.

[0065] Furthermore, the hip flexion joint mounting assembly 205 includes a first cylindrical body 2051 and a second cylindrical body 2052 connected vertically. The first cylindrical body 2051 is located between the two side plates 2031 and is rotatably connected to the side plates 2031. The hip flexion joint 207 is mounted within the first cylindrical body 2051 and / or the second cylindrical body 2052. The axis of the output shaft of the hip flexion joint 207 is collinear with the axis of the second cylindrical body 2052.

[0066] Specifically, in this embodiment, the hip circumflex joint 207 is mounted within the second barrel 2052, with its output shaft extending from the second barrel 2052 to connect to the lower thigh assembly 220. Of course, in other embodiments, the hip circumflex joint 207 can be mounted within the first barrel 2051, with its output shaft extending through and extending from the second barrel 2052 to connect to the lower thigh assembly 220. Alternatively, if the hip circumflex joint 207 is relatively large, the hip circumflex joint 207 can be located within both the first barrel 2051 and the second barrel 2052.

[0067] Please refer to Figure 1 In this embodiment, the thigh assembly 220 and the calf assembly 230 are rotatably connected. A driving member is provided between the thigh assembly 220 and the calf assembly 230 for driving the calf assembly 230 to rotate relative to the thigh assembly 220. Specifically, the calf assembly 230 can rotate relative to the thigh assembly 220 about the X-axis, so that the calf assembly 230 can rotate forward or backward relative to the thigh assembly 220.

[0068] Furthermore, in order to limit the rotation range of the robot's legs, in this embodiment, limiting members are provided between the hip pitch joint mounting member 201 and the hip lateral swing joint mounting member 203, between the hip lateral swing joint mounting member 203 and the hip circumflex joint mounting member 205, and between the hip circumflex joint mounting member 205 and the thigh assembly 220.

[0069] In summary, the three-degree-of-freedom waist structure 100 and the humanoid robot provided by the embodiments of the present invention have the following beneficial effects: The three-degree-of-freedom waist structure 100 provided by the embodiment of the present invention is realized by setting the first joint mounting part 10, the second joint mounting part 20 and the robot chest structure in series, thereby realizing the serial rotation connection of the three components. Among them, the output end of the waist side swing joint 21 is connected to the first joint mounting part 10 through the crank connecting rod 24 crank connecting rod mechanism, so that the second joint mounting part 20 can rotate relative to the first joint mounting part 10, thereby realizing the waist side swing movement. The waist side swing joint 21 can be integrated into the interior of the second joint mounting part 20, and the second joint mounting part 20 can be driven from the inside to move, avoiding the bloated waist structure caused by the external drive motor. Furthermore, the waist side swing joint 21 and the waist pitch joint 25 are arranged in sequence along the output axis direction of the waist pitch joint 25, and the structure is compact, further reducing the size of the humanoid robot waist structure. The present invention can adopt a full series form and make the overall structure compact, avoid structural bloat, and have good structural rigidity. The kinematic solution and control of the series structure are relatively simple, reducing the difficulty of motion control.

[0070] The lower limb structure 200 provided by the embodiment of the present invention arranges the hip lateral swing joint 204 and the hip swivel joint 207 in sequence along the output axis direction of the hip lateral swing joint 204, so that the hip lateral swing joint 204 and the hip swivel joint 207 are arranged in a front-to-back structure. During the process of the hip lateral swing joint 204 driving the robot's leg to lateral swing movement, the hip swivel joint 207 only rotates. Compared with the traditional upper and lower arrangement structure of the hip lateral swing joint 204 and the hip swivel joint 207, the spatial displacement of the hip swivel joint 207 can be reduced, the torque requirement of the hip lateral swing joint 204 can be reduced, the rotational inertia of the hip lateral swing joint 204 can be reduced, and the rotational inertia of the legs of the humanoid robot can be reduced, thereby facilitating the control of the humanoid robot.

[0071] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the scope of protection of the present invention.

Claims

1. A three-degree-of-freedom waist structure, characterized in that: It comprises a first joint mounting member and a second joint mounting member, wherein: A lumbar rotation joint is provided in the first joint mounting member, and an output end of the lumbar rotation joint is connected to the lower limb structure of the robot, for driving the first joint mounting member to rotate relative to the lower limb structure of the robot; The second joint mounting part is rotatably connected to the first joint mounting part, and a waist side swing joint and a waist pitch joint are provided in the second joint mounting part, and the waist side swing joint and the waist pitch joint are arranged in sequence along the output axis direction of the waist pitch joint; the output end of the waist side swing joint is connected to the first joint mounting part through a crank-connecting rod mechanism, and is used to drive the second joint mounting part to rotate relative to the first joint mounting part; the output end of the waist pitch joint is connected to the robot chest structure, and is used to drive the robot chest structure to rotate relative to the second joint mounting part.

2. The three-degree-of-freedom waist structure according to claim 1, characterized in that: The waist rotation joint is arranged at a middle position below the waist side swing joint and the waist pitch joint.

3. The three-degree-of-freedom waist structure according to claim 1, characterized in that: The crank-connecting rod mechanism includes a crank and a connecting rod. The output end of the lumbar side swing joint is connected to the center position of the crank. One end of the connecting rod is rotatably connected to the crank. The connection position between the connecting rod and the crank is eccentrically set to the crank. The other end of the connecting rod is rotatably connected to the first joint mounting part.

4. The three-degree-of-freedom waist structure according to claim 3, characterized in that: When the connection position between the connecting rod and the crank is located at one end of the crank close to the waist pitch joint, the lines connecting the center position of the crank, the connection position between the connecting rod and the crank, the connection position between the connecting rod and the first joint mounting part, and the connection position between the second joint mounting part and the first joint mounting part in sequence form a parallelogram.

5. The three-degree-of-freedom waist structure according to claim 2, characterized in that: It also includes a chest connection seat, and the output end of the waist pitch joint is connected to the robot chest structure through the chest connection seat.

6. The three-degree-of-freedom waist structure according to claim 5, characterized in that: It also includes a passive support seat, which is rotatably connected to the second joint mounting member, and the second joint mounting member is connected to the robot chest structure through the passive support seat; the chest connection seat and the passive support seat are respectively located on both sides of the second joint mounting member, and the rotating axis of the passive support seat and the second joint mounting member is collinear with the output axis of the waist pitch joint.

7. A humanoid robot, characterized in that: The invention comprises the three-degree-of-freedom waist structure according to any one of claims 1 to 6.

8. The humanoid robot according to claim 7, characterized in that: The lower limb structure connected to the three-degree-of-freedom waist structure includes a hip assembly, a thigh assembly, and a calf assembly connected in sequence; the hip assembly includes a hip pitch joint mounting component, a hip lateral swing joint mounting component, and a hip rotation joint mounting component, wherein: A hip pitch joint is provided in the hip pitch joint mounting component, and an output end of the hip pitch joint is connected to the hip lateral swing joint mounting component for driving the hip lateral swing joint mounting component to rotate relative to the hip pitch joint mounting component; The hip lateral swing joint mounting component is provided with a hip lateral swing joint, and the hip lateral swing joint and the hip rotation joint are arranged in sequence along the output axis direction of the hip lateral swing joint; the output end of the hip lateral swing joint is connected to the hip rotation joint mounting component, and is used to drive the hip rotation joint mounting component to rotate relative to the hip lateral swing joint mounting component; A hip rotation joint is provided in the hip rotation joint mounting component, and an output end of the hip rotation joint is connected to the thigh component for driving the thigh component to rotate relative to the hip rotation joint mounting component.

9. The humanoid robot according to claim 8, characterized in that: The hip lateral swing joint and the hip rotation joint are arranged in sequence from the back to the front of the hip component along the output axis direction of the hip lateral swing joint; the hip pitch joint and the hip rotation joint are arranged in sequence from the inside to the outside of the hip component along the output axis direction of the hip pitch joint.

10. The humanoid robot according to claim 8, characterized in that: The hip lateral swing joint mounting component is also rotatably connected to the hip rotation joint mounting component.

Images