Connector, crotch assembly and humanoid robot

Abstract

A connecting member, a crotch assembly and a humanoid robot, wherein the cylinder of the connecting member has a receiving cavity, the receiving cavity is used to receive a waist driving member, and the receiving cavity has a first axis extending along a first direction; a first connecting plate is connected to the outer peripheral surface of the cylinder, the first connecting plate includes a first surface facing away from the cylinder, and the first surface is used to connect with a first pitch driving member; a second connecting plate is connected to the outer peripheral surface of the cylinder opposite to the first connecting plate, the second connecting plate includes a second surface facing away from the cylinder, and the second surface is used to connect with a second pitch driving member, and the first surface and the second surface are both inclined relative to the first axis. By providing the cylinder, the first connecting plate and the second connecting plate, the waist driving member can be received in the receiving cavity of the cylinder, thereby improving space utilization, and the inclined first connecting plate and the second connecting plate are respectively connected to the first pitch driving member and the second pitch driving member, thereby shortening the distance between the two pitch driving members and saving space.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a connecting piece, a crotch assembly and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes leg components, hip components and waist components, and the hip components are connected between the leg components and the waist components.

[0003] The connector of the crotch assembly needs to be connected to both the hip joint mechanism and the waist assembly. The existing connector structure is unreasonable, resulting in a large space occupied and low space utilization. Summary of the invention

[0004] The purpose of the present application is to provide a connecting piece, a crotch assembly and a humanoid robot, which can improve the space utilization of the connecting piece and save space.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a connecting member for a crotch assembly of a humanoid robot, the crotch assembly comprising a first hip joint mechanism and a second hip joint mechanism arranged opposite to each other, the first hip joint mechanism comprising a first pitch driving member, the second hip joint mechanism comprising a second pitch driving member, the connecting member being arranged between the first pitch driving member and the second pitch driving member, the connecting member comprising:

[0007] The cylinder has a receiving cavity, the receiving cavity is used to receive the waist driving member, and the receiving cavity has a first axis extending along a first direction;

[0008] A first connecting plate connected to the outer circumferential surface of the cylinder, the first connecting plate comprising a first surface facing away from the cylinder, the first surface being used to connect with the first pitch driving member;

[0009] A second connecting plate is connected to the outer circumferential surface of the cylinder on the side opposite to the first connecting plate, the second connecting plate includes a second surface facing away from the cylinder, the second surface is used to connect with the second pitch driving member, and the first surface and the second surface are both inclined relative to the first axis.

[0010] The connecting member in the embodiment of the present application, by setting a cylinder, a first connecting plate and a second connecting plate, at least a part of the lumbar driving member can be accommodated in the accommodating cavity of the cylinder, thereby improving space utilization, and the inclined first connecting plate and the second connecting plate are respectively connected to the first pitch driving member and the second pitch driving member.

[0011] In one embodiment, the first surface has a first angle A1 with the first axis, and the second surface has a second angle A2 with the first axis, satisfying: 0°<A1≤70°, 0°<A2≤70°. The first angle A and the second angle A2 are set to be greater than 0°, so that the first pitch drive member and the second pitch drive member are set obliquely, the distance between the two pitch drive members is shortened, and space is saved. If the first angle A1 and the second angle A2 are too large, the rotation angle range of the leg assembly will be limited, and the humanoid effect will be poor. When the first angle A and the second angle A2 are within the above range, a rotation angle that is more similar to the movement posture of the human body can be obtained, which can have a good humanoid effect.

[0012] In one embodiment, the cylinder includes a first end face and a second end face in the first direction, and the first connecting plate also includes a first connecting face and a second connecting face opposite to each other in the first direction, and the first connecting face and the first end face are oriented in the same direction; the first connecting face and the second connecting face are both arc surfaces, the first connecting face is convex in the direction from the second end face to the first end face, and the second connecting face is concave in the direction from the second end face to the first end face. The first connecting face is convex in the direction from the second end face to the first end face, so that it can better fit the inner wall of the cylindrical shell of the pitch drive member, and the connection is stable; the second connecting face is concave in the direction from the second end face to the first end face, so as to avoid interference with other components and save space.

[0013] In one embodiment, the first connecting surface includes a first edge intersecting with the first surface, the second connecting surface includes a second edge intersecting with the first surface, and the length of the first edge is greater than the length of the second edge. The length of the first edge is set to be greater than the length of the second edge, and the two ends of the first connecting plate are inwardly shaped to avoid interference between the first connecting plate and other components or scratches on the inner wall surface of the cylindrical shell during installation.

[0014] In one embodiment, the connecting member further comprises a first connecting portion, the first connecting plate comprises a third surface opposite to the first surface, and the first connecting portion connects the third surface to the outer peripheral surface of the cylinder. The first connecting plate and the cylinder are connected by the first connecting portion, the connection is stable, and the first connecting portion can increase the size of the connecting member in the direction from the first pitch driving member to the second pitch driving member, and the size of the connecting member can be adjusted as needed, thereby improving the applicability of the connecting member.

[0015] In one embodiment, the first connecting plate is provided with a first weight-reducing hole, and / or the second connecting plate is provided with a second weight-reducing hole. By providing the first weight-reducing hole and / or the second weight-reducing hole, the weight of the connecting member can be reduced, thereby achieving lightweighting of the humanoid robot. In addition, the first pitch driving member and / or the second pitch driving member can also dissipate heat through the first weight-reducing hole and the second weight-reducing hole, thereby reducing heat accumulation, improving safety in use and improving the life of parts.

[0016] In one embodiment, the cylinder is a magnetic component. In this case, the waist driving member can be integrated with the cylinder to form a first motor, and the cylinder serves as the first stator of the first motor. The waist driving member does not need to be additionally provided with a stator, which can simplify the structure and save space.

[0017] In the second aspect, the present application further provides a hip assembly, comprising a first hip joint mechanism, a second hip joint mechanism, and a connecting member as described in any one of the various embodiments of the first aspect, wherein the connecting member is disposed between a first pitch driving member of the first hip joint mechanism and a second pitch driving member of the second hip joint mechanism, and connects and fixes the first pitch driving member and the second pitch driving member. By using a connecting member to connect and fix the first pitch driving member and the second pitch driving member, the cylinder of the connecting member can accommodate at least part of the waist driving member, thereby improving the internal space utilization rate of the humanoid robot; and by providing a first connecting plate and a second connecting plate of the connecting member that are obliquely disposed and connected to the first pitch driving member and the second pitch driving member, respectively, the distance between the two pitch driving members can be shortened, thereby saving space.

[0018] In one embodiment, the first pitch driving member includes a connected cylindrical shell and a bottom plate, the bottom plate is accommodated in the cylindrical shell, and the cylindrical shell protrudes from a side of the bottom plate facing the connecting member, the first connecting plate is accommodated in a space enclosed by a surface of the bottom plate facing the connecting member and the cylindrical shell, and the bottom plate is connected to a first surface of the first connecting plate. The first connecting plate is accommodated in a space enclosed by a surface of the bottom plate of the first pitch driving member facing the connecting member and the cylindrical shell, which can save space and improve space utilization.

[0019] In a third aspect, the present application further provides a humanoid robot, comprising two leg assemblies and a crotch assembly as described in any one of the various embodiments of the second aspect, wherein the first hip joint mechanism and the second hip joint mechanism of the crotch assembly are each connected to one of the leg assemblies. A unique crotch assembly is provided, and the structure of the crotch assembly is reasonably arranged, which can improve the internal space utilization rate of the humanoid robot and save space. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a perspective view of a crotch assembly of an embodiment;

[0022] Figure 2 is a front view of a crotch assembly of one embodiment;

[0023] Figure 3 is a three-dimensional diagram of a connector of an embodiment;

[0024] Figure 4 is a front view of a connector of an embodiment;

[0025] Figure 5 The figure is a bottom view of a connector according to an embodiment.

[0026] Description of reference numerals:

[0027] 100-crotch assembly;

[0028] 10-connecting member, 11-cylinder, 111-accommodating cavity, 112-first end surface, 113-second end surface, 12-first connecting plate, 121-first surface, 122-first connecting surface, 123-second connecting surface, 124-first edge, 125-second edge, 126-third surface, 127-first weight-reducing hole, 13-second connecting plate, 131-second surface, 132-second weight-reducing hole, 14-first connecting portion, 141-main body plate, 142-reinforcement plate, 15-second connecting portion;

[0029] 20-first pitch driving member, 21-first surface, 22-second surface, 23-cylindrical housing, 233-abutting surface, 24-bottom plate;

[0030] 30- second pitch driving member;

[0031] 40- waist driving member;

[0032] E1-first axis, E2-second axis, E3-third axis, A1-first angle, A2-second angle;

[0033] X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0036] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0037] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0038] Please refer to Figure 1 and Figure 2 An embodiment of the present application provides a humanoid robot, comprising a leg assembly (not shown in the figure) and a hip assembly 100 in an embodiment of the present invention, wherein a first hip joint mechanism and a second hip joint mechanism of the hip assembly 100 are connected to the leg assembly.

[0039] Optionally, the humanoid robot further comprises a waist assembly (not shown in the figure), and the crotch assembly 100 is further connected to the waist assembly. The humanoid robot comprises two leg assemblies, and the first hip joint mechanism and the second hip joint mechanism are respectively connected to one of the leg assemblies.

[0040] The specific structures of the waist component and the leg component are not limited, and both can be set to a humanoid shape. The crotch component 100 is connected to the waist component and can rotate relatively to each other, so as to realize the sacral joint function similar to that of the human body structure. The first hip joint mechanism and the second hip joint mechanism of the crotch component 100 are respectively connected to a leg component and can rotate relatively to each other, so as to realize the hip joint function similar to that of the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, wherein the X direction is the left-right direction X of the assembled humanoid robot, the Y direction is the front-back direction Y of the humanoid robot, and the Z direction is the up-down direction Z of the humanoid robot.

[0041] In the embodiment of the present application, by providing a unique crotch component 100, the structure of the crotch component 100 is reasonably arranged, which can improve the internal space utilization of the humanoid robot and save space.

[0042] Please refer to Figure 1 and Figure 2 The embodiment of the present application also provides a hip assembly 100, including a first hip joint mechanism, a second hip joint mechanism and a connecting member 10 in the embodiment of the present application, the connecting member 10 is arranged between a first pitch driving member 20 of the first hip joint mechanism and a second pitch driving member 30 of the second hip joint mechanism, and connects and fixes the first pitch driving member 20 and the second pitch driving member 30.

[0043] Optionally, the first pitch actuator 20 and the second pitch actuator 30 are arranged opposite and spaced apart in the X direction. The connection between the connecting member 10 and the first pitch actuator 20 and the second pitch actuator 30 can be welding, bonding, clamping, screwing, etc., which are not specifically limited.

[0044] The connector 10 is used to simulate the function of the human hip joint, and the leg assembly can be rotated through the connector 10. With the connector 10 as the center, the leg assembly can swing in the left-right direction X and the front-back direction Y of the humanoid robot, and can also rotate around the center line of the leg assembly itself. When the leg assembly swings in the left-right direction X of the humanoid robot, it is similar to the action of the human body splitting the legs left and right or putting the legs together, and the movement of the humanoid robot in the left-right direction X can be achieved. The pitch drive member drives the leg assembly to rotate around the axis, so that the leg assembly can swing in the front-back direction Y of the humanoid robot, similar to the action of the human body kicking the legs forward and backward, and the movement of the humanoid robot in the front-back direction Y can be achieved. When the leg assembly rotates around its own center line, it is similar to the action of the human body turning around, and the turning of the humanoid robot can be achieved.

[0045] Considering that a humanoid robot should simulate the appearance and movement posture of the human body as much as possible, the range of movement of the leg assembly of the humanoid robot should simulate the range of movement of the human body's legs as much as possible, that is, the leg assembly can swing outward to a certain angle in the left and right direction X of the humanoid robot.

[0046] The crotch assembly 100 in the embodiment of the present application adopts the connecting member 10 in the embodiment of the present application. The connecting member 10 connects and fixes the first pitch driving member 20 and the second pitch driving member 30, so as to improve the internal space utilization rate of the humanoid robot and save space.

[0047] The connecting piece 10 according to the embodiment of the present application is described in detail below.

[0048] When the humanoid robot is in a state where both feet stand upright on a horizontal plane, the first direction of the connecting member 10 is the X direction.

[0049] Please refer to Figure 1 , Figure 2 and Figure 3 The present application provides a connecting member 10 for a crotch assembly 100 of a humanoid robot. The connecting member 10 is used to be arranged between a first pitch driving member 20 and a second pitch driving member 30 . The connecting member 10 includes a cylinder 11 , a first connecting plate 12 and a second connecting plate 13 .

[0050] The connector 10 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The connector 10 can be an integrated structure, that is, the cylinder 11, the first connecting plate 12, and the second connecting plate 13 are an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The connector 10 can also be a split structure, and the cylinder 11, the first connecting plate 12, and the second connecting plate 13 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0051] Optionally, the barrel 11 has a receiving cavity 111, and the receiving cavity 111 is used to receive the waist driving member 40, and the receiving cavity 111 has a first axis E1 extending along the Z direction.

[0052] The shape of the cylinder 11 can be a cylinder, a prism, etc., and the side wall surface of the receiving cavity 111 can be a circle, a regular polygon, etc. in the orthographic projection in the Z direction, without limitation.

[0053] Optionally, the receiving cavity 111 penetrates two opposite end surfaces of the cylinder 11 along the Z direction, or the receiving cavity 111 has an opening, which is opened on the end surface of the cylinder 11 along the Z direction and facing the head of the humanoid robot, and there is no specific limitation.

[0054] Optionally, the cylinder 11 is sleeved on the outer periphery of the waist driving member 40, and the waist driving member 40 is used to connect with the waist assembly. The waist driving member 40 can rotate around the first axis E1 relative to the cylinder 11 to drive the waist assembly to rotate around the first axis E1 relative to the cylinder 11. When the humanoid robot is in a state where both feet stand upright on a horizontal plane, the first axis E1 can extend substantially in the vertical direction.

[0055] Optionally, the waist driving member 40 is an independent motor, at least part of which is accommodated in the accommodating cavity 111. Alternatively, the barrel 11 is a magnetic component, the waist driving member 40 and the barrel 11 are integrated into a first motor, at least part of which is accommodated in the accommodating cavity 111 and rotates relative to the barrel 11. The above methods can utilize the internal space of the barrel 11 to increase space utilization.

[0056] Optionally, the cylinder 11 is a magnetic component, and the waist driving component 40 can be integrated with the cylinder 11 to form a first motor, the cylinder 11 serves as the first stator of the first motor, and the waist driving component 40 serves as the first rotor of the first motor. Optionally, the waist driving component 40 is a first motor, the first stator of the first motor is connected and fixed to the cylinder 11, and the first rotor of the first motor is arranged in the first stator and can rotate relative to the first stator. The first output shaft of the first rotor is connected and fixed to the waist component, and the rotation of the first rotor relative to the first stator realizes the rotation of the waist component relative to the first stator, that is, the waist component rotates relative to the connecting member 10, which can simplify the structure.

[0057] Optional, such as Figure 3 , Figure 4 and Figure 5 The first connecting plate 12 is connected to the outer circumference of the cylinder 11, and the first connecting plate 12 includes a first surface 121 facing away from the cylinder 11, and the first surface 121 is used to connect with the first pitch actuator 20. The second connecting plate 13 is connected to the outer circumference of the cylinder 11 on the side opposite to the first connecting plate 12, and the second connecting plate 13 includes a second surface 131 facing away from the cylinder 11, and the second surface 131 is used to connect with the second pitch actuator 30, and the first surface 121 and the second surface 131 are both inclined relative to the first axis E1.

[0058] Optionally, the shapes of the first connecting plate 12 and the second connecting plate 13 are not specifically limited and may be semicircular, sector-shaped, polygonal, etc. The first connecting plate 12 and the cylinder 11 may be directly connected or indirectly connected.

[0059] Optionally, the first connecting plate 12 and the second connecting plate 13 are symmetrically arranged relative to the first axis E1, and the first hip joint mechanism and the second hip joint mechanism are also symmetrically arranged relative to the first axis E1.

[0060] It should be understood that the symmetry of this embodiment refers to the symmetrical arrangement when the first hip joint mechanism and the second hip joint mechanism drive the two leg assemblies symmetrically, for example, when both leg assemblies are in an upright state or have the same angle with the first axis E1, the first hip joint mechanism and the second hip joint mechanism are symmetrical relative to the first axis E1. From another perspective, when one of the first hip joint mechanism and the second hip joint mechanism is in a certain posture relative to the first axis E1, the other can reach another posture symmetrical with the former relative to the first axis E1 by adjusting the posture.

[0061] Optional, such as Figure 1 and Figure 2As shown, the first pitch driving member 20 is used to drive the leg assembly connected thereto to rotate around the second axis E2, and the second pitch driving member 30 is used to drive the leg assembly connected thereto to rotate around the third axis E3. The first axis E1 intersects with the second axis E2 and has an inclined angle, and the first axis E1 intersects with the third axis E3 and has an inclined angle.

[0062] In one embodiment, the second axis E2 intersects the third axis E3, and the angle between the first axis E1 and the second axis E2 is the same as the angle between the first axis E1 and the third axis E3.

[0063] The first pitch driving member 20 may be roughly cylindrical, and one end thereof in the axial direction (i.e., the extension direction of the second axis E2) is connected and fixed to the first surface 121 of the first connecting plate 12. Specifically, the first pitch driving member 20 includes a first surface 21 and a second surface 22 opposite to each other in the extension direction of the second axis, the first surface 21 is used to be connected and fixed to the first surface 121, and the second surface 22 is used to be connected to other components, and the other components are used to be connected to the leg assembly. Similarly, the second pitch driving member 30 is connected to the second connecting plate 13 and the leg assembly in a similar manner, and the aforementioned first pitch driving member 20 can be referred to, and there is no specific limitation.

[0064] The connecting member 10 in the embodiment of the present application, by providing a cylinder 11, a first connecting plate 12 and a second connecting plate 13, at least a portion of the waist driving member 40 can be accommodated in the accommodating cavity 111 of the cylinder 11, thereby improving space utilization. The inclined first connecting plate 12 and the second connecting plate 13 are respectively connected to the first pitch driving member 20 and the second pitch driving member 30, which can shorten the distance between the two pitch driving members and save space.

[0065] Optional, such as Figure 4 As shown, the first surface 121 and the first axis E1 have a first angle A1, and the second surface 131 and the first axis E1 have a second angle A2, satisfying: 0°<A1≤70°, 0°<A2≤70°.

[0066] Optionally, the value of the first angle A1 can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc., without limitation. The value of the second angle A2 can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc., without limitation.

[0067] Optionally, the first angle A1 is the same as the second angle A2, so that the first connecting plate 12 and the second connecting plate 13 have the same inclination angle.

[0068] Setting the first angle A and the second angle A2 greater than 0° can shorten the distance between the two pitch drive members and save space. Satisfying 0°<A1≤70°, 0°<A2≤70°, the first pitch drive member 20 and the second pitch drive member 30 are moderately inclined relative to the connecting member 10, so that the leg assembly can move at a large angle. If the first angle A1 is greater than 70°, in the left-right direction X of the humanoid robot, when the leg assembly rotates outward, it may also interfere with the contact with the second surface 22 of the first pitch drive member 20, limiting the angle range of the leg assembly when rotating outward. In short, when the first angle A and the second angle A2 are within the above range, a rotation angle that is more similar to the human body's movement posture can be obtained, which can have a good human-like effect.

[0069] Optional, such as Figure 3 and Figure 5 As shown, the cylinder 11 includes a first end surface 112 and a second end surface 113 in the Z direction, and the first connecting plate 12 also includes a first connecting surface 122 and a second connecting surface 123 opposite to each other in the Z direction, and the first connecting surface 122 and the first end surface 112 are oriented in the same direction. The first connecting surface 122 and the second connecting surface 123 are both cambered surfaces, the first connecting surface 122 is convex in the direction from the second end surface 113 to the first end surface 112, and the second connecting surface 123 is concave in the direction from the second end surface 113 to the first end surface 112.

[0070] Optionally, the first pitch drive member 20 includes a connected cylindrical shell 23 and a base plate 24, the base plate 24 is accommodated in the cylindrical shell 23, and the cylindrical shell 23 protrudes from a side of the base plate 24 facing the connecting member 10, the first connecting plate 12 is accommodated in the space enclosed by the surface of the base plate 24 facing the connecting member 10 and the cylindrical shell 23, and the base plate 24 is connected to the first surface 121.

[0071] Optionally, the cylindrical shell 23 and the bottom plate 24 can be an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The cylindrical shell 23 and the bottom plate 24 can also be a split structure, and the cylinder 11, the first connecting plate 12 and the second connecting plate 13 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0072] Optionally, the cylindrical housing 23 and the bottom plate 24 further enclose a receiving space (not shown in the figure), which is located on a side of the bottom plate 24 facing away from the connecting member 10. The first pitch driving member 20 includes a second motor, which is received in the receiving space.

[0073] Alternatively, the first pitch driving member 20 is a second motor, the second stator of the second motor is connected and fixed to the first connecting plate 12, specifically, the second stator is connected and fixed to the bottom plate 24, the second rotor of the second motor can be arranged in the second stator or sleeved outside the second stator, and the second rotor and the second stator can rotate around the second axis E2. The second rotor is used to be connected to the leg assembly through other components, and the relative rotation of the second rotor and the second stator can drive the leg assembly to rotate around the second axis E2 relative to the first connecting plate 12.

[0074] Optionally, the first surface 21 is the surface of the base plate 24 facing the connecting member 10 in the extension direction of the second axis, the first connecting surface 122 of the first connecting plate 12 is connected to the inner circumferential surface of the cylindrical outer shell 23, and the first surface 121 of the first connecting plate 12 is connected to the first surface 21. The connection method can be welding, bonding, clamping, screwing, etc., and there is no specific limitation.

[0075] The structure of the second pitch driving member 30 is similar to that of the aforementioned first pitch driving member 20 , and is therefore only for reference and will not be described in detail.

[0076] By setting the first pitch driving member 20 to include a connected cylindrical shell 23 and a bottom plate 24, the cylindrical shell 23 protrudes from the side of the bottom plate 24 facing the connecting member 10, and the first connecting plate 12 is accommodated in the space enclosed by the surface of the bottom plate 24 facing the connecting member 10 and the cylindrical shell 23, which can save space and improve space utilization.

[0077] Optionally, the cylindrical shell 23 includes a contact surface 233, and the contact surface 233 of the cylindrical shell 23 of the first pitch driving member 20 is located at an end of the first pitch driving member 20 away from the connecting member 10, and the contact surface 233 of the cylindrical shell 23 of the second pitch driving member 30 is located at an end of the second pitch driving member 30 away from the connecting member 10, and the contact surface 233 of the first pitch driving member 20 is connected to the contact surface 233 of the second pitch driving member 30 to achieve surface connection between the first pitch driving member 20 and the second pitch driving member 30, and the connection is stable.

[0078] Optionally, the first connection surface 122 and the second connection surface 123 are similar in shape, and the orthographic projection of the first connection surface 122 on the bottom plate 24 coincides with the edge of the bottom plate 24. The projection of the first connection plate 12 on the bottom plate 24 is fan-shaped, and the first connection surface 122 fits the inner wall surface of the cylindrical shell 23, so the connection is stable and space-saving.

[0079] By setting the first connecting plate 12 to include a first connecting surface 122 and a second connecting surface 123 facing each other, the first connecting surface 122 is convex in the direction from the second end surface 113 to the first end surface 112, which can better fit the inner wall of the cylindrical shell 23 and ensure a stable connection. The second connecting surface 123 is concave in the direction from the second end surface 113 to the first end surface 112, avoiding interference with other components and saving space.

[0080] Optional, such as Figure 5 As shown, the first connecting surface 122 includes a first edge 124 intersecting with the first surface 121 , and the second connecting surface 123 includes a second edge 125 intersecting with the first surface 121 . The length of the first edge 124 is greater than the length of the second edge 125 .

[0081] Optionally, the orthographic projection of the first connecting surface 122 on the base plate 24 is the first edge 124, and the orthographic projection of the second connecting surface 123 on the base plate 24 is the second edge 125. The first connecting surface 122 and the second connecting surface 123 are arc surfaces with overlapping centers, that is, the arc length of the first edge 124 is greater than the arc length of the second edge 125.

[0082] The length of the first edge 124 is set to be greater than the length of the second edge 125, and the two ends of the first connecting plate 12 in the Y direction are inwardly shaped to avoid interference with other components or scratches on the inner wall surface of the cylindrical shell 23 during installation.

[0083] Optional, such as Figure 3 As shown, the connecting member 10 further includes a first connecting portion 14 , the first connecting plate 12 includes a third surface 126 opposite to the first surface 121 , and the first connecting portion 14 connects the third surface 126 and the outer peripheral surface of the cylinder 11 .

[0084] Optionally, the first connection portion 14, the cylinder 11 and the first connection plate 12 may be an integrated structure, which is formed by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The first connection portion 14, the cylinder 11 and the first connection plate 12 may be a split structure, and the first connection portion 14, the cylinder 11 and the first connection plate 12 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0085] Optionally, the shape of the first connection portion 14 can be a plate, a block, a column, an irregular shape, etc., without specific limitation.

[0086] Optional, such as Figure 3As shown, the first connecting portion 14 includes a main body plate 141, one end of the main body plate 141 is connected to the third surface 126, and the other end is connected to the outer peripheral surface of the barrel 11. The connection between the main body plate 141 and the third surface 126 and the connection between the main body plate 141 and the outer peripheral surface of the barrel 11 are chamfered to avoid scratches.

[0087] The first connection portion 14 further includes a reinforcing plate 142 , which is connected to the main plate 141 and connects the third surface 126 to the outer circumference of the cylinder 11 , thereby increasing the structural strength of the first connection portion 14 and improving the overall structural stability of the connector 10 .

[0088] Optionally, the connector 10 further includes a second connecting portion 15, which connects the second connecting plate 13 and the surface opposite to the second surface 131 with the outer peripheral surface of the cylinder 11. The structure of the second connecting portion 15 is similar to that of the aforementioned first connecting portion 14, and is therefore only for reference and will not be described in detail.

[0089] By configuring the connector 10 to further include a first connecting portion 14 , the first connecting portion 14 connects the first connecting plate 12 including a third surface 126 opposite to the first surface 121 and the outer peripheral surface of the cylinder 11 , so that the connection is stable and the structural strength of the connector 10 is high.

[0090] Optional, such as Figure 3 As shown, the first connecting plate 12 is provided with a first weight-reducing hole 127 , and / or the second connecting plate 13 is provided with a second weight-reducing hole 132 .

[0091] Optionally, the first lightening hole 127 passes through the first surface 121 to the second surface 131. The shapes of the first lightening hole 127 and the second lightening hole 132 can be triangular, circular, square, polygonal, irregular, etc., without specific limitation.

[0092] Optionally, the number of the first weight reduction holes 127 may be one or more, without limitation. When there are multiple first weight reduction holes 127, multiple first weight reduction holes 127 are spaced apart on the first connecting plate 12, and the distance between two adjacent first weight reduction holes 127 may be the same or different. For example, multiple first weight reduction holes 127 are equidistantly spaced; or, multiple first weight reduction holes 127 are arranged in an array, and both of the above methods are possible. The number and arrangement of the second weight reduction holes 132 are similar to those of the aforementioned first weight reduction holes 127, and can be referred to without further elaboration.

[0093] The first connecting plate 12 is provided with a first weight-reducing hole 127, and / or the second connecting plate 13 is provided with a second weight-reducing hole 132, so as to reduce the weight of the connecting member 10 and achieve lightweighting of the humanoid robot. In addition, when the humanoid robot is working, the first pitch driving member 20 and / or the second pitch driving member 30 can also dissipate heat through the first weight-reducing hole 127 and the second weight-reducing hole 132, thereby reducing heat accumulation and improving safety in use and the life of parts.

[0094] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application 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 cannot be understood as a limitation on the present application.

[0095] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A connecting piece, characterized in that: A crotch assembly for a humanoid robot, the crotch assembly comprising a first hip joint mechanism and a second hip joint mechanism arranged opposite to each other, the first hip joint mechanism comprising a first pitch driving member, the second hip joint mechanism comprising a second pitch driving member, the connecting member being arranged between the first pitch driving member and the second pitch driving member, the connecting member comprising: The cylinder has a receiving cavity, the receiving cavity is used to receive the waist driving member, and the receiving cavity has a first axis extending along a first direction; a first connecting plate connected to the outer circumferential surface of the cylinder, the first connecting plate comprising a first surface facing away from the cylinder, the first surface being used to connect with the first pitch driving member, the first connecting plate further comprising a first connecting surface and a second connecting surface facing away from each other in the first direction, the first connecting surface and the second connecting surface being both arc surfaces; a second connecting plate connected to the outer peripheral surface of the cylinder on the side opposite to the first connecting plate, the second connecting plate comprising a second surface facing away from the cylinder, the second surface being used to connect with the second pitch driving member, and the first surface and the second surface being both inclined relative to the first axis; The first hip joint mechanism is used to connect with the leg assembly of the humanoid robot, and the first pitch drive component is used to drive the leg assembly to rotate around a second axis so that the leg assembly swings in the front-rear direction of the humanoid robot, and the second axis intersects with the first axis.

2. The connecting piece according to claim 1, characterized in that: The first surface and the first axis have a first angle A1, and the second surface and the first axis have a second angle A2, which satisfy: 0°<A1≤70°, 0°<A2≤70°.

3. The connecting piece according to claim 1, characterized in that: The cylinder includes a first end face and a second end face opposite to each other in the first direction, and the first connecting face and the first end face have the same orientation, the first connecting face is convex in the direction from the second end face to the first end face, and the second connecting face is concave in the direction from the second end face to the first end face.

4. The connecting piece according to claim 3, characterized in that: The first connecting surface includes a first edge intersecting with the first surface, and the second connecting surface includes a second edge intersecting with the first surface, and a length of the first edge is greater than a length of the second edge.

5. The connector according to claim 1, characterized in that: The connecting member further includes a first connecting portion, the first connecting plate includes a third surface opposite to the first surface, and the first connecting portion connects the third surface and the outer peripheral surface of the cylinder.

6. The connector according to claim 1, characterized in that: The first connecting plate is provided with a first weight-reducing hole, and / or the second connecting plate is provided with a second weight-reducing hole.

7. The connector according to claim 1, characterized in that: The cylinder is a magnetic component.

8. A crotch assembly, characterized in that: It comprises a first hip joint mechanism, a second hip joint mechanism and a connecting member as described in any one of claims 1 to 7, wherein the connecting member is arranged between a first pitch driving member of the first hip joint mechanism and a second pitch driving member of the second hip joint mechanism, and connects and fixes the first pitch driving member and the second pitch driving member.

9. The crotch assembly according to claim 8, characterized in that: The first pitch driving member includes a connected cylindrical outer shell and a bottom plate, wherein the bottom plate is accommodated in the cylindrical outer shell, and the cylindrical outer shell protrudes from a side of the bottom plate facing the connecting member, and the first connecting plate is accommodated in a space enclosed by a surface of the bottom plate facing the connecting member and the cylindrical outer shell, and the bottom plate is connected to a first surface of the first connecting plate.

10. A humanoid robot, characterized in that: The invention comprises two leg assemblies and a crotch assembly as claimed in claim 8 or 9, wherein a first hip joint mechanism and a second hip joint mechanism of the crotch assembly are respectively connected to one of the leg assemblies.

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