Connecting structure, crotch assembly and humanoid robot

Abstract

A connection structure, a hip assembly and a humanoid robot, wherein the connection structure is used for the hip assembly of the humanoid robot, the hip joint mechanism of the hip assembly includes a pitch drive member, the connection structure includes a first connection member and a connection tube, the first connection member includes a first cylinder, a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm are connected to opposite sides of the outer circumference of the first cylinder, the first cylinder has a first axis, the first cylinder is used to accommodate the waist drive member, and the first axis extends along a first direction; the first connecting arm and the second connecting arm are respectively connected to the inner circumference of a connection tube, the connection tube has a second axis, and the connection tube is used to accommodate the pitch drive member; wherein the second axis is inclined relative to the first axis, the first cylinder protrudes from the connection tube toward one side of the waist assembly, the inner diameter of the first cylinder is D1, and the inner diameter of the connection tube is D2, satisfying: 2 / 3≤D1 / D2≤1. The connection structure in the present application occupies a small space and has a high space utilization rate.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a connection structure, a crotch component 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 torso components, and the hip components are connected between the leg components and the torso components.

[0003] The connection structure of the crotch assembly connects two hip joint mechanisms spaced apart in the left and right directions of the humanoid robot. The existing connection structure occupies a large space and has a low space utilization rate. Summary of the invention

[0004] The purpose of the present application is to provide a connection structure, a crotch assembly and a humanoid robot to solve the problem that the connection structure occupies a large 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 connection structure for a crotch assembly of a humanoid robot, wherein the crotch assembly also includes a hip joint mechanism, wherein the hip joint mechanism includes a pitch drive member, wherein the connection structure includes a first connection member and two connection cylinders, wherein the first connection member includes a first cylinder body, a first connection arm and a second connection arm, wherein the first connection arm and the second connection arm are connected to opposite sides of an outer circumferential surface of the first cylinder body, wherein the first cylinder body has a first axis, wherein the first cylinder body is used to accommodate a waist drive member, wherein the waist drive member is used to drive the torso assembly of the humanoid robot to rotate around the first axis, wherein the first axis extends in a first direction; two The connecting tubes are opposite to each other in a second direction, the first connecting arm and the second connecting arm are respectively connected to an inner wall surface of the connecting tube, the connecting tube has a second axis, the connecting tube is used to accommodate the pitch driving component, the pitch driving component is used to drive the leg assembly of the humanoid robot to rotate around the second axis, and the second direction intersects with the first direction; wherein, the second axis is inclined relative to the first axis, in the first direction, the first cylinder protrudes from the connecting tube toward one side of the torso assembly, the inner diameter of the first cylinder is D1, and the inner diameter of the connecting tube is D2, satisfying: 2 / 3≤D1 / D2≤1.

[0007] The connection structure in the embodiment of the present application can improve space utilization by providing a first connecting member and a connecting tube, wherein the first tube of the first connecting member accommodates the waist driving member, and the first tube protrudes from the connecting tube toward one side of the torso assembly of the humanoid robot, and the first connecting arm and the second connecting arm of the first connecting member are respectively connected to an inclined connecting tube, which can shorten the distance between the two connecting tubes and save space; in addition, the inner diameter D1 of the first tube and the inner diameter D2 of the connecting tube satisfy 2 / 3≤D1 / D2≤1, and the waist driving member and the pitch driving member can use motors of similar size, which can provide more balanced power.

[0008] In one embodiment, there is a first angle A between the first axis and the second axis, which satisfies: 0°<A≤70°. By setting the first angle A greater than 0°, the two connecting tubes and the pitch drive members accommodated in the connecting tubes are in an inclined state, which can shorten the distance between the two pitch drive members and save space. If the first angle A>70°, the distance between the two pitch drive members is far and occupies a large space. Satisfying 0°<A≤70°, the pitch drive member has a moderate inclination relative to the first connecting member, so that the leg assembly can perform large-angle movements, and can obtain a rotation angle that is more similar to the movement posture of the human body, which can have a good human-like effect.

[0009] In one embodiment, the first connecting arm and the second connecting arm are symmetrical with respect to the first axis, the two connecting tubes are symmetrical with respect to the first axis, and the first connecting arm includes a first connecting plate, the first connecting plate extends into the connecting tube and is tightly attached to and connected to the inner wall surface of the connecting tube. By arranging the first connecting plate of the first connecting arm to extend into the connecting tube and be connected to the inner wall surface of the connecting tube, the size of the connecting structure between the two hip joint mechanisms can be reduced, so that the distance between the two pitch drive components is shortened, saving space.

[0010] In one embodiment, the first cylinder includes a first end face and a second end face opposite to each other in the first direction, and the first connecting plate also includes a first connecting surface and a second connecting surface opposite to each other in the first direction, the first connecting surface and the first end face have the same orientation, and the first connecting surface is connected to the inner wall surface of the connecting cylinder; the first connecting surface and the second connecting surface are both arc surfaces, the first connecting surface is convex in the direction from the second end face to the first end face, and the second connecting surface is concave in the direction from the second end face to the first end face. By setting the first connecting plate to include the first connecting surface and the second connecting surface opposite to each other, the first connecting surface is convex in the direction from the second end face to the first end face, so that the inner wall of the connecting cylinder can be better fitted, the connection is stable, and the second connecting surface is concave in the direction from the second end face to the first end face, avoiding interference with other components and saving space.

[0011] In one embodiment, the first connecting arm further includes a first connecting portion, the first connecting plate includes a first surface and a second surface opposite to each other, the first surface faces away from the first cylinder, and the first connecting portion connects the second surface to the outer peripheral surface of the first cylinder. By setting the first connecting member to also include a first connecting portion, the first connecting portion connects the first connecting plate and the second surface opposite to the first surface to the outer peripheral surface of the cylinder, the connection is stable and the structural strength of the first connecting member is high.

[0012] In one embodiment, the connection structure further includes a second connection member, which is arranged on the outer side of the connection tube away from the first connection member and is connected to the outer peripheral surfaces of the two connection tubes. By providing the second connection member, the second connection member connects and fixes the ends of the two connection tubes away from the first connection member, so that the connection stability of the connection structure can be improved. In addition, by providing the first connection member and the second connection member, during disassembly and maintenance, the first connection member or the second connection member can be operated independently without replacing the entire connection structure, which is convenient for operation.

[0013] In one embodiment, the second connecting member includes a first contact portion and a second contact portion connected to each other, the first contact portion includes a first contact surface facing away from the second contact portion, the second contact portion includes a second contact surface facing away from the first contact portion, and the first contact surface and the second contact surface are respectively connected to the outer peripheral surface of a connecting tube. By setting the second connecting member to include a first contact portion and a second contact portion connected to each other, the first contact surface of the first contact portion and the second contact surface of the second contact portion are respectively connected to the outer peripheral surface of a connecting tube, so that the other end away from the first connecting member in the first direction is connected and fixed to the connecting tube, the connection stability is improved.

[0014] In one embodiment, in the orthographic projection of the third direction, there is a second angle B between the first contact surface and the second contact surface, satisfying: 0°<B≤140°, and the third direction intersects with both the first direction and the second direction. Satisfying 0°<B≤140°, the inclination of the connecting tube relative to the second connecting member is moderate, so that the leg assembly can move at a large angle. If the second angle B is greater than 140°, in the second direction, when the leg assembly rotates outward, it may interfere with the pitch drive member due to contact, thereby limiting the angle range of the leg assembly when rotating outward. When the second angle B is 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 human-like effect.

[0015] In one embodiment, the outer circumferential surface of the connecting tube is provided with a first fixing portion, a first fixing groove is formed from the first contact surface, and the first fixing portion is cooperatively connected with the first fixing groove. By providing the first fixing portion on the outer circumferential surface of the connecting tube and the first fixing groove on the first contact surface for cooperative connection, the connection area is increased, the connection strength is improved, and the connection between the second connecting member and the connecting tube is made more stable.

[0016] In one embodiment, the connecting tube is provided with a first surface on a side away from the first connecting member in the first direction, and the first surfaces of the two connecting tubes are opposite and connected in the second direction. By arranging the first surfaces of the two connecting tubes to be opposite and connected in the second direction, a surface connection between the two connecting tubes can be achieved, the connection is stable, and the distance between the two connecting tubes in the second direction can be shortened, the size of the connecting structure in the second direction can be reduced, and space can be saved.

[0017] In a second aspect, the present application further provides a crotch assembly, comprising two hip joint mechanisms and a connection structure as described in any one of the various embodiments of the first aspect, wherein the hip joint mechanism comprises a pitch drive member, and the two pitch drive members are each accommodated in a connection tube of the connection structure. By providing a connection structure to connect and fix the two pitch drive members, the internal space utilization rate of the humanoid robot can be improved, saving space.

[0018] In a third aspect, the present application further provides a humanoid robot, comprising the crotch assembly as described in the second aspect. By providing a unique crotch assembly, the structure of the crotch assembly is reasonably arranged, which can improve the internal space utilization of the humanoid robot and save space. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 is a perspective view of a crotch assembly of an embodiment;

[0021] Figure 2 is a front view of a crotch assembly of one embodiment;

[0022] Figure 3 is a partial perspective view of a crotch assembly of an embodiment;

[0023] Figure 4 is a perspective view of a first connecting member of an embodiment;

[0024] Figure 5 is a side view of a first connecting member of an embodiment;

[0025] Figure 6 is a perspective view of a second connecting member of an embodiment;

[0026] Figure 7 1 is a front view of a second connecting member according to an embodiment.

[0027] Description of reference numerals:

[0028] 100-crotch assembly;

[0029] 10-first connecting member, 11-first cylinder, 111-accommodating cavity, 112-first end surface, 113-second end surface, 12-first connecting arm, 121-first connecting plate, 122-first surface, 123-first connecting surface, 124-second connecting surface, 125-first edge, 126-second edge, 127-first connecting portion, 128-second surface, 13-second connecting arm, 131-second connecting plate, 132-third surface, 133-second connecting portion;

[0030] 20-connecting tube, 21-first fixing portion, 22-first surface;

[0031] 30 - second connecting member, 31 - first contact portion, 311 - first contact surface, 312 - first fixing groove, 32 - second contact portion, 321 - second contact surface;

[0032] 40-pitch drive member;

[0033] 50- waist driving member;

[0034] E1-first axis, E2-second axis, A-first angle, B-second angle;

[0035] 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

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] Please refer to Figure 1 , an embodiment of the present application provides a humanoid robot, including the crotch assembly 100 in the embodiment of the present application.

[0041] Optionally, the humanoid robot further includes a torso assembly (not shown in the figure) and two leg assemblies (not shown in the figure), the sacral joint mechanism of the crotch assembly 100 is connected to the torso assembly, and the hip joint mechanism of the crotch assembly 100 is connected to the leg assemblies.

[0042] The specific structures of the torso 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 torso component and can rotate relatively to achieve a sacral joint function similar to that of the human body. The crotch component 100 is connected to the leg component and can rotate relatively to achieve a hip joint function similar to that of the human body. 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.

[0043] The humanoid robot in the embodiment of the present application is provided with 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.

[0044] Please refer to Figure 1 The embodiment of the present application also provides a hip assembly 100, including two hip joint mechanisms (not shown in the figure) and a connecting structure in the embodiment of the present application, the hip joint mechanism includes a pitch drive component 40, and the two pitch drive components 40 are both accommodated in the connecting structure.

[0045] Optionally, the two hip joint mechanisms are arranged opposite to each other and spaced apart in the left-right direction X of the humanoid robot, and each of the two hip joint mechanisms is connected to a leg assembly. The connecting structure is arranged between the two hip joint mechanisms, and connects and fixes the pitch driving members 40 of the two hip joint mechanisms. The connection between the connecting member structure and the pitch driving member 40 can be welding, bonding, clamping, screwing, etc., which is not specifically limited.

[0046] The connecting structure is used to simulate the function of the human hip joint, and the leg assembly can rotate through the connecting structure. With the center of the connecting structure, the leg assembly can swing in the left-right direction X of the humanoid robot 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 40 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.

[0047] 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.

[0048] The crotch assembly 100 in the embodiment of the present application adopts the connection structure in the embodiment of the present application, and the connection structure connects and fixes the two pitch driving components 40, so as to improve the internal space utilization rate of the humanoid robot and save space.

[0049] The connection structure in the embodiment of the present application is described in detail below.

[0050] When the humanoid robot is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the first direction is the Z direction, the second direction is the Y direction, and the third direction is the X direction.

[0051] Please refer to Figure 1 , Figure 2 and Figure 3The present application provides a connection structure for a crotch assembly 100 of a humanoid robot. The connection structure includes a first connection member 10 and a connection cylinder 20. The first connection member 10 includes a first cylinder body 11, a first connection arm 12 and a second connection arm 13. The first connection arm 12 and the second connection arm 13 are connected to opposite sides of the outer circumference of the first cylinder body 11. The first cylinder body 11 has a first axis E1. The first cylinder body 11 is used to accommodate a waist driving member 50. The first axis E1 extends along the Z direction.

[0052] The first connecting member 10 is a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc., and metal materials such as aluminum, aluminum alloys, magnesium alloys, iron and iron alloys, etc. The first connecting member 10 can be an integrated structure, that is, the first cylinder 11, the first connecting arm 12 and the second connecting arm 13 are an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The first connecting member 10 can also be a split structure, and the first cylinder 11, the first connecting arm 12 and the second connecting arm 13 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0053] Optionally, the first cylinder 11 has a receiving cavity 111, and the receiving cavity 111 is used to receive the waist driving member 50, and the receiving cavity 111 has a first axis E1 extending along the Z direction.

[0054] The shape of the first cylinder 11 may be a cylinder, a prism, etc., and the side wall surface of the receiving cavity 111 in the orthographic projection in the Z direction may be a circle, a regular polygon, etc., without limitation.

[0055] Optionally, the receiving cavity 111 penetrates two opposite end surfaces of the first cylinder 11 along the Z direction, or the receiving cavity 111 has an opening, which is opened on the end surface of the first cylinder 11 along the Z direction and facing the head of the humanoid robot, and there is no specific limitation.

[0056] Optionally, the first cylinder 11 is sleeved on the outer periphery of the waist driving member 50, and the waist driving member 50 is used to connect with the trunk assembly. The waist driving member 50 can rotate around the first axis E1 relative to the first cylinder 11 to drive the trunk assembly to rotate around the first axis E1 relative to the first 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 approximately along the Z direction.

[0057] Optionally, the waist driving member 50 is an independent motor, at least part of which is accommodated in the accommodating cavity 111. Alternatively, the first barrel 11 is a magnetic component, the waist driving member 50 and the first 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 first barrel 11. The above methods can all utilize the internal space of the first barrel 11 to increase space utilization.

[0058] Optionally, the first cylinder 11 is a magnetic component, and the waist driving component 50 can be integrated with the first cylinder 11 to form a first motor, the first cylinder 11 serves as the first stator of the first motor, and the waist driving component 50 serves as the first rotor of the first motor. Optionally, the waist driving component 50 is a first motor, the first stator of the first motor is connected and fixed to the first 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 trunk assembly, and the rotation of the first rotor relative to the first stator realizes the rotation of the trunk assembly relative to the first stator, that is, the rotation of the trunk assembly relative to the first connecting member 10, which can simplify the structure.

[0059] Optional, such as Figure 2 and Figure 3 As shown, the first connecting arm 12 and the second connecting arm 13 are respectively connected to the inner circumference of a connecting tube 20, the connecting tube 20 has a second axis E2, and the connecting tube 20 is used to accommodate the pitch driving member 40. The pitch driving member 40 is used to drive the leg assembly of the humanoid robot to rotate around the second axis E2, that is, to drive the leg assembly to swing in the Y direction.

[0060] The second axis E2 is inclined relative to the first axis E1.

[0061] Optionally, the first connecting arm 12 and the second connecting arm 13 are symmetrically arranged relative to the first axis E1, and the two connecting cylinders 20 are also symmetrically arranged relative to the first axis E1. The second axes E2 of the two connecting cylinders 20 both intersect with the first axis E1 and are symmetrically arranged relative to the first axis E1.

[0062] It should be understood that the symmetry of this embodiment refers to the symmetrical setting when the two hip joint mechanisms drive the two leg assemblies symmetrically, for example, when the two leg assemblies are both in an upright state, or have the same angle with the first axis E1, the two hip joint mechanisms are symmetrical relative to the first axis E1. From another perspective, when one of the two hip joint mechanisms is in a certain posture relative to the first axis E1, the other can reach another posture symmetrical to the former relative to the first axis E1 by adjusting the posture.

[0063] In the X direction, the first cylinder 11 protrudes from the connecting cylinder 20 toward one side of the trunk assembly. The inner diameter of the first cylinder 11 is the first inner diameter D1, and the inner diameter of the connecting cylinder 20 is the second inner diameter D2, satisfying: 2 / 3≤D1 / D2≤1.

[0064] Optionally, the value of D1 / D2 can be 2 / 3, 3 / 4, 7 / 9, 5 / 6, 8 / 9, 11 / 12, 1, etc., without specific limitation. In this way, the difference in the inner diameter of the connecting tube 20 and the first cylinder 11 is limited to a certain range, that is, the waist driving member 50 and the pitch driving member 40 can use motors of similar size, and the power provided is relatively balanced.

[0065] The connection structure in the embodiment of the present application can improve space utilization by setting a first connecting member 10 and a connecting tube 20, and the first tube body 11 of the first connecting member 10 accommodates the waist driving member 50. The first tube body 11 protrudes from the connecting tube 20 toward one side of the torso component, and the first connecting arm 12 and the second connecting arm 13 of the first connecting member 10 are respectively connected to an inclined connecting tube 20, which can shorten the distance between the two connecting tubes 20 and save space; the first inner diameter D1 of the first tube body 11 and the second inner diameter D2 of the connecting tube 20 satisfy 2 / 3≤D1 / D2≤1, and the waist driving member 50 and the pitch driving member 40 can use motors of similar size, which can provide more balanced power.

[0066] Optional, such as Figure 2 As shown, there is a first angle A between the first axis E1 and the second axis E2, which satisfies: 0°<A≤70°.

[0067] Optionally, the value of the first angle A can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, etc., without limitation. Optionally, the first angle A between the second axis E2 of the two connecting tubes 20 and the first axis E1 is the same, so that the inclination angles of the two pitch driving members 40 are the same.

[0068] When the first angle A is set to be greater than 0°, the two connecting tubes 20 and the pitch drive members contained in the connecting tubes 20 are in an inclined state, which can shorten the distance between the two pitch drive members 40 and save space. If the first angle A>70°, the distance between the two pitch drive members 40 is far, and a large space is occupied. When 0°<A≤70° is satisfied, the pitch drive member 40 is moderately tilted relative to the first connecting member 10, so that the leg assembly can perform large-angle movements, and a rotation angle similar to the human body movement posture can be obtained, which can have a good human-like effect.

[0069] Optional, such as Figure 2 , Figure 3 and Figure 4 As shown, the first connecting arm 12 includes a first connecting plate 121 , and the second connecting arm 13 includes a second connecting plate 131 . The first connecting plate 121 and the second connecting plate 131 extend into a connecting tube 20 respectively, and are tightly attached to and connected to the inner wall surface of the connecting tube 20 .

[0070] Optionally, the first connecting plate 121 and the second connecting plate 131 are symmetrically arranged relative to the first axis E1. The shapes of the first connecting plate 121 and the second connecting plate 131 are not specifically limited and can be semicircular, fan-shaped, polygonal, etc., without specific limitation.

[0071] By arranging the first connecting plate 121 of the first connecting arm 12 to extend into the connecting tube 20 and connect to the inner wall surface of the connecting tube 20 , the size of the connecting structure in the X direction can be reduced, so that the distance between the two pitch driving members 40 is shortened, saving space.

[0072] Optional, such as Figure 4 As shown, the first cylinder 11 includes a first end face 112 and a second end face 113 opposite to each other in the Z direction, and the first connecting plate 121 also includes a first connecting face 123 and a second connecting face 124 opposite to each other in the Z direction, the first connecting face 123 and the first end face 112 have the same orientation, and the first connecting face 123 is connected to the inner wall surface of the connecting cylinder 20; the first connecting face 123 and the second connecting face 124 are both arc surfaces, the first connecting face 123 is convex in the direction from the second end face 113 to the first end face 112, and the second connecting face 124 is concave in the direction from the second end face 113 to the first end face 112.

[0073] Optionally, the first connecting surface 123 is connected to the inner circumferential surface of the connecting tube 20 , and the connection method may be bonding, snap connection, screw connection, magnetic connection, etc., which is not specifically limited.

[0074] Optionally, the first connection surface 123 and the second connection surface 124 are similar in shape. In the orthographic projection along the second axis E2, the first connection plate 121 is fan-shaped, and the first connection surface 123 coincides with the inner circumference of the connection tube 20. The first connection plate 121 and the connection tube 20 are connected by a surface, which is stable and saves space.

[0075] By setting the first connecting plate 121 to include a first connecting surface 123 and a second connecting surface 124 facing each other, the first connecting surface 123 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 connecting tube 20 and ensure a stable connection. The second connecting surface 124 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.

[0076] Optional, such as Figure 4 and Figure 5 As shown, the first connecting plate 121 includes a first surface 122 facing away from the connecting tube 20 , and the first surface 122 can be connected and fixed to the stator of the pitch actuator 40 , or the first surface 122 can only contact the surface of the pitch actuator 40 , without specific limitation.

[0077] The first connecting surface 123 includes a first edge 125 intersecting with the first surface 122 , and the second connecting surface 124 includes a second edge 126 intersecting with the first surface 122 . The length of the first edge 125 is greater than the length of the second edge 126 .

[0078] Optionally, in the orthographic projection along the second axis E2, the orthographic projection of the first connecting surface 123 is the first edge 125, and the orthographic projection of the second connecting surface 124 is the second edge 126. The first connecting surface 123 and the second connecting surface 124 are arc surfaces with overlapping centers, and the arc length of the first edge 125 is greater than the arc length of the second edge 126.

[0079] The length of the first edge 125 is set to be greater than the length of the second edge 126 , and both ends of the first connecting plate 121 in the Y direction are inwardly shaped to avoid interference with other components or scratches on the inner wall surface of the connecting tube 20 during installation.

[0080] Optional, such as Figure 3 As shown, the first end surface 112 is located outside the connecting cylinder 20 in the Z direction.

[0081] Optionally, the second end face 113 can be located on the outside of the connecting tube 20 in the Z direction. In this case, the first tube body 11 is located on the outside of the connecting tube 20 in the Z direction as a whole, that is, in the X direction, the first tube body 11 is exposed to the connecting tube 20 as a whole; the second end face 113 can also be located on the inside of the connecting tube 20 in the Z direction. In this case, the first tube body 11 is partially located on the outside of the connecting tube 20 in the Z direction, that is, in the X direction, the first tube body 11 is partially exposed to the connecting tube 20. All of the above methods are possible and are not specifically limited.

[0082] In one embodiment, the first end surface 112 is located outside the connecting tube 20 in the Z direction, the second end surface 113 is located inside the connecting tube 20 in the Z direction, and part of the first cylinder 11 is exposed from the connecting tube 20 in the X direction.

[0083] In the prior art, the first end face 112 of the first barrel 11 is located inside the connecting barrel 20 in the Z direction, while in the embodiment of the present application, the first end face 112 is located outside the connecting barrel 20 in the Z direction. When the inner diameter of the first barrel 11 remains unchanged, the distance between the two connecting barrels 20 in the X direction can be shortened, thereby saving space. When the distance between the two connecting barrels 20 is constant, the first barrel 11 in the embodiment of the present application can adopt a larger inner diameter, and can accommodate a larger waist driving member 50, thereby achieving a good driving effect.

[0084] Optional, such as Figure 4As shown, the first connecting arm 12 further includes a first connecting portion 127 , the first connecting plate 121 includes a second surface 128 opposite to the first surface 122 , and the first connecting portion 127 connects the second surface 128 and the outer peripheral surface of the first cylinder 11 .

[0085] Optionally, the first connection portion 127, the first cylinder 11 and the first connection plate 121 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 127, the first cylinder 11 and the first connection plate 121 may be a split structure, and the first connection portion 127, the first cylinder 11 and the first connection plate 121 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0086] Optionally, the shape of the first connection portion 127 can be a plate, a block, a column, an irregular shape, etc., and there is no specific limitation.

[0087] Optionally, the second connecting plate 131 includes a third surface 132 facing away from the connecting plate, and the second connecting arm 13 also includes a second connecting portion 133, which connects the surface of the second connecting plate 131 opposite to the third surface 132 and the outer peripheral surface of the first cylinder 11. The structure of the second connecting portion 133 is similar to that of the aforementioned first connecting portion 127, and is referred to for reference without further explanation.

[0088] By configuring the first connecting member 10 to further include a first connecting portion 127 , the first connecting portion 127 connects the first connecting plate 121 and the second surface 128 opposite to the first surface 122 and the outer circumferential surface of the cylinder, the connection is stable and the structural strength of the first connecting member 10 is high.

[0089] Similarly, the structure of the second connecting arm 13 is similar to that of the first connecting arm 12 , which can be referred to without further description.

[0090] Optional, such as Figure 3 and Figure 6 As shown, the connection structure further includes a second connection member 30 , which is disposed on the outer side of the connection tube 20 away from the first connection member 10 and is connected to the outer circumferential surfaces of the two connection tubes 20 .

[0091] The second connector 30 is made of a material with high structural strength, and specifically can be a metal material, high-strength plastic, ceramic, etc. The metal material is, for example, aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The second connector 30 can be an integrated structure, that is, the second connector 30 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The second connector 30 can also be a split structure, and the components are connected and fixed by welding, riveting, clamping, screwing, etc.

[0092] Optionally, the second connecting member 30 is used to be disposed between the two connecting cylinders 20 and to connect and fix the outer surfaces of the two connecting cylinders 20 , and the second connecting member 30 and the first connecting member 10 are spaced apart in the Z direction.

[0093] By providing the second connecting member 30, the second connecting member 30 connects and fixes the ends of the two connecting tubes 20 away from the first connecting member 10, the connection stability of the connection structure can be improved. In addition, the first connecting member 10 and the second connecting member 30 are provided, and during disassembly and maintenance, the first connecting member 10 or the second connecting member 30 can be operated independently without replacing the entire connection structure, which is convenient for operation.

[0094] Optional, such as Figure 6 As shown, the second connecting member 30 includes a first contact portion 31 and a second contact portion 32 connected to each other, the first contact portion 31 includes a first contact surface 311 facing away from the second contact portion 32, the second contact portion 32 includes a second contact surface 321 facing away from the first contact portion 31, and the first contact surface 311 and the second contact surface 321 are respectively connected to the outer peripheral surface of a connecting tube 20.

[0095] Optionally, the connection between the first contact portion 31 and the first pitch driving member 40 and the connection between the second contact portion 32 and the second pitch driving member 40 may be riveted, clamped, screwed, etc., without specific limitation.

[0096] Optionally, a dimension of the second connecting member 30 in the X direction is smaller than a dimension of the first connecting member 10 in the X direction.

[0097] By setting the second connecting member 30 to include a connected first contact portion 31 and a second contact portion 32, the first contact surface 311 of the first contact portion 31 and the second contact surface 321 of the second contact portion 32 are respectively connected to the outer peripheral surface of a connecting tube 20, so as to connect and fix the connecting tube 20 at the other end away from the first connecting member 10 in the Z direction, thereby improving the connection stability.

[0098] Optional, such as Figure 7 As shown, in the orthographic projection in the Y direction, there is a second angle B between the first contact surface 311 and the second contact surface 321, which satisfies: 0°<B≤140°.

[0099] Optionally, the value of the second angle B can be 10°, 20°, 30°, 40°, 45°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, etc., without limitation.

[0100] When 0°<B≤140° is satisfied, the inclination of the connecting tube 20 relative to the second connecting member 30 is moderate, so that the leg assembly can move at a large angle. If the second angle B is greater than 140°, in the X direction, when the leg assembly rotates outward, it may interfere with the pitch drive member 40 due to contact, limiting the angle range of the leg assembly when rotating outward. When the second angle B is 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.

[0101] Optional, such as Figure 3 and Figure 6 As shown, the outer circumferential surface of the connecting tube 20 is provided with a first fixing portion 21 , and a first fixing groove 312 is opened from the first contact surface 311 , and the first fixing portion 21 is matched and connected with the first fixing groove 312 .

[0102] Optionally, the first fixing portion 21 may be block-shaped, column-shaped, irregularly shaped, etc., and the specific shape is not limited thereto. The shape of the first fixing groove 312 may correspond to the first fixing portion 21 .

[0103] Optionally, the first fixing portion 21 is connected and fixed to the bottom wall of the first fixing groove 312 , and the connection method may be bonding, snap connection, screw connection, magnetic connection, etc., which is not specifically limited.

[0104] By providing the first fixing portion 21 on the outer circumferential surface of the connecting tube 20 and the first fixing groove 312 on the first contact surface 311 for matching connection, the connection area is increased, the connection strength is improved, and the connection between the second connecting member 30 and the connecting tube 20 is made more stable.

[0105] Optional, such as Figure 2 and Figure 3 As shown, a first surface 22 is provided on a side of the connecting tube 20 away from the first connecting member 10 in the Z direction, and the first surfaces 22 of the two connecting tubes 20 are opposite and connected in the X direction.

[0106] Optionally, the first surfaces 22 of the two connecting tubes 20 can be connected by bonding, snapping, screwing, magnetic attraction, etc., or the first surfaces 22 of the two connecting tubes 20 are only in surface contact, and the two connecting tubes 20 are connected by the first connecting member 10 and the second connecting member 30.

[0107] By arranging the first surfaces 22 of the two connecting tubes 20 to be opposite and connected in the X direction, the surface connection between the two connecting tubes 20 can be achieved, the connection is stable, and the distance between the two connecting tubes 20 in the X direction can be shortened, reducing the size of the connection structure in the X direction and saving space.

[0108] 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.

[0109] 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 connection structure, characterized in that: A crotch assembly for a humanoid robot, the crotch assembly further comprising a hip joint mechanism, the hip joint mechanism comprising a pitch drive member, and the connection structure comprising: A first connecting member, comprising a first cylinder, a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are connected to opposite sides of an outer circumferential surface of the first cylinder, the first cylinder has a first axis, the first cylinder is used to accommodate a waist driving member, the waist driving member is used to drive the torso assembly of the humanoid robot to rotate around the first axis, and the first axis extends along a first direction; Two connecting cylinders, the two connecting cylinders are opposite to each other in a second direction, the first connecting arm and the second connecting arm are respectively connected to the inner wall surface of one of the connecting cylinders, the two connecting cylinders have different second axes, the connecting cylinders are used to accommodate the pitch driving member, the pitch driving member is used to drive the leg assembly of the humanoid robot to rotate around the second axis, and the second direction intersects with the first direction; The second axis is inclined relative to the first axis, and in the first direction, the first cylinder protrudes from the connecting cylinder toward one side of the trunk component, the inner diameter of the first cylinder is D1, and the inner diameter of the connecting cylinder is D2, satisfying: 2 / 3≤D1 / D2≤1.

2. The connection structure according to claim 1, characterized in that: A first angle A is formed between the first axis and the second axis, satisfying: 0°<A≤70°.

3. The connection structure according to claim 1, characterized in that: The first connecting arm and the second connecting arm are symmetrical with respect to the first axis, and the two connecting tubes are symmetrical with respect to the first axis. The first connecting arm includes a first connecting plate, which extends into the connecting tube and is tightly attached to and connected to the inner wall surface of the connecting tube.

4. The connection structure according to claim 3, characterized in that: The first cylinder body includes a first end face and a second end face opposite to each other 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, the first connecting face and the first end face have the same orientation, and the first connecting face is connected to the inner wall surface of the connecting cylinder; 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.

5. The connection structure according to claim 3, characterized in that: The first connecting arm further includes a first connecting portion, the first connecting plate includes a first surface and a second surface opposite to each other, the first surface faces away from the first cylinder, and the first connecting portion connects the second surface and the outer peripheral surface of the first cylinder.

6. The connection structure according to any one of claims 1 to 5, characterized in that: The connection structure further includes a second connection member, which is disposed on the outer side of the connection tube away from the first connection member and is connected to the outer circumferential surfaces of the two connection tubes.

7. The connection structure according to claim 6, characterized in that: The second connecting member includes a first contact portion and a second contact portion connected to each other, the first contact portion includes a first contact surface facing away from the second contact portion, the second contact portion includes a second contact surface facing away from the first contact portion, and the first contact surface and the second contact surface are respectively connected to the outer peripheral surface of the connecting tube.

8. The connection structure according to claim 7, characterized in that: In the orthographic projection of the third direction, a second angle B is formed between the first contact surface and the second contact surface, satisfying: 0°<B≤140°, and the third direction intersects both the first direction and the second direction.

9. The connection structure according to claim 7, characterized in that: The outer peripheral surface of the connecting tube is provided with a first fixing portion, and a first fixing groove is opened from the first contact surface. The first fixing portion is matched and connected with the first fixing groove.

10. The connection structure according to claim 1, characterized in that: The connecting tube is provided with a first surface on a side away from the first connecting member in the first direction, and the first surface is located on a side of the connecting tube facing another connecting tube in the second direction, and the first surfaces of the two connecting tubes are opposite and connected in the second direction.

11. A crotch assembly, characterized in that: It comprises two hip joint mechanisms and a connection structure as claimed in any one of claims 1 to 10, wherein the hip joint mechanism comprises a pitch driving component, and the two pitch driving components are respectively accommodated in one of the connection tubes of the connection structure.

12. A humanoid robot, characterized in that: Comprising the crotch assembly of claim 11.

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