Waist joint assembly structure, waist structure, humanoid robot and robot

Abstract

The invention relates to the technical field of robots, and discloses a waist joint assembly structure, a waist structure, a humanoid robot and a robot. According to the waist joint assembling structure of the humanoid robot, a first bearing is arranged between the first connecting end of a first connecting piece and the eighth connecting end of a third connecting piece, so that the upper connecting piece and the lower connecting piece are dynamically supported at the end, away from an output flange, of a first joint module. The bearing support is additionally arranged outside the joint module, the overall load capacity of the dynamic support of the assembly structure can be improved, the service life of the joint module can be prolonged, the dynamic stability of the assembly structure can be improved, and the overall service life of the assembly structure can be prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a waist joint assembly structure, a waist structure, a humanoid robot and a robot. Background Art

[0002] In robotics technology, the development of humanoid bipedal robots is a hot topic in the industry. The lower limbs of bipedal robots often have legs that imitate human lower limbs, including thighs, calves, and feet. The entire leg structure can usually swing left and right and rotate around the vertical direction. The thighs, calves and feet can all rotate independently. In this way, through the coordinated movement of various parts, the bipedal robot can achieve humanoid walking.

[0003] For example, a robot waist joint assembly structure disclosed in a Chinese utility model patent with authorization announcement number CN220408778U mainly includes an upper shaft seat, a waist joint module and a lower shaft seat, wherein the upper shaft seat is generally a connecting part between the upper body and the waist of the robot, and the lower shaft seat is generally a connecting part between the lower limbs and the waist, and one of the upper shaft seat and the lower shaft seat will be connected to the outer ring side wall of the waist joint module, and the other of the upper shaft seat and the lower shaft seat will be connected to the two end faces of the waist joint module.

[0004] Although this assembly structure does not require additional bearing support for waist support, it can directly reuse the bearings in the waist joint module to support the upper body of the robot. However, due to the large weight of the upper body of medium and large humanoid robots, it usually brings a large downward static load, and the movement of the limbs and torso will also superimpose the dynamic load transmission from top to bottom. Therefore, this places extremely high demands on the load capacity of the dynamic support of the waist. The existing support structure load will directly act on the bearings in the joint module. The static load will cause the rotating components in the joint module to be biased for a long time, which will cause the rotating parts in the joint module to be worn and damaged, and the dynamic load impact may cause overload damage or damage to the bearing components in the joint module. It is understandable that the support structure defects of the existing waist joint assembly structure will lead to a high failure rate of the joint module therein. Summary of the invention

[0005] The present application provides a waist joint assembly structure, a waist structure, a humanoid robot and a robot, aiming to solve the problem of insufficient bearing capacity of the supporting structure of the existing waist joint assembly structure.

[0006] In one embodiment, a waist joint assembly structure of a humanoid robot is provided, including a first connecting member, a transmission flange, a first bearing, a second connecting member, a third connecting member and a first joint module; the first connecting member includes a first connecting end, a second connecting end and a third connecting end, the first connecting end is substantially parallel to the second connecting end, and the first connecting end and the second connecting end are arranged on the back side of the third connecting end at an interval; the transmission flange includes a coaxial first flange portion and a second flange portion, and the transmission flange is assembled to the second connecting end through the first flange portion; the second connecting member includes a fourth connecting end, a fifth connecting end and a sixth connecting end, the fourth connecting end and the fifth connecting end are substantially perpendicular to each other, the fifth connecting end is located at one end of the fourth connecting end and extends in a direction away from the fourth connecting end, and the sixth connecting end is arranged On a side of the fifth connection end facing away from the fourth connection end, the sixth connection end is used to connect to the lower waist support component; the third connection member includes a seventh connection end and an eighth connection end, the seventh connection end is assembled and connected to the fifth connection end, the eighth connection end is roughly parallel to the fourth connection end, and the eighth connection end is rotatably assembled and connected to the first connection end through a first bearing; an output flange is provided at one end of the first joint module, and the fourth connection end has a first assembly cavity aligned with the output flange, the second flange portion of the transmission flange is fixedly connected to the output flange, one end of the output flange of the first joint module is assembled and connected to the fourth connection end, and the other end of the first joint module facing away from the output flange is assembled and connected to the eighth connection end; the first joint module drives the first connection member to rotate through the output flange and the transmission flange that are assembled and connected to each other.

[0007] In one scheme, it also includes a bearing seat and a first bearing end cover, the first connecting end includes a second assembly cavity, the first bearing includes an inner ring and an outer ring, the first bearing is assembled to the bearing seat with the inner ring, and the bearing seat is assembled and fixed to the outer side surface of the eighth connecting end through the second assembly cavity; the first bearing end cover crimps the outer ring of the first bearing to the inner wall of the second assembly cavity.

[0008] In one embodiment, the outer ring side wall of the bearing seat is provided with a first inner bearing position, the inner wall of the second assembly cavity is provided with a first outer bearing position, the inner ring of the first bearing is assembled at the first inner bearing position, and the outer ring of the first bearing is assembled at the first outer bearing position.

[0009] In one embodiment, the invention further includes a second bearing, which is disposed between the second flange portion and the fourth connection end, and the second bearing is rotatably supported between the fourth connection end and the second connection end.

[0010] In one solution, the second bearing includes an inner ring and an outer ring, the second flange portion is assembled with the inner ring, and the fourth connecting end is assembled with the outer ring.

[0011] In one scheme, it also includes a second bearing end cover, and the fourth connecting end is provided with a second outer bearing position on the inner wall of the first assembly cavity, and the second bearing end cover presses the outer ring of the second bearing to the second outer bearing position; a second inner bearing position is provided on the outer ring side wall of the second flange part, and the transmission flange is assembled to the inner ring of the second bearing with the second inner bearing position.

[0012] In one embodiment, the second connecting end also includes a third assembly cavity, the transmission flange is assembled on the outside of the second connecting end, the third assembly cavity is coaxially aligned with the first assembly cavity, and the third assembly cavity and the first assembly cavity provide for the second flange part to be aligned and assembled with the output flange of the first joint module.

[0013] In one embodiment, a first limit member is installed on the inner side of the second connecting end, and a first limit block and a second limit block are provided on the outer side of the fourth connecting end. The first limit block and the second limit block respectively limit the rotational stroke of the first limit member at both ends, thereby limiting the rotational stroke of the first connecting member.

[0014] In one embodiment, the first connection end and the second connection end are defined as a first installation position, the fourth connection end, the fifth connection end and the eighth connection end are defined as a second installation position, the first joint module is fixedly assembled at the second installation position, the first joint module and the fourth connection end and the eighth connection end on both sides are assembled into a joint assembly, and the joint assembly is assembled in the first installation position.

[0015] In one scheme, it also includes a supporting frame and a second joint module. The supporting frame is extended roughly in the horizontal direction. The second joint module is fixedly assembled on the supporting frame, and the output flange of the second joint module is assembled and connected to the sixth connection end. The rotation axis of the output flange of the second joint module is perpendicular to the rotation axis of the output flange of the first joint module.

[0016] In one embodiment, the carrier frame includes a fourth assembly cavity and a third flange portion, the third flange portion is arranged outside the outer edge of the fourth assembly cavity, and the second joint module has an output flange, one end of which is assembled and fixed to the side of the third flange portion away from the sixth connection end. The fourth assembly cavity is used for the output flange of the second joint module to form an assembly connection with the sixth connection end.

[0017] In one embodiment, the support frame also includes a third limit stopper and a fourth limit stopper, and the third limit stopper and the fourth limit stopper are located outside the outer edge of the third flange portion at intervals from each other. The second connecting member or the third connecting member also includes a second limit block, and the third limit stopper and the fourth limit stopper are located at both ends of the rotation range of the second limit block to limit the rotation range of the second limit block.

[0018] In one embodiment, a waist structure of a humanoid robot is provided, including the waist joint assembly structure of the humanoid robot such as the foregoing bipedal robot.

[0019] In one scheme, the second connecting end and the first flange portion of the transmission flange are assembled and connected by multiple first fasteners; the second flange portion of the transmission flange sequentially passes through the second connecting end and the fourth connecting end to dock with the output flange of the first joint module, and the second flange portion and the output flange of the first joint module are assembled and connected by second fasteners.

[0020] In one embodiment, one end of the output flange of the first joint module is connected to the inner side of the fourth connection end through a plurality of third fasteners; the other end of the first joint module away from the output flange is connected to the inner side of the eighth connection end through a plurality of fourth fasteners.

[0021] In one embodiment, when a bearing seat and a first bearing end cover are provided, the bearing seat is assembled to the outer side surface of the eighth connecting end through a plurality of fifth fasteners; and the first bearing end cover is assembled to the outer side of the first connecting end through a plurality of sixth fasteners.

[0022] In one embodiment, a humanoid robot is provided, comprising:

[0023] The waist joint assembly structure of the humanoid robot in the aforementioned solution, or the waist structure of the humanoid robot.

[0024] In one embodiment, a robot is provided, comprising:

[0025] The waist joint assembly structure of the humanoid robot in the aforementioned solution, or the waist structure of the humanoid robot.

[0026] Beneficial effects of this application:

[0027] In order to solve the problem of supporting structure defects of waist joint assembly structure in the prior art, in the embodiment of the present application, a waist joint assembly structure of a humanoid robot is disclosed, in which a first bearing is arranged between the first connecting end of the first connecting member and the eighth connecting end of the third connecting member, so as to dynamically support the upper and lower connecting members at the end of the first joint module away from the output flange. In other words, the first bearing will also provide rotatable load-bearing support at the end of the first joint module away from the output flange, thereby avoiding the rotating components in the joint module from being biased for a long time. On the other hand, the additional bearing support outside the joint module can also increase the overall load capacity of the dynamic support of the assembly structure, which can not only improve the life of the joint module, but also improve the dynamic stability and overall life of the assembly structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 is a three-dimensional structural schematic diagram of the waist joint assembly structure of a humanoid robot in an embodiment of the present application in an assembled state;

[0030] Figure 2 is a three-dimensional structural schematic diagram of another perspective view of the assembled state of the waist joint assembly structure of the humanoid robot in one embodiment of the present application;

[0031] Figure 3 is a schematic structural diagram of the components of the waist joint assembly structure of the humanoid robot in one embodiment of the present application from a first viewing angle;

[0032] Figure 4 is a schematic structural diagram of the exploded components of the waist joint assembly structure of a humanoid robot in one embodiment of the present application from a second viewing angle;

[0033] Figure 5 It is an assembly exploded diagram of a first bearing of a waist joint assembly structure of a humanoid robot in one embodiment of the present application;

[0034] Figure 6 It is an assembly exploded diagram of the second bearing of the waist joint assembly structure of the humanoid robot in one embodiment of the present application;

[0035] Figure 7 It is an assembly exploded diagram of the second connecting member and the third connecting member in the waist joint assembly structure of the humanoid robot in one embodiment of the present application;

[0036] Figure 8 It is a structural schematic diagram of the second connecting member in the waist joint assembly structure of the humanoid robot in one embodiment of the present application;

[0037] Fig. 9 It is a structural schematic diagram of a carrier frame in a waist joint assembly structure of a humanoid robot in one embodiment of the present application;

[0038] Fig.10 is a schematic longitudinal section diagram of a waist joint assembly structure of a humanoid robot in one embodiment of the present application;

[0039] Fig.11 is a schematic structural diagram of the lower body of a robot in one embodiment of the present application;

[0040] Fig.12It is a three-dimensional schematic diagram of a robot or a humanoid robot in one embodiment of the present application.

[0041] Reference numerals in the figures:

[0042] 1. First connecting member; 11. First connecting end; 111. Second assembly cavity; 112. First outer bearing position; 113. First fixing hole; 114. First weight-reducing hole; 12. Second connecting end; 121. Third assembly cavity; 122. Second fixing hole; 123. First through hole; 13. Third connecting end; 131. Second weight-reducing hole; 132. Through hole; 14. Transmission flange; 141. First flange portion; 142. Second flange portion; 143. Second inner bearing position; 144. Second through hole; 145. Third through hole; 15. First bearing end cover; 151. Fourth through hole; 16. First stopper;

[0043] 2. First bearing; 21. Inner ring; 22. Outer ring;

[0044] 3. Second connecting member; 31. Fourth connecting end; 311. First assembly cavity; 312. Second outer bearing position; 314. Third weight-reducing hole; 315. Fourth fixing hole; 316. First limit stopper; 317. Second limit stopper; 32. Fifth connecting end; 321. Fifth fixing hole; 33. Sixth connecting end; 331. Fourth flange; 34. Second bearing; 341. Inner ring; 342. Outer ring; 35. Second bearing end cover; 351. Sixth through hole;

[0045] 4. third connecting member; 41. seventh connecting end; 411. seventh through hole; 412. second stopper; 42. eighth connecting end; 421. eighth through hole; 422. sixth fixing hole; 423. fourth weight-reducing hole; 43. bearing seat; 431. first inner bearing position;

[0046] 5. First joint module; 51. Output flange; 511. Seventh fixing hole; 52. Eighth fixing hole; 53. Ninth fixing hole;

[0047] 6. Carrying frame; 61. Fourth assembly cavity; 63. Third flange portion; 64. Tenth through hole; 65. Third limit stopper; 66. Fourth limit stopper;

[0048] 7. Second joint module;

[0049] 81, first fastener; 82, second fastener; 83, third fastener; 84, fourth fastener; 85, fifth fastener; 86, sixth fastener; 87, seventh fastener; 88, eighth fastener;

[0050] 91. First upright board; 92. Second upright board; 93. Lower limbs;

[0051] Axis A is defined as the rotation axis of the output flange of the first joint module; axis B is defined as the rotation axis of the output flange of the second joint module. DETAILED DESCRIPTION

[0052] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0053] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0059] In order to solve the problem of insufficient load capacity of the supporting structure of the waist joint assembly structure in the prior art, a waist joint assembly structure of a humanoid robot is disclosed in the embodiment of the present application. In order to prevent the rotating components in the joint module of the waist joint assembly structure from being biased for a long time, a bearing is mainly provided outside the joint module to support the joint module, so as to increase the overall load capacity of the dynamic support of the assembly structure, which can not only improve the life of the joint module, but also improve the dynamic stability and overall life of the assembly structure.

[0060] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0061] Reference Figures 1 to 4As shown, in one embodiment, a waist joint assembly structure of a humanoid robot is provided, which mainly includes a first connecting member 1, a transmission flange 14, a first bearing 2, a second connecting member 3, a third connecting member 4 and a first joint module 5. Among them:

[0062] The first connecting member 1 mainly includes a first connecting end 11, a second connecting end 12 and a third connecting end 13. The first connecting end 11 is substantially parallel to the second connecting end 12, and the first connecting end 11 and the second connecting end 12 are spaced apart from each other on the back side of the third connecting end 13 so as to form a space therebetween for installing the joint module.

[0063] The transmission flange 14 mainly includes a coaxial first flange portion 141 and a second flange portion 142 . The transmission flange 14 is assembled to the second connection end 12 via the first flange portion 141 , so that the transmission flange 14 is detachably assembled to the outer side of the second connection end 12 .

[0064] The second connecting member 3 mainly includes a fourth connecting end 31, a fifth connecting end 32 and a sixth connecting end 33. The fourth connecting end 31 and the fifth connecting end 32 are substantially perpendicular to each other. The fifth connecting end 32 is located at one end of the fourth connecting end 31 and extends in a direction away from the fourth connecting end 31. The sixth connecting end 33 is disposed on a side of the fifth connecting end 32 away from the fourth connecting end 31. The sixth connecting end 33 is used to connect the lower waist support component.

[0065] A fourth flange portion 331 is disposed at the lower side of the sixth connection end 33 , so that the fourth flange portion 331 can be assembled and connected with the output flange of the second joint module 7 .

[0066] The third connecting member 4 mainly includes a seventh connecting end 41 and an eighth connecting end 42 . The seventh connecting end 41 is assembled and connected to the fifth connecting end 32 . The eighth connecting end 42 is roughly parallel to the fourth connecting end 31 . The eighth connecting end 42 is rotatably assembled and connected to the first connecting end 11 via the first bearing 2 .

[0067] An output flange 51 is provided at one end of the first joint module 5, and the fourth connection end 31 has a first assembly cavity 311 aligned with the output flange 51. The first assembly cavity 311 is a through hole formed in the center of the fourth connection end 31. The first assembly cavity 311 is mainly for the second flange portion 142 of the transmission flange 14 to pass through. The second flange portion 142 of the transmission flange 14 is fixedly connected to the output flange 51. The end face of one end of the output flange 51 of the first joint module 5 can be assembled and connected to the inner side surface of the fourth connection end 31 by fasteners, and the other end of the first joint module 5 away from the output flange 51 can be assembled and connected to the inner side surface of the eighth connection end 42 by fasteners.

[0068] In this way, the second connecting member 3 and the third connecting member 4 can be respectively assembled on the front end face (the end with the output flange 51 is understood as the front end face here) and the rear end face of the first joint module 5, and the first joint module 5 drives the first connecting member 1 to rotate through the output flange 51 and the transmission flange 14 that are assembled and connected to each other. The combination of the second connecting member 3 and the third connecting member 4 can be understood as forming a fixed support seat of the first joint module 5, and the first connecting end 11 and the second connecting end 12 of the first connecting member 1 are rotatably assembled on the outer side surfaces of the second connecting member 3 and the third connecting member 4, respectively. In this way, the first joint module 5 can drive the upper body of the robot to bend relative to the lower body through the first connecting member 1.

[0069] In the embodiment of the present application, a first bearing 2 is provided between the first connection end 11 of the first connection member 1 and the eighth connection end 42 of the third connection member 4, so as to dynamically support the upper and lower connection members at the end of the first joint module 5 away from the output flange. In other words, the first bearing 2 also provides rotatable load-bearing support at the end of the first joint module 5 away from the output flange 51, thereby preventing the rotating components in the joint module from being biased for a long time.

[0070] On the other hand, providing a bearing support outside the joint module can also increase the overall load capacity of the dynamic support of the assembly structure, which can not only improve the life of the joint module, but also improve the dynamic stability and overall life of the assembly structure.

[0071] In one embodiment, Figure 5 FIG. 1 is an exploded view of the first bearing assembly structure of the waist joint assembly structure of the humanoid robot in one embodiment of the present application, and refers to FIG. Figure 3 , Figure 4 The waist joint assembly structure also includes a bearing seat 43 and a first bearing end cover 15. The first connecting end 11 includes a second assembly cavity 111. The second assembly cavity 111 is a circular opening structure that axially penetrates the first connecting end 11. The first bearing 2 includes an inner ring 21 and an outer ring 22 ( Fig.10 As shown in FIG. 1 , the first bearing 2 is assembled to the bearing seat 43 with the inner ring 21, and the bearing seat 43 is assembled and fixed to the outer side of the eighth connecting end 42 through the second assembly cavity 111. The first bearing end cover 15 presses the outer ring 22 of the first bearing 2 onto the inner wall of the second assembly cavity 111.

[0072] In this way, after the first connection end 11 and the outer side surface of the eighth connection end 42 are installed and aligned, the first bearing 2 can be installed on the bearing seat 43, and finally the bearing seat 43 and the outer side surface of the eighth connection end 42 are fixedly connected by fasteners. In this way, the first connection end 11 and the bearing seat 43 can be connected through the first bearing 2.

[0073] In this way, the installation and disassembly of the first bearing of the assembly structure can be directly achieved by disassembling the bearing seat 43, which is not only convenient for installing the bearing, but also convenient for directly disassembling the first bearing from the outside when maintenance is required. On the other hand, it can also be considered that by providing the bearing seat and the first bearing end cover, stable support and protection are provided for the first bearing. This design can prevent dust and impurities from entering the interior of the bearing, reduce the wear of the bearing, thereby increasing the service life of the bearing, and further improving the dynamic stability and overall life of the entire assembly structure.

[0074] In one embodiment, the outer ring side wall of the bearing seat 43 is provided with a first inner bearing seat 431. It can be understood that the first inner bearing seat 431 can be a shoulder-type bearing seat formed on the outer ring side wall of the bearing seat 43. The shoulder-type bearing seat mainly includes an axially extending assembly surface and a radially extending blocking surface, and the inner ring 21 of the first bearing 2 can be directly assembled and fixed to the bearing seat 43 in an interference fit manner. On the other hand, the inner wall of the second assembly cavity 111 is also provided with a first outer bearing seat 112. The outer ring 22 of the first bearing 2 is assembled in the first outer bearing seat 112, and the assembly can also be performed in an interference fit manner. The first outer bearing seat 112 can also be a shoulder-type bearing seat, and the shoulder-type bearing seat mainly includes an axially extending assembly surface and a radially extending blocking surface.

[0075] In this way, the first bearing 2 can be conveniently installed through the two inner and outer bearing positions, which is a simple and firm bearing assembly method. By setting the first inner bearing position and the first outer bearing position, the precise positioning and stable assembly of the first bearing are ensured. This design reduces the vibration and displacement of the first bearing during movement and improves the stability and reliability of the overall structure.

[0076] In one embodiment, Figure 6 Schematic diagram of the assembly of the second bearing of the waist joint assembly structure of the humanoid robot in one embodiment of the present application, and can be referred to Figure 3 , Figure 4 The waist joint assembly structure of this embodiment also includes a second bearing 34, which is arranged between the second flange portion 142 and the fourth connecting end 31, and the second bearing 34 is rotatably supported between the fourth connecting end 31 and the second connecting end 12.

[0077] That is to say, a reinforcement support is also provided at the front end where the output flange 51 of the first joint module 5 is located, so that the first joint module 5 can avoid directly bearing the impact of static load and dynamic load, thereby maximizing the protection of the joint module, thereby improving the operational stability of the joint module and improving the service life. By arranging a second bearing between the second flange portion and the fourth connection end, a dynamic support point outside the joint module is added. This design enhances the overall load capacity, so that the joint module can still maintain good motion performance when subjected to a large torque, and improves dynamic stability.

[0078] In one embodiment, the second bearing 34 includes an inner ring 341 and an outer ring 342 ( Fig.10 ), the second flange portion 142 is assembled with the inner ring 341, and the fourth connection end 31 is assembled with the outer ring 342. It also includes a second bearing end cover 35, and the annular second bearing end cover 35 is provided with a plurality of sixth through holes 351. The fourth connection end 31 is provided with a second outer bearing position 312 on the inner wall of the first assembly cavity 311, and the fourth connection end 31 includes a plurality of fourth fixing holes 315, and the plurality of fourth fixing holes 315 are provided on the circular convex ring end surface of the fourth connection end 31 protruding toward the second bearing end cover 35, and the sixth through holes 351 and the fourth fixing holes 315 in the corresponding positions are fastened and connected with a plurality of seventh fasteners 87, and the second bearing end cover 35 presses the outer ring 342 of the second bearing 34 to the second outer bearing position 312. The outer ring side wall of the second flange portion 142 is provided with a second inner bearing position 143, and the transmission flange 14 is assembled to the inner ring 341 of the second bearing 34 with the second inner bearing position 143. This design reduces the risk of loosening during movement and improves the overall rigidity and durability of the structure. By setting the second bearing end cover, the tight assembly of the second bearing is ensured, preventing external impurities from entering the bearing. This design reduces friction and wear, increases the service life of the second bearing, and further enhances the dynamic stability of the entire assembly structure.

[0079] It can be seen that in this embodiment, two bearings are respectively installed at the front end and the rear end of the joint module, and the two mutually hinged connection ends are arranged parallel to the end face of the joint module. In other words, the two bearings are arranged coaxially with the joint module. In this way, the two bearings not only support the driving rotation of the joint module, but also directly bear the impact force between the upper and lower connecting parts through the two bearings in parallel.

[0080] In one embodiment, the second connection end 12 also includes a third assembly cavity 121, which is a circular hole shape axially penetrating the second connection end 12, and the transmission flange 14 is assembled on the outside of the second connection end 12, and the third assembly cavity 121 is coaxially aligned with the first assembly cavity 311, and the third assembly cavity 121 and the first assembly cavity 311 are provided for the second flange portion 142 to be aligned and assembled with the output flange 51 of the first joint module 5. By setting the third assembly cavity to be coaxially aligned with the first assembly cavity, the transmission flange can be accurately aligned with the output flange of the first joint module. This design ensures the accuracy and stability of the assembly, reduces the deviation during the movement, and improves the movement accuracy of the overall structure.

[0081] The second connection end 12 is equipped with a first limit member 16 protruding toward the fourth connection end 31 on the inner side, and the fourth connection end 31 is provided with a first limit stopper 316 and a second limit stopper 317 on the outer side. The first limit stopper 316 and the second limit stopper 317 respectively limit the rotation stroke of the first limit member 16 at both ends, thereby limiting the rotation stroke of the first connection member 1. By providing a limit member on the inner side of the second connection end and a limit stopper on the outer side of the fourth connection end, the rotation range of the first connection member is effectively limited. This design avoids structural damage caused by excessive movement and improves the safety and reliability of the system.

[0082] In one embodiment, a plurality of fifth fixing holes 321 are provided on the end surface of the fifth connection end 32 facing the seventh connection end 41, and a plurality of seventh through holes 411 are provided on the seventh connection end 41 corresponding to the plurality of fifth fixing holes 321, so that the fifth connection end 32 and the seventh connection end 41 can be fastened together using the eighth fastener 88.

[0083] The first connection end 11 and the second connection end 12 are defined as the first installation position, the fourth connection end 31, the fifth connection end 32 and the eighth connection end 42 are defined as the second installation position, the first joint module 5 is fixedly assembled in the second installation position, the first joint module 5 and the fourth connection end 31 and the eighth connection end 42 on both sides are assembled into a joint assembly, and the joint assembly is assembled in the first installation position. By setting a limiter on the inner side of the second connection end and setting a limiter on the outer side of the fourth connection end, the rotation range of the first connection member is effectively limited. This design avoids structural damage caused by excessive movement and improves the safety and reliability of the system.

[0084] In one embodiment, the eighth connection end 42 of the third connection member 4 is in the shape of a disk as a whole, and includes a plurality of eighth through holes 421, and the plurality of eighth through holes 421 are arranged at intervals at the outer edge of the eighth connection end 42, and a plurality of sixth fixing holes 422 are arranged in the middle of the outer side surface of the eighth connection end 42, and the bearing seat 43 is provided with a through hole in the middle for the fifth fastener 85 to pass through, and the bearing seat 43 is docked and assembled in the sixth fixing hole 422 through the plurality of fifth fasteners 85, so as to assemble and fix the bearing seat 43 to the outer side surface of the eighth connection end 42. Referring to 4 again, a plurality of fourth weight-reducing holes 423 in the shape of long holes are also arranged at intervals on the outer edge of the eighth connection end 42, so as to reduce weight and enhance the rigidity of the eighth connection end 42.

[0085] In one embodiment, referring to Figures 3 to 5 The first connecting member 1 is an inverted U-shaped structure as a whole, wherein the main body shapes of the first connecting end 11 and the second connecting end 12 are roughly circular flange-shaped, and the first connecting end 11 is provided with a plurality of first fixing holes 113 around the second assembly cavity 111, so as to align with the plurality of fourth through holes 151 on the first bearing end cover 15, so that the first bearing end cover 15 can be fastened to the first connecting end 11 by using a plurality of sixth fasteners 86. And as shown in the figure, a plurality of fan-shaped first weight-reducing holes 114 are also provided on the outer side of the first connecting end 11, and the first weight-reducing holes 114 are arranged around the second assembly cavity 111, which can not only reduce the weight, but also reinforce the first outer bearing position 112 on the inner side, and improve the rigidity of the first outer bearing position 112 to avoid deformation due to impact.

[0086] The second connection end 12 is provided with a plurality of second fixing holes 122 around the third assembly cavity 121, so as to be aligned with the second through holes 144 on the first flange portion 141, so as to allow a plurality of first fasteners 81 to pass through the second through holes 144 and be fastened to the second fixing holes 122, thereby assembling and fixing the transmission flange 14. A plurality of first through holes 123 are also provided on the lower side of the second connection end 12, and the first through holes 123 are aligned with the fixing holes provided on the first stopper 16, so as to facilitate the assembly of the first stopper 16 to the lower inner end of the second connection end 12 by fasteners.

[0087] Among them, the third connection end 13 is used to connect to the upper body trunk of the robot. In particular, a wire passing opening 132 can be provided in the middle of the third connection end 13 to facilitate the passing of the wire from the upper body to the lower body of the robot, and a plurality of second weight-reducing holes 131 can be provided around the wire passing opening 132. While reducing material and weight, the rigidity of the third connection end 13 can also be enhanced.

[0088] The transmission flange 14 is provided with a plurality of third through holes 145 , and the third through holes 145 are aligned with the seventh fixing holes 511 of the output flange 51 , so that the transmission flange 14 and the output flange 51 can be assembled and connected by using the second fastener 82 .

[0089] See Figure 7 , Figure 8 Indicated, Figure 7 1 is an exploded schematic diagram of the assembly of the second connecting member and the third connecting member in the waist joint assembly structure of the humanoid robot in one embodiment of the present application, Figure 8 3 is a schematic diagram of the structure of the second connecting member in the waist joint assembly structure of the humanoid robot in one embodiment of the present application; the second connecting member 3 includes a fifth through hole 313, so that the third fastener 83 passes through the fifth through hole 313 and is fastened in the eighth fixing hole 52 of the first joint module 5. A plurality of third weight-reducing holes 314 are also provided on the periphery of the fourth connecting end 31 of the second connecting member 3, which can reduce material and weight while also enhancing the rigidity of the periphery of the fourth connecting end 31.

[0090] In one embodiment, it further includes a carrier frame 6 and a second joint module 7, the carrier frame 6 is substantially extended in the horizontal direction, the second joint module 7 is fixedly assembled on the carrier frame 6, and the output flange of the second joint module 7 is assembled and connected to the sixth connection end 33, and the rotation axis B of the output flange of the second joint module 7 is perpendicular to the rotation axis A of the output flange 51 of the first joint module 5. Fig.11 is a schematic diagram of the structure of the lower body of the robot in one embodiment of the present application, see Fig.11 As shown in the figure, both ends of the support frame 6 can be supported by the first vertical plate 91 and the second vertical plate 92, and the first vertical plate 91 and the second vertical plate 92 are movably supported on the lower limb 93, so that both ends of the support frame 6 are effectively supported, and the support frame 6 can stably support the waist joint assembly structure at the bottom. The second joint module 7 can drive the waist joint assembly structure to rotate around the rotation axis B.

[0091] In one embodiment, referring to Fig. 9 As shown, the carrier frame 6 includes a fourth assembly cavity 61 and a third flange portion 63. The third flange portion 63 is arranged outside the outer edge of the fourth assembly cavity 61. A plurality of tenth through holes 64 are also arranged outside the third flange portion 63. The second joint module 7 has one end of an output flange, which is assembled and fixed to the side of the third flange portion 63 away from the sixth connection end 33 by fasteners through a plurality of tenth through holes 64. The fourth assembly cavity 61 is provided for the output flange of the second joint module 7 to form an assembly connection with the fourth flange portion 331 of the sixth connection end 33.

[0092] In one embodiment, the carrier 6 further includes a third limit stopper 65 and a fourth limit stopper 66, which are located outside the outer edge of the third flange portion 63 at intervals from each other, and the lower side of the third connecting member 4 further includes a second limit block 412, and the third limit stopper 65 and the fourth limit stopper 66 are located at both ends of the rotation stroke of the second limit block 412 to limit the rotation stroke of the second limit block 412. By providing the third limit stopper and the fourth limit stopper, the rotation range of the second connecting member or the third connecting member is effectively limited. This design prevents structural damage caused by excessive movement and improves the safety of the system.

[0093] In one embodiment, a waist structure of a humanoid robot is provided, including the waist joint assembly structure of the humanoid robot of the bipedal robot as described above. Based on the technical solution of the above embodiment, a high-performance waist structure of a humanoid robot is constructed. This structure has high flexibility, stability and reliability, and is suitable for a variety of application scenarios.

[0094] In one embodiment, the second connection end 12 is connected to the first flange portion 141 of the transmission flange 14 by a plurality of first fasteners 81; the second flange portion 142 of the transmission flange 14 sequentially passes through the second connection end 12 and the fourth connection end 31 to dock with the output flange 51 of the first joint module 5, and the second flange portion 142 is connected to the output flange 51 of the first joint module 5 by a plurality of second fasteners 82. By using a plurality of fasteners to connect the second connection end to the first flange portion of the transmission flange, and the second flange portion of the transmission flange to the output flange of the first joint module, a tight connection between the components is ensured. This design improves the stability and reliability of the overall structure.

[0095] In one embodiment, a plurality of ninth fixing holes 53 are provided on one end face of the output flange 51 of the first joint module 5, and a plurality of third fasteners 83 are passed through the fourth connection end 31 and fastened to the ninth fixing holes 53; a plurality of eighth fixing holes 52 are provided on the other end of the first joint module 5 away from the output flange 51, and a plurality of fourth fasteners 84 are passed through the eighth connection end 42 and fastened to the eighth fixing holes 52, so that the first joint module 5 is assembled and connected to the inner side of the eighth connection end 42. By using a plurality of fasteners to connect the output flange of the first joint module with the fourth connection end and the eighth connection end, the stable fixation of the first joint module is ensured. This design simplifies the maintenance and replacement process and improves the durability of the overall structure.

[0096] In one embodiment, the first bearing end cover 15 is assembled on the outside of the first connection end 11 by a plurality of sixth fasteners 86. By using a plurality of fasteners to connect the bearing seat and the first bearing end cover, stable support and sealing of the bearing are ensured. This design further improves the service life of the bearing and the reliability of the overall structure.

[0097] In one embodiment, see Fig.11 The present application provides a robot, comprising the waist joint assembly structure in any of the above-mentioned embodiments, or the waist structure in any of the embodiments.

[0098] In one embodiment, see Fig.12 The present application provides a humanoid robot, comprising the waist joint assembly structure in any of the above-mentioned embodiments, or the waist structure in any of the embodiments.

[0099] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A waist joint assembly structure of a humanoid robot, characterized in that: include: A first connecting member, comprising a first connecting end, a second connecting end and a third connecting end, wherein the first connecting end is substantially parallel to the second connecting end, and the first connecting end and the second connecting end are arranged at a distance from each other on the back side of the third connecting end; A transmission flange, comprising a coaxial first flange portion and a second flange portion, wherein the transmission flange is assembled to the second connection end through the first flange portion; First bearing; The second connecting member includes a fourth connecting end, a fifth connecting end and a sixth connecting end, wherein the fourth connecting end and the fifth connecting end are substantially perpendicular to each other, the fifth connecting end is located at one end of the fourth connecting end and extends in a direction away from the fourth connecting end, the sixth connecting end is arranged on a side of the fifth connecting end away from the fourth connecting end, and the sixth connecting end is used to connect to the lower waist supporting component; A third connecting member, comprising a seventh connecting end and an eighth connecting end, wherein the seventh connecting end is assembled and connected to the fifth connecting end, the eighth connecting end is substantially parallel to the fourth connecting end, and the eighth connecting end is rotatably assembled and connected to the first connecting end via the first bearing; The first joint module is provided with an output flange at one end, and the fourth connection end has a first assembly cavity aligned with the output flange, the second flange portion of the transmission flange is fixedly connected to the output flange, one end of the output flange of the first joint module is assembled and connected to the fourth connection end, and the other end of the first joint module facing away from the output flange is assembled and connected to the eighth connection end; the first joint module drives the first connecting member to rotate through the output flange and the transmission flange that are assembled and connected to each other.

2. The waist joint assembly structure of a humanoid robot according to claim 1, characterized in that: It also includes a bearing seat and a first bearing end cover, the first connecting end includes a second assembly cavity, the first bearing includes an inner ring and an outer ring, the first bearing is assembled to the bearing seat with the inner ring, and the bearing seat is assembled and fixed to the outer side surface of the eighth connecting end through the second assembly cavity; the first bearing end cover presses the outer ring of the first bearing onto the inner wall of the second assembly cavity.

3. The waist joint assembly structure of a humanoid robot according to claim 2, characterized in that: The outer ring side wall of the bearing seat is provided with a first inner bearing position, the inner wall of the second assembly cavity is provided with a first outer bearing position, the inner ring of the first bearing is assembled at the first inner bearing position, and the outer ring of the first bearing is assembled at the first outer bearing position.

4. The waist joint assembly structure of a humanoid robot according to claim 1, characterized in that: It also includes a second bearing, which is arranged between the second flange portion and the fourth connection end, and the second bearing is rotatably supported between the fourth connection end and the second connection end.

5. The waist joint assembly structure of a humanoid robot according to claim 4, characterized in that: The second bearing includes an inner ring and an outer ring, the second flange portion is assembled with the inner ring, and the fourth connecting end is assembled with the outer ring.

6. The waist joint assembly structure of a humanoid robot according to claim 4, characterized in that: It also includes a second bearing end cover, and the fourth connecting end is provided with a second outer bearing position on the inner wall of the first assembly cavity, and the second bearing end cover presses the outer ring of the second bearing to the second outer bearing position; a second inner bearing position is provided on the outer ring side wall of the second flange part, and the transmission flange is assembled to the inner ring of the second bearing with the second inner bearing position.

7. The waist joint assembly structure of a humanoid robot according to claim 4, characterized in that: The second connecting end also includes a third assembly cavity, the transmission flange is assembled on the outside of the second connecting end, the third assembly cavity is coaxially aligned with the first assembly cavity, and the third assembly cavity and the first assembly cavity provide for the second flange part to be aligned and assembled with the output flange of the first joint module.

8. The waist joint assembly structure of a humanoid robot according to any one of claims 1 to 7, characterized in that: A first limit member is assembled on the inner side of the second connecting end, and a first limit block and a second limit block are arranged on the outer side of the fourth connecting end. The first limit block and the second limit block respectively limit the rotation stroke of the first limit member at both ends, thereby limiting the rotation stroke of the first connecting member.

9. The waist joint assembly structure of a humanoid robot according to any one of claims 1 to 7, characterized in that: The first connection end and the second connection end are defined as a first installation position, the fourth connection end, the fifth connection end and the eighth connection end are defined as a second installation position, the first joint module is fixedly assembled at the second installation position, the first joint module and the fourth connection end and the eighth connection end on both sides are assembled into a joint assembly, and the joint assembly is assembled in the first installation position.

10. The waist joint assembly structure of a humanoid robot according to any one of claims 1 to 7, characterized in that: It also includes a supporting frame and a second joint module, the supporting frame is extended roughly in the horizontal direction, the second joint module is fixedly assembled on the supporting frame, and the output flange of the second joint module is assembled and connected to the sixth connection end, and the rotation axis of the output flange of the second joint module is perpendicular to the rotation axis of the output flange of the first joint module.

11. The waist joint assembly structure of a humanoid robot according to claim 10, characterized in that: The carrier frame includes a fourth assembly cavity and a third flange portion, the third flange portion is arranged outside the outer edge of the fourth assembly cavity, the second joint module has an output flange at one end assembled and fixed to the side of the third flange portion away from the sixth connection end, and the fourth assembly cavity is used for the output flange of the second joint module to form an assembly connection with the sixth connection end.

12. The waist joint assembly structure of a humanoid robot according to claim 11, characterized in that: The supporting frame also includes a third limit stopper and a fourth limit stopper, and the third limit stopper and the fourth limit stopper are located outside the outer edge of the third flange portion at intervals from each other. The second connecting member or the third connecting member also includes a second limit block, and the third limit stopper and the fourth limit stopper are located at both ends of the rotation range of the second limit block to limit the rotation range of the second limit block.

13. A waist structure of a humanoid robot, characterized in that: The invention comprises a waist joint assembly structure of a humanoid robot as claimed in any one of claims 1 to 12.

14. The waist structure of a humanoid robot according to claim 13, characterized in that: The second connecting end and the first flange part of the transmission flange are assembled and connected by multiple first fasteners; the second flange part of the transmission flange passes through the second connecting end and the fourth connecting end in sequence and is connected to the output flange of the first joint module, and the second flange part and the output flange of the first joint module are assembled and connected by second fasteners.

15. The waist structure of a humanoid robot according to claim 13, characterized in that: One end of the output flange of the first joint module is assembled and connected to the inner side of the fourth connection end through a plurality of third fasteners; the other end of the first joint module away from the output flange is assembled and connected to the inner side of the eighth connection end through a plurality of fourth fasteners.

16. The waist structure of a humanoid robot according to claim 13, characterized in that: When the bearing seat and the first bearing end cover are provided, the bearing seat is assembled to the outer side surface of the eighth connecting end through a plurality of fifth fasteners; and the first bearing end cover is assembled to the outer side of the first connecting end through a plurality of sixth fasteners.

17. A humanoid robot, characterized in that include: A waist joint assembly structure for a humanoid robot as described in any one of claims 1 to 12, or a waist structure for a humanoid robot as described in any one of claims 13 to 16.

18. A robot, characterized in that include: A waist joint assembly structure for a humanoid robot as described in any one of claims 1 to 12, or a waist structure for a humanoid robot as described in any one of claims 13 to 16.

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