A frame structure of a humanoid robot

Abstract

The application discloses a frame structure of a humanoid robot, which comprises a hip assembly, a thigh assembly and a shank assembly, the hip assembly comprises a hip joint pitch assembly, a hip joint roll assembly, a hip joint yaw assembly, a trunk support frame and a U-shaped support frame, the hip joint pitch assembly is connected with the U-shaped support frame after a pitch motor is inclined by 20 degrees through the trunk support frame, the U-shaped support frame is rigidly connected with the hip joint roll assembly and the hip joint yaw assembly, the thigh assembly is connected with the shank assembly, a cross roller bearing double-face fixing structure is arranged at a connecting position of the hip joint roll assembly and the hip joint pitch assembly, the hip joint pitch motor and the hip joint roll motor are coupled in the application, a cross roller bearing is added through a hip joint motor output shaft, a structure mode of four-face fixing of inner and outer rings is adopted, the hip joint pitch motor has the impact resistance and the anti-overturning torque capacity, is easy to install and is stable in reliability.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a frame structure for a humanoid robot. Background Technology

[0002] Humanoid robots are a type of biomimetic robot capable of mimicking human movements and have promising application prospects. However, existing humanoid robots have complex structures, and the energy density of appropriately sized rotary motors is low, making it difficult for them to support humanoid robots in performing complex movements. In addition, while joint decoupling is used, the joint output torque is relatively limited. Furthermore, the cantilever structure design of the motor places excessive load on the motor output shaft, which can easily cause damage to the rotary motor and significantly reduce the overall lifespan of the humanoid robot. Summary of the Invention

[0003] This invention provides a frame structure for a humanoid robot, which can solve the problems of insufficient motor power density or excessive motor size and mass affecting the structural design and overall quality of current full-size humanoid robots with electric drive solutions.

[0004] To solve the above problems, the technical solution provided by the present invention is as follows:

[0005] This invention provides a frame structure for a humanoid robot, including a hip assembly, a thigh assembly (4), and a lower leg assembly (5). The hip assembly includes a hip joint pitch assembly (1), a hip joint roll assembly (2), a hip joint yaw assembly (3), a torso support frame (6), and a U-shaped bracket (7). The hip joint pitch assembly (1) is connected to the U-shaped bracket (7) after tilting the pitch motor by 20° through the torso support frame (6). The U-shaped bracket (7) is rigidly connected to the hip joint yaw assembly (3) through the hip joint roll assembly (2). The thigh assembly (4) is connected to the lower leg assembly (5). A double-sided fixed structure with crossed roller bearings is provided at the connection between the hip joint roll assembly (2) and the hip joint pitch assembly (1) to transfer the overturning torque and impact force transmitted upward during leg movement to the rigid fixed structure of the motor stator and motor fixing sleeve of the hip joint pitch assembly (1).

[0006] In an optional embodiment of the present invention, the thigh assembly (4) forms a knee joint pitch rotation axis through the U-shaped bracket (7). The U-shaped bracket (7) is rigidly connected to the motor output shaft of the hip joint yaw assembly (3). At the connection point, the cross roller bearing embedded in the hip joint yaw motor mounting base (8) transfers the upward impact force of the leg extension rod and the overturning torque generated by the outward swing of the leg to the motor stator end of the hip joint yaw assembly (3) and the motor mounting base, so as to ensure that the thigh assembly (4) extends the service life of the hip joint yaw assembly (3) to the maximum extent.

[0007] In an optional embodiment of the present invention, the rotation axis connecting the thigh assembly (4) and the lower leg assembly (5) is connected by an oil-impregnated copper sleeve (9). The connection method of the oil-impregnated copper sleeve (9) in conjunction with the flat needle roller bearing replaces the traditional bearing scheme, which effectively improves the impact resistance of the connection structure, improves the reliability and service life of the connection structure, and at the same time, the oil-impregnated copper sleeve (9) can also reduce friction damping and wear of the copper sleeve during rotation.

[0008] In an optional embodiment of the present invention, the thigh assembly (4) includes a knee joint rotation shaft (10) and a knee joint bearing steel sleeve (11). The knee joint rotation shaft (10) and the knee joint bearing steel sleeve (11) are fixedly connected through each other and pass through an oil-impregnated copper sleeve (9) to form a support structure. A flat needle roller bearing is installed between the knee joint rotation shaft (10) and the oil-impregnated copper sleeve (9) to form a tight connection structure, thereby avoiding the problem of wear of the copper sleeve caused by the rotation of the shaft end face relative to the copper sleeve.

[0009] In an optional embodiment of the present invention, the motors of the hip joint Pitch component (1), the hip joint Roll component (2), and the hip joint Yaw component (3) are all 135mm diameter wound module motors with a peak torque exceeding 500 N·m.

[0010] Beneficial Effects: This invention provides a frame structure for a humanoid robot, including a hip assembly, a thigh assembly, and a lower leg assembly. The hip assembly includes a hip joint pitch assembly, a hip joint roll assembly, a hip joint yaw assembly, a torso support frame, and a U-shaped bracket. The hip joint pitch assembly connects to the U-shaped bracket after tilting the pitch motor by 20° via the torso support frame. The U-shaped bracket is rigidly connected to the hip joint yaw assembly via the hip joint roll assembly. The thigh assembly is connected to the lower leg assembly. A double-sided fixed structure with crossed roller bearings is provided at the connection between the hip joint roll assembly and the hip joint pitch assembly. This structure transfers the overturning torque and impact force transmitted upward during leg movement to the rigid fixed structure of the motor stator and motor fixing sleeve of the hip joint pitch assembly, maximizing the service life of the motor. The coupling design of the hip joint pitch motor and hip joint roll motor of this invention, with the addition of crossed roller bearings to the output shaft of the hip joint motor and the use of a four-sided fixed structure for the inner and outer rings, enhances the hip joint pitch motor's impact and overturning torque resistance, facilitates installation, and ensures stable reliability. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the frame structure of a humanoid robot provided in an embodiment of this application.

[0013] Figure 2 This is a schematic diagram of a U-shaped bracket for the frame structure of a humanoid robot provided in an embodiment of this application.

[0014] Figure 3 This is a schematic diagram of the thigh assembly of a humanoid robot frame structure provided in an embodiment of this application. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0016] like Figure 1 and Figure 2As shown in the figure, an embodiment of the present invention provides a frame structure for a humanoid robot, including a hip assembly, a thigh assembly 4, and a lower leg assembly 5. The hip assembly includes a hip joint pitch assembly 1, a hip joint roll assembly 2, a hip joint yaw assembly 3, a torso support frame 6, and a U-shaped bracket 7. The hip joint pitch assembly 1 is connected to the U-shaped bracket 7 after tilting the pitch motor by 20° through the torso support frame 6. The U-shaped bracket 7 is rigidly connected to the hip joint yaw assembly 3 through the hip joint roll assembly 2. The thigh assembly 4 is connected to the lower leg assembly 5. A double-sided fixed structure with crossed roller bearings is provided at the connection between the hip joint roll assembly 2 and the hip joint pitch assembly 1, that is, a structure with four-sided fixed structure of inner and outer rings. The double-sided fixed structure with crossed roller bearings is used to transfer the overturning torque and impact force transmitted upward during leg movement to the rigid fixed structure of the motor stator and motor fixing sleeve of the hip joint pitch assembly 1.

[0017] The thigh assembly 4 forms the knee joint pitch rotation axis through the U-shaped bracket 7. The U-shaped bracket 7 is rigidly fixed to the motor output shaft of the hip joint yaw assembly 3. At the connection point, the cross roller bearing embedded in the hip joint yaw motor mounting seat 8 transfers the upward impact force of the leg extension rod and the overturning torque generated by the outward swing of the leg to the motor stator end and the motor mounting seat of the hip joint yaw assembly 3, so as to ensure that the thigh assembly 4 extends the service life of the hip joint yaw assembly 3 to the maximum extent.

[0018] Figure 3 Combination Figure 1 and Figure 2 The thigh assembly 4 and the lower leg assembly 5 are connected at their rotating shafts via an oil-impregnated copper sleeve 9. This oil-impregnated copper sleeve 9, combined with a flat needle roller bearing, replaces the traditional bearing solution, effectively improving the impact resistance and reliability of the connection structure. Simultaneously, the oil-impregnated copper sleeve 9 reduces frictional damping and wear during rotation. The thigh assembly 4 includes a knee joint rotating shaft 10 and a knee joint bearing steel sleeve 11. The knee joint rotating shaft 10 and the knee joint bearing steel sleeve 11 are rigidly connected and pass through the oil-impregnated copper sleeve 9 to form a support structure. A flat needle roller bearing is installed between the knee joint rotating shaft 10 and the oil-impregnated copper sleeve 9, forming a tight connection structure and preventing wear of the copper sleeve during rotational movement of the shaft end face relative to the sleeve.

[0019] To achieve higher energy density in humanoid robots, this invention provides a lightweight arrangement structure for hip joint motor coupling. The motors in the hip joint pitch assembly 1, hip joint roll assembly 2, and hip joint yaw assembly 3 all employ 135mm diameter wound module motors with a peak torque exceeding 500 N·m. These motors are embedded within the thigh abdominal plate structure. This structural integration reduces the number of mechanical parts while maintaining structural rigidity and reducing overall weight, resulting in a lighter robot. In this design, to prevent the hip joint pitch motor output shaft structure from bearing the overturning torque and significant impact force caused by the leg landing, a double-sided cross-roll bearing fixing structure is designed in the pitch motor fixing structure. This transfers the overturning torque and impact force generated by the humanoid robot's leg movement to the motor stator and motor fixing sleeve structure, maximizing the motor's service life.

[0020] To extend the service life of humanoid robot structural frames, this invention provides a knee joint load-bearing structure that uses an oil-impregnated copper bushing to replace a bearing. While ensuring smooth and low-damping operation of the knee joint, it enables the knee joint to achieve greater resistance to impact and overturning moment. According to calculations and experiments, the service life is 2 to 3 times that of the bearing solution, and the load-bearing capacity is twice that of the bearing design of the same size.

[0021] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A high-energy-density humanoid robot frame structure, characterized in that, The device includes a hip assembly, a thigh assembly (4), and a calf assembly (5). The hip assembly includes a hip joint pitch assembly (1), a hip joint roll assembly (2), a hip joint yaw assembly (3), a trunk support frame (6), and a U-shaped bracket (7). The hip joint pitch assembly (1) is connected to the U-shaped bracket (7) after tilting the pitch motor by 20° through the trunk support frame (6). The U-shaped bracket (7) is rigidly connected to the hip joint yaw assembly (3) through the hip joint roll assembly (2). The thigh assembly (4) is connected to the calf assembly (5). The connection between the hip joint roll assembly (2) and the hip joint pitch assembly (1) is provided with a double-sided fixed structure of cross roller bearings, which is used to transfer the overturning torque and impact force transmitted upward during leg movement to the rigid fixed structure of the motor stator and motor fixing sleeve of the hip joint pitch assembly (1). The thigh assembly (4) forms a knee joint pitch rotation axis through the U-shaped bracket (7). The U-shaped bracket (7) is rigidly connected to the motor output shaft of the hip joint yaw assembly (3). At the connection point, the cross roller bearing embedded in the hip joint yaw motor mounting base (8) transfers the upward impact force of the leg extension rod and the overturning torque generated by the outward swing of the leg to the motor stator end and the motor mounting base of the hip joint yaw assembly (3), so as to ensure that the thigh assembly (4) extends the service life of the hip joint yaw assembly (3) to the maximum extent.

2. The high-energy-density humanoid robot frame structure according to claim 1, characterized in that, The connection between the thigh assembly (4) and the lower leg assembly (5) is achieved by using an oil-impregnated copper sleeve (9) at the rotation axis. This method replaces the traditional bearing solution with a connection using an oil-impregnated copper sleeve (9) and a flat needle roller bearing. This effectively improves the impact resistance of the connection structure and enhances its reliability and service life. At the same time, the oil-impregnated copper sleeve (9) can also reduce friction damping and wear of the copper sleeve during rotation.

3. The high-energy-density humanoid robot frame structure according to claim 1, characterized in that, The thigh assembly (4) includes a knee joint rotation shaft (10) and a knee joint bearing steel sleeve (11). The knee joint rotation shaft (10) and the knee joint bearing steel sleeve (11) are fixedly connected through each other and pass through an oil-impregnated copper sleeve (9) to form a support structure. A flat needle roller bearing is installed between the knee joint rotation shaft (10) and the oil-impregnated copper sleeve (9) to form a tight connection structure, which avoids the problem of wear of the copper sleeve caused by the rotation of the shaft end face relative to the copper sleeve.

4. The high-energy-density humanoid robot frame structure according to claim 1, characterized in that, The motors of the hip joint Pitch assembly (1), the hip joint Roll assembly (2), and the hip joint Yaw assembly (3) are all 135mm diameter wound module motors with a peak torque exceeding 500N▪m.

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