Robot leg yaw joint support structure, robot leg structure, robot and humanoid robot

Abstract

The present application relates to the field of robot technology, and discloses a robot leg yaw joint support structure, a robot leg structure, a robot and a humanoid robot, wherein the robot leg yaw joint support structure mainly includes a leg roll output connector, a bearing and a leg yaw joint module. The connecting flange on the docking portion of the leg roll output connector is assembled and connected with the output flange of the leg yaw joint module, and a bearing for supporting is arranged between the docking portion and the output end of the leg yaw joint module. This arrangement forms a support system between the docking portion and the leg yaw joint module, and the output flange of the leg yaw joint module also forms a support system in the reducer section inside, thereby preventing the output flange of the leg yaw joint module from being biased, thereby protecting the reducer of the yaw joint module.

Description

Technical Field

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

[0002] In the field of robotics, humanoid robots have always been a research focus. The design of this type of robot generally includes the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. With the cooperation of these joint modules, humanoid robots can simulate many human movements and postures, such as walking, standing, bending and carrying objects, thereby achieving a high degree of imitation of human behavior.

[0003] In the structure of humanoid robots, the legs of the robot usually use three degrees of freedom, namely pitch, roll and yaw, to simultaneously control the position and movement of the thighs, thereby achieving actions such as walking, squatting and standing. Among them, the output flange of the leg yaw joint module needs to be connected to a relatively static part to ensure the accuracy of the action. It is usually connected to the output connector of the leg roll joint. The output flange is easily affected by eccentricity, which can wear the reducer of the leg yaw joint or even damage it, ultimately increasing the maintenance workload and maintenance cost of the leg yaw joint. Summary of the invention

[0004] The present application provides a robot leg yaw joint support structure, a robot leg structure, a robot and a humanoid robot, aiming to solve the problem that the output flange of the existing leg yaw joint module is easily biased, resulting in reducer wear and even damage.

[0005] In one embodiment, a robot leg yaw joint support structure is provided, which mainly includes a leg roll output connector, a bearing, and a leg yaw joint module;

[0006] The leg roll output connection piece is constructed with a generally hollow cylindrical docking portion and a connection flange fixedly connected to the docking portion;

[0007] The leg yaw joint module includes an output end adjacent to the leg roll output connector, the output end is substantially cylindrical, and the output flange of the leg yaw joint module is arranged at the middle of the outer end surface of the output end;

[0008] Among them, the inner wall of the docking part abuts against the outer ring of the bearing, the inner ring of the bearing abuts against the outer wall of the output end, and the connecting flange is assembled to the output flange of the connecting leg yaw joint module.

[0009] In one solution, the outer wall of the output end is provided with a circular mounting groove, which is located at one end of the output end adjacent to the leg rolling output connector, and the inner wall surface of the mounting groove abuts against the inner ring of the bearing.

[0010] In one solution, the inner wall surface of the butt joint is further provided with a shaft shoulder, which is substantially in the shape of a hollow circular ring and abuts against the outer ring of the bearing in the axial direction;

[0011] The mounting groove is also provided with a clamping shoulder, which is located on the axial inner side of the mounting groove. The clamping shoulder is roughly in the shape of a hollow circular ring, and the clamping shoulder abuts against the inner ring of the bearing in the axial direction.

[0012] In one embodiment, the docking portion surrounds the connecting flange, and an extension portion is connected to the docking portion and the connecting flange. A first cavity is defined between the docking portion and the connecting flange, and the output end and the bearing are assembled in the first cavity.

[0013] In one scheme, the docking part also has an axially protruding limit protrusion, which protrudes toward the side of the leg yaw joint module; the outer wall surface of the output end is provided with a positioning block, which protrudes radially from the outer wall surface of the output end; at the extreme angle of rotation of the leg yaw joint module around the axis, the limit protrusion stops the positioning block.

[0014] In one solution, a fixing flange is further provided on the radial inner side of the connecting flange. The fixing flange is provided at the middle part of the connecting flange facing the leg yaw joint module. The fixing flange is connected to the synchronization shaft of the leg yaw joint module.

[0015] In one embodiment, the leg roll output connector is provided with a plurality of first assembly holes, and the first assembly holes penetrate the connecting flange and the extension portion; fasteners are passed through the first assembly holes to be fastened to the output flange of the leg yaw joint module.

[0016] In one embodiment, the fixing flange is provided with a plurality of second assembly holes, and the second assembly holes penetrate the connecting flange and the extension portion; fasteners are passed through the second assembly holes to fasten the synchronous shaft connected to the leg yaw joint module.

[0017] In one solution, a wire hole is provided in the middle of the leg roll output connector, and the wire hole is a through hole that penetrates the connecting flange and the extension portion.

[0018] In one solution, a plurality of third assembly holes are provided at the output end, and the output end is fastened to the reducer of the leg yaw joint module through the third assembly holes.

[0019] In one embodiment, a robot leg structure is provided, which mainly includes a leg roll joint module and the robot leg yaw joint support structure as described above, and the leg roll joint module is assembled and connected to the leg roll output connector.

[0020] In one embodiment, the leg roll output connector also has a first connection seat and a second connection seat, the first connection seat and the second connection seat are perpendicular to the output end, the output flange of the leg roll joint module is connected to the first connection seat, and the end of the leg roll joint module facing away from the output flange is rotatably connected to the second connection seat.

[0021] In one embodiment, a robot is provided, which mainly includes the robot leg yaw joint support structure as described above, or the robot leg structure as described above.

[0022] In one embodiment, a humanoid robot is provided, which mainly includes the robot leg yaw joint support structure as described above, or the robot leg structure as described above.

[0023] Beneficial effects of this application:

[0024] In a robot leg yaw joint support structure, a robot leg structure, a robot and a humanoid robot of the present application, the robot leg yaw joint support structure mainly includes a leg roll output connector, a bearing and a leg yaw joint module. The connecting flange on the docking part of the leg roll output connector is assembled and connected with the output flange of the leg yaw joint module to realize the yaw movement of the leg. In addition, a bearing that plays a supporting role is arranged between the docking part and the output end of the leg yaw joint module. This arrangement forms a support system between the docking part and the leg yaw joint module. At the same time, the output flange of the leg yaw joint module also forms a support system in the internal reducer section. Therefore, when relative force occurs between the docking part and the leg yaw joint module, the bearing between the docking part and the leg yaw joint module and the bearing connected to the output flange will play a supporting role at the same time, thereby preventing the output flange of the leg yaw joint module from being biased, and then protecting the reducer of the yaw joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 is an exploded schematic diagram of a robot leg yaw joint support structure in a three-dimensional state in one embodiment of the present application;

[0027] Figure 2 is an exploded schematic diagram of another angle of the robot leg yaw joint support structure in a three-dimensional state in one embodiment of the present application;

[0028] Figure 3is a cross-sectional schematic diagram of a robot leg yaw joint support structure in one embodiment of the present application;

[0029] Figure 4 yes Figure 3 An enlarged schematic diagram of the robot leg yaw joint support structure at point A;

[0030] Figure 5 yes Figure 3 An enlarged schematic diagram of the robot leg yaw joint support structure at B;

[0031] Figure 6 yes Figure 3 An enlarged schematic diagram of the robot leg yaw joint support structure at position C;

[0032] Figure 7 It is a schematic diagram of the three-dimensional structure of the leg roll output connector of the robot leg yaw joint support structure in an embodiment of the present application when viewed from above;

[0033] Figure 8 is a schematic diagram of the three-dimensional structure of the leg structure of the robot in one embodiment of the present application;

[0034] Fig. 9 is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application;

[0035] Fig.10 It is a schematic diagram of the three-dimensional structure of the hip and legs of a humanoid robot in one embodiment of the present application.

[0036] Reference numerals in the figures:

[0037] 1. Leg roll output connector;

[0038] 11. docking portion; 111. shaft shoulder; 112. limiting protrusion;

[0039] 12, connecting flange; 121, fixing flange; 121a, second assembly hole;

[0040] 13. extension portion; 14. first cavity;

[0041] 15. Wire hole;

[0042] 16. First connecting seat;

[0043] 17. Second connecting socket;

[0044] 18. First assembly hole;

[0045] 2. Bearings;

[0046] 3. Leg yaw joint module;

[0047] 31, output end; 311, mounting slot; 311a, clamping shoulder; 312, in-place clamping block; 313, third assembly hole;

[0048] 32. output flange; 321. fourth assembly hole;

[0049] 33. Synchronous shaft; 331. Fifth assembly hole;

[0050] 34. Leg yaw joint housing; 341. First fixing hole; 342. Convex ring;

[0051] 4. Leg rolling joint module;

[0052] 5. Thigh structure; 51. Sixth assembly hole; 52. Attachment surface;

[0053] 7. Leg structure; 71. Hip joint; 72. Hip pitch joint; 73. Thigh; 74. Knee joint; 75. Calf; 76. Foot drive joint; 77. Foot;

[0054] X is the horizontal first direction; Y is the horizontal second direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0055] The specific embodiments 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In the present invention, the general 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.

[0062] In some embodiments, see Figures 1 to 3, a robot leg yaw joint support structure is provided, which mainly includes a leg roll output connector 1, a bearing 2 and a leg yaw joint module 3. The leg roll output connector 1 is constructed with a docking portion 11 that is roughly in the shape of a hollow cylinder, and a connecting flange 12 that is fixedly connected to the docking portion 11. The leg yaw joint module 3 includes an output end 31 adjacent to the leg roll output connector 1, the output end 31 is roughly cylindrical, and the output flange 32 of the leg yaw joint module 3 is arranged in the middle of the outer end surface of the output end 31. Among them, the inner wall of the docking portion 11 abuts against the outer ring of the bearing 2, the inner ring of the bearing 2 abuts against the outer wall of the output end 31, and the connecting flange 12 is assembled to connect the output flange 32 of the leg yaw joint module 3.

[0063] In the above-mentioned setting, the connecting flange 12 on the docking portion 11 of the leg roll output connector 1 is assembled and connected with the output flange 32 of the leg yaw joint module 3. The leg yaw joint module 3 rotates relative to the leg roll output connector 1 and drives the thigh structure 5 to rotate, thereby realizing the yaw movement of the leg.

[0064] A bearing 2 for supporting is arranged between the docking part 11 and the output end 31 of the leg yaw joint module 3, so that a supporting system is constructed between the docking part 11 and the leg yaw joint module 3. In addition, the output flange 32 of the leg yaw joint module 3 is in the internal reducer section to which it is connected, and the internal bearing connected to the output flange 32 also forms a supporting system.

[0065] When relative force is generated between the docking part 11 and the leg yaw joint module 3, the bearing 2 between the docking part 11 and the leg yaw joint module 3 and the bearing connected to the output flange 32 will cooperate to play a supporting role, preventing the output flange 32 of the leg yaw joint module 3 from being subjected to bias pressure, thereby protecting the reducer of the leg yaw joint module 3.

[0066] In some embodiments, see Figure 1 and Figure 3 The outer wall of the output end 31 is provided with a circular mounting groove 311, which is located at one end of the output end 31 adjacent to the leg rolling output connector 1, and the inner wall surface of the mounting groove 311 abuts against the inner ring of the bearing 2.

[0067] The mounting groove 311 is used to form the mounting position of the inner ring of the bearing 2, and plays a role in positioning and assembly. The annular structure is adapted to the inner ring of the bearing 2, and the degree of combination is high. The inner ring will not slide relative to the mounting groove 311, which can better play the supporting role of the bearing 2, and at the same time avoid the wear of the inner ring of the bearing 2, effectively extending the service life of the bearing 2.

[0068] The installation groove 311 is designed to form an installation position that matches the inner ring of the bearing 2, and can accurately position and assemble the inner ring of the bearing 2. Its annular structural design is compatible with the inner ring of the bearing 2, so that the inner ring of the bearing 2 and the installation groove 311 are tightly combined, effectively preventing the inner ring from sliding relative to the installation groove 311. In this way, the bearing 2 can fully play its supporting role, and the bottom of the groove forms a limit for the bearing 2, so that even if relative sliding occurs, it can be limited to a limited range. At the same time, since excessive friction between the inner ring of the bearing 2 and the installation groove 311 is avoided, the wear of the inner ring of the bearing 2 is prevented, and the service life of the bearing 2 is effectively extended.

[0069] In some embodiments, see Figure 4 The inner wall surface of the docking portion 11 is also provided with a shoulder 111, which is roughly in the shape of a hollow circular ring and abuts against the outer ring of the bearing 2 in the axial direction; the mounting groove 311 is also provided with a clamping shoulder 311a, which is located on the axial inner side of the mounting groove 311, and is roughly in the shape of a hollow circular ring and abuts against the inner ring of the bearing 2 in the axial direction.

[0070] The setting of the shaft shoulder 111 is intended to limit the position of the outer ring of the bearing 2 in the axial direction, while the setting of the clamping shoulder 311a is used to limit the position of the inner ring of the bearing 2 in the axial direction. The shaft shoulder 111 and the clamping shoulder 311a cooperate with each other to achieve the limit of the bearing 2 in the axial direction, and effectively play the role of accurately positioning the bearing 2. At the same time, this design limits the possibility of movement of the inner and outer rings of the bearing 2, thereby providing stable and reliable support. In addition, since the wear problem that may be caused by the movement of the inner and outer rings is avoided, the service life of the bearing 2 is effectively extended.

[0071] In some embodiments, see Figure 4 The position of the bearing 2 is located between the shaft shoulder 111 and the shoulder 311a, and the radial span of the shaft shoulder 111 is roughly equal to the thickness of the outer ring of the bearing 2, and the radial span of the shoulder 311a is roughly equal to the thickness of the inner ring of the bearing 2. This can prevent the shaft shoulder 111 or the shoulder 311a from contacting the inner and outer rings of the bearing 2 at the same time, thereby avoiding motion interference.

[0072] In some embodiments, see Figure 2 and Figure 6 The docking portion 11 surrounds the connecting flange 12, and an extension portion 13 is connected to the docking portion 11 and the connecting flange 12. A first cavity 14 is defined between the docking portion 11 and the connecting flange 12, and the first cavity 14 is for the output end 31 and the bearing 2 to be assembled therein.

[0073] This structural setting establishes a clear position reference between the connecting flange 12 and the docking portion 11, thereby ensuring accurate positioning between the bearing 2 and the connecting flange 12. Accurate positioning is not only conducive to the smooth assembly of the bearing 2, but also enables it to play a stable and reliable supporting role.

[0074] The design of the first cavity 14 provides accommodation space for the output end 31 and the bearing 2, which is more reasonable in space utilization. The extension portion 13 is connected to the docking portion 11 to form a sealing structure on one side, while the bearing 2 constitutes the seal on the other side. This double sealing design can effectively prevent dust and other particles from entering the first cavity 14, preventing these impurities from causing adverse effects on the connection between the connecting flange 12 and the output flange 32. In addition, the reasonable use of the space between the extension portion 13 and the docking portion 11 not only optimizes the internal structure layout, but also helps to maintain the simplicity of the robot's appearance and improve the overall aesthetics and practicality.

[0075] In some embodiments, see Figure 3 and Figure 6 The docking portion 11 also has an axially protruding limiting protrusion 112, which protrudes toward the side of the leg yaw joint module 3; the outer wall surface of the output end 31 is provided with a positioning block 312, and the positioning block 312 protrudes radially from the outer wall surface of the output end 31; at the extreme angle of rotation of the leg yaw joint module 3 around the axis, the limiting protrusion 112 stops the positioning block 312.

[0076] The above structural setting is intended to limit the rotation angle of the output end 31 of the leg yaw joint module 3 relative to the leg roll output connector 1. Through the cooperation of the limiting protrusion 112 and the in-place block 312, the positioning and resetting functions of the joint module can be conveniently realized, providing a key structural guarantee for the precise movement of the robot, ensuring that the rotation angle of the leg joint is always within the precise control range during the operation of the robot, and improving the overall movement accuracy and stability of the robot.

[0077] In some embodiments, see Figure 3 and Figure 5 A fixing flange 121 is also provided on the radial inner side of the connecting flange 12 . The fixing flange 121 is provided in the middle of the side of the connecting flange 12 facing the leg yaw joint module 3 . The fixing flange 121 is connected to the synchronization shaft 33 of the leg yaw joint module 3 .

[0078] During operation, the rotation speed of the connecting flange 12 is equal to the rotation speed of the output flange 32. The speed transmission of the output flange 32 can be achieved by connecting the fixed flange 121 on the connecting flange 12 with the synchronous shaft 33 of the leg yaw joint module 3. This enables the leg yaw joint module 3 to record the output speed more accurately. In the complex motion control process of the robot, the accurate speed record can provide accurate data feedback for the control system, so that the waist joint movement of the robot is more coordinated and accurate, so as to better complete various complex tasks.

[0079] In addition, this design has the advantage of a simple structure. In traditional designs, if the synchronous shaft 33 and the output flange 32 are directly connected or assembled, not only do they need to be highly matched, but also the processing accuracy is extremely high; if the synchronous shaft 33 and the output flange 32 are connected by separately arranging the end cover, additional corresponding parts and connectors are required, which will undoubtedly increase the number of parts of the waist joint, which is not conducive to assembly and the lightweight of the whole machine. The design in this patent effectively avoids these problems and optimizes the overall structure.

[0080] In some embodiments, see Figure 3 and Figure 5 The leg roll output connector 1 is provided with a plurality of first assembly holes 18 , and the first assembly holes 18 penetrate the connection flange 12 and the extension portion 13 ; fasteners are passed through the first assembly holes 18 to be fastened to the output flange 32 of the leg yaw joint module 3 .

[0081] The arrangement of the fasteners facilitates stable and reliable assembly and is easy to disassemble, which is beneficial to mass production and subsequent maintenance operations.

[0082] In some embodiments, the fastener may be a threaded fastener, and the output flange 32 is provided with a fourth assembly hole 321 corresponding to the first assembly hole 18 . The fourth assembly hole 321 may be a threaded hole to achieve threaded connection with the threaded fastener.

[0083] In some embodiments, see Figure 3 and Figure 5 The fixing flange 121 is provided with a plurality of second assembly holes 121a, and the second assembly holes 121a penetrate the connecting flange 12 and the extension portion 13; fasteners are passed through the second assembly holes 121a to fasten the synchronization shaft 33 connected to the leg yaw joint module 3.

[0084] In some embodiments, see Figure 5A radially extending assembly flange is provided on the end face of the synchronization shaft 33 facing the fixed flange 121, and a fifth assembly hole 331 is provided on the assembly flange corresponding to the second assembly hole 121a. The fifth assembly hole 331 can be a threaded hole, and a threaded fastener is passed through the second assembly hole 121a and the fifth assembly hole 331 to realize the fixed connection between the synchronization shaft 33 and the fixed flange 121.

[0085] The assembly flange provides a position for combining with the fixing flange 121, avoiding processing of the hollow shaft portion, which affects the structural strength of the synchronous shaft 33, is beneficial to production yield, and the synchronous shaft 33 has a better balance.

[0086] In some embodiments, the fastener may be a threaded fastener, and a threaded hole is provided on the assembly flange corresponding to the second assembly hole 121 a to achieve threaded connection with the threaded fastener, thereby ensuring that the synchronization shaft 33 is firmly connected to the fixing flange 121 .

[0087] In some embodiments, see Figure 6 The leg roll output connector 1 has a wire hole 15 in the middle, which is a through hole that penetrates the connecting flange 12 and the extension 13. The design of the wire hole 15 provides convenience for the arrangement of the internal lines of the robot, allowing various cables to pass through in an orderly manner, avoiding the tangled and exposed lines, ensuring the neatness of the robot's appearance and the privacy of the wiring harness, and is also conducive to the protection of the lines, reducing the frequency of maintenance and replacement, and improving the overall reliability and stability of the robot.

[0088] In some embodiments, see Figure 6 The output end 31 is provided with a plurality of third assembly holes 313 , and the output end 31 is fastened to the reducer of the leg yaw joint module 3 through the third assembly holes 313 .

[0089] In some embodiments, see Figure 3 and Figure 7 The leg yaw joint module 3 includes a leg yaw joint housing 34 , the leg yaw joint housing 34 is provided with an annular convex ring 342 , the thigh structure 5 is provided with a receiving surface 52 , and the convex ring 342 is adapted to the receiving surface 52 .

[0090] In some embodiments, see Figure 3 and Figure 7 At the end away from the output end 31 and on the side of the convex ring 342 away from the output end 31, the outer side surface of the leg yaw joint housing 34 is provided with one or more first fixing holes 341, and the thigh structure 5 is provided with one or more sixth assembly holes 51 corresponding to the first fixing holes 341, and the fasteners are passed through the sixth assembly holes 51 to fasten the leg yaw joint housing 34 of the leg yaw joint module 3 to fix the thigh structure 5 and the leg yaw joint housing 34.

[0091] In some embodiments, see Figure 8 , a robot leg structure 7 is provided, which mainly includes a leg roll joint module 4 and a robot leg yaw joint support structure as in any of the above embodiments, and the leg roll joint module 4 is assembled and connected with the leg roll output connector 1. The beneficial effects of the robot leg yaw joint support structure are detailed in the above embodiments and will not be repeated here.

[0092] In some embodiments, see Figure 1 The leg roll output connecting member 1 also has a first connecting seat 16 and a second connecting seat 17, the first connecting seat 16 and the second connecting seat 17 are perpendicular to the output end 31, the output flange of the leg roll joint module 4 is connected to the first connecting seat 16, and the end of the leg roll joint module 4 away from the output flange is rotatably connected to the second connecting seat 17.

[0093] The above-mentioned arrangement makes the rotation axis of the leg roll joint module 4 and the rotation axis of the leg yaw joint module 3 perpendicular to each other. Such an arrangement facilitates precise control of the coordination between the leg roll joint module 4 and the leg yaw joint module 3 to achieve the purpose of precise control of the movement.

[0094] In some embodiments, a robot is provided, which mainly includes a robot leg yaw joint support structure as in any of the above embodiments, or a robot leg structure 7 as in any of the above embodiments. The beneficial effects of the robot leg yaw joint support structure are detailed in the above embodiments, which will not be repeated here. The beneficial effects of the robot leg structure 7 are detailed in the above embodiments, which will not be repeated here.

[0095] In some embodiments, see Fig. 9 , a humanoid robot is provided, which mainly includes a robot leg yaw joint support structure as in any of the above embodiments, or a robot leg structure 7 as in any of the above embodiments. The beneficial effects of the robot leg yaw joint support structure are detailed in the above embodiments, which will not be repeated here. The beneficial effects of the robot leg structure 7 are detailed in the above embodiments, which will not be repeated here.

[0096] In some embodiments, see Fig. 9 as well as Fig.10 The leg movement dominated by the leg yaw joint module 3 of the humanoid robot refers to the rotation of the leg structure around the axis perpendicular to the bottom surface (equivalent to the Z axis) when the robot is in a natural standing state. It is usually located at the hip (connecting the torso and thigh) and is one of the three degrees of freedom of the hip (pitch, roll, yaw).

[0097] In some embodiments, see Fig. 9 as well as Fig.10The leg movement dominated by the leg roll joint module 4 of the humanoid robot refers to the rotation of the leg structure roll angle when the robot is in a natural standing state, that is, the rotation around the horizontal second direction Y axis, which is one of the three degrees of freedom of the hip together with the leg yaw joint module 3.

[0098] In some embodiments, the rotation axis of the leg yaw joint module 3 of the humanoid robot and the rotation axis of the leg roll joint module 4 of the humanoid robot are perpendicular to each other.

[0099] See also Fig. 9 The humanoid robot includes a head, a neck, a torso, a waist, a hip, an arm and a leg, wherein the hip includes a hip connection seat 71, which is respectively connected to the waist and the leg structure 7. The waist is connected to two waist joint modules through a waist omnidirectional articulated structure, and the waist omnidirectional articulated structure is used to realize bending or tilting and other actions. The leg structure 7 includes a hip pitch joint 72, a leg roll joint module 4 and a leg yaw joint module 3 which are connected in sequence. The hip pitch joint 72 is connected to the hip connecting seat 71, and the thigh 73 of the leg is connected to the output end 31 of the leg yaw joint module 3. The hip pitch joint 72, the leg roll joint module 4 and the leg yaw joint module 3 realize the pitch, roll and yaw movements of the thigh 73. A knee joint 74 is arranged between the thigh 73 and the calf 75 for directly driving the movement of the calf 75. The calf 75 drives the rocker arm through the sole driving joint 76 to realize the omnidirectional movement of the sole 77. Such a multi-degree-of-freedom robot can realize the imitation of humanoid walking, standing, bending and other movements, and can also realize complex behaviors such as carrying and climbing in combination with the arms.

[0100] 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 robot leg yaw joint support structure, characterized in that: It includes a leg roll output connector, a bearing and a leg yaw joint module; The leg roll output connection piece is configured with a generally hollow cylindrical docking portion and a connection flange fixedly connected to the docking portion; The leg yaw joint module comprises an output end adjacent to the leg roll output connector, the output end is substantially cylindrical, and the output flange of the leg yaw joint module is arranged at the middle of the outer end surface of the output end; Among them, the inner wall of the docking portion abuts against the outer ring of the bearing, the inner ring of the bearing abuts against the outer wall of the output end, and the connecting flange is assembled to connect the output flange of the leg yaw joint module.

2. The robot leg yaw joint support structure according to claim 1, characterized in that: The outer wall of the output end is provided with a circular mounting groove, and the mounting groove is located at one end of the output end adjacent to the leg rolling output connecting piece, and the inner wall surface of the mounting groove abuts against the inner ring of the bearing.

3. The robot leg yaw joint support structure according to claim 2, characterized in that: The inner wall surface of the docking portion is also provided with a shaft shoulder, which is substantially in the shape of a hollow circular ring and abuts against the outer ring of the bearing in the axial direction; The mounting groove is also provided with a clamping shoulder, which is located on the axial inner side of the mounting groove, and is substantially in the shape of a hollow circular ring, and abuts against the inner ring of the bearing in the axial direction.

4. The robot leg yaw joint support structure according to claim 1, characterized in that: The docking portion surrounds the connecting flange and is connected to the docking portion and the connecting flange by an extension portion. A first cavity is defined between the docking portion and the connecting flange, and the output end and the bearing are assembled in the first cavity.

5. The robot leg yaw joint support structure according to claim 1, characterized in that: The docking portion also has an axially protruding limiting protrusion, which protrudes toward one side of the leg yaw joint module; the outer wall surface of the output end is provided with a positioning block, which radially protrudes from the outer wall surface of the output end; at the extreme angle of rotation of the leg yaw joint module around the axis, the limiting protrusion stops the positioning block.

6. The robot leg yaw joint support structure according to claim 4, characterized in that: A fixing flange is also arranged on the radial inner side of the connecting flange. The fixing flange is arranged in the middle of the connecting flange facing the leg yaw joint module. The fixing flange is connected to the synchronization shaft of the leg yaw joint module.

7. The robot leg yaw joint support structure according to claim 4, characterized in that: The leg roll output connecting member is provided with a plurality of first assembly holes, and the first assembly holes penetrate through the connecting flange and the extending portion; and the first assembly holes are fastened to the output flange of the leg yaw joint module by fasteners passing through the first assembly holes.

8. The robot leg yaw joint support structure according to claim 6, characterized in that: The fixing flange is provided with a plurality of second assembly holes, and the second assembly holes penetrate through the connecting flange and the extending portion; and fasteners are passed through the second assembly holes to fasten the synchronous shaft connected to the leg yaw joint module.

9. The robot leg yaw joint support structure according to claim 4, characterized in that: The leg roll output connecting piece has a wire hole in the middle, and the wire hole is a through hole that penetrates the connecting flange and the extension part.

10. The robot leg yaw joint support structure according to claim 1, characterized in that: The output end is provided with a plurality of third assembly holes, and the output end is fastened to the reducer of the leg yaw joint module through the third assembly holes.

11. A leg structure of a robot, characterized in that: It comprises a leg roll joint module and a robot leg yaw joint support structure as described in any one of claims 1 to 10, wherein the leg roll joint module is assembled and connected to the leg roll output connecting piece.

12. The robot leg structure according to claim 11, characterized in that: The leg roll output connecting member also has a first connecting seat and a second connecting seat, the first connecting seat and the second connecting seat are perpendicular to the output end, the output flange of the leg roll joint module is connected to the first connecting seat, and the end of the leg roll joint module away from the output flange is rotatably connected to the second connecting seat.

13. A robot, characterized in that: It comprises the robot leg yaw joint support structure as claimed in any one of claims 1 to 10, or the robot leg structure as claimed in claim 11 or 12.

14. A humanoid robot, characterized in that: It comprises the robot leg yaw joint support structure as claimed in any one of claims 1 to 10, or the robot leg structure as claimed in claim 11 or 12.

Images