Universal joint structure for humanoid robot, universal joint hinge structure for humanoid robot, and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a universal joint structure for a humanoid robot, a universal joint hinge structure of the humanoid robot and the humanoid robot. The universal joint structure mainly comprises a main body and four connecting shaft pins, the connecting shaft pins are detachably connected with the main body, and connecting shaft sections of the connecting shaft pins are used for being connected with bearings. By means of the arrangement, when the universal joint structure is disassembled and assembled, the bearing can be driven to be disassembled together by disassembling and assembling the connecting shaft pin, the bearing does not need to be disassembled independently, the disassembling and assembling process is convenient, and maintainability is high.

Description

Technical Field

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

[0002] In the field of robotics, humanoid robots have always been the focus of research. The design of this type of robot usually covers the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. Through the coordinated work of these joint modules in different positions, humanoid robots can simulate various human movements and postures, such as walking, standing, bending over and carrying objects, achieving a high degree of imitation of human behavior.

[0003] In current humanoid robots, the foot includes the calf and the sole. The sole needs to deflect left and right and front and back relative to the calf. Generally, the calf and the sole are connected by a universal joint to meet the requirements of multiple directional deflection. In the universal joint structure of the prior art, the bearing is arranged between the cross shaft and the support. When disassembling and assembling, the bearing needs to be disassembled first. However, the bearing is a tight fit, and it is very inconvenient to disassemble directly, and the maintenance of the universal joint is not convenient. Summary of the invention

[0004] The present application provides a universal joint structure for a humanoid robot, a universal joint articulated structure of a humanoid robot, and a humanoid robot, aiming to solve the problem that the universal joint structure of the existing humanoid robot is inconvenient to disassemble and assemble.

[0005] In one scheme, a universal joint structure for a humanoid robot is provided, which mainly includes a main body and four connecting pins, wherein the main body is constructed with four pin holes that are opposite to each other and arranged in a cross shape; the connecting pins are respectively constructed with a connecting section and a connecting shaft section, and the connecting shaft section is used to connect the bearing; wherein the connecting sections of the four connecting pins are respectively detachably fixedly connected to the four pin holes.

[0006] In one embodiment, the connecting section also includes a first connecting section and a second connecting section, the first connecting section and the second connecting section are both roughly cylindrical, the diameter of the first connecting section is smaller than the diameter of the second connecting section, the axes of the first connecting section and the second connecting section are on the same straight line, and the first connecting section is configured with a thread.

[0007] In one embodiment, the pin hole also includes a first hole segment and a second hole segment, the first hole segment and the second hole segment are both roughly cylindrical, the diameter of the first hole segment is smaller than the diameter of the second hole segment, the second hole segment is arranged relative to the first hole segment adjacent to the opening of the pin hole, the axes of the first hole segment and the second hole segment are on the same straight line, and the first hole segment is constructed with an internal thread.

[0008] In one embodiment, the inner diameter of the second hole segment is slightly larger than the diameter of the second connecting segment.

[0009] In one embodiment, the second hole section is configured with a substantially annular shoulder surface adjacent to the first hole section.

[0010] In one embodiment, the end surface of the second connecting section adjacent to the first connecting section is a substantially annular plane, and the plane is disposed in abutment with the shoulder surface.

[0011] In one embodiment, the first connecting section is threadedly connected to the first hole section, and the second connecting section is disposed in abutment with an inner wall of the second hole section.

[0012] In one embodiment, a universal joint hinge structure of a humanoid robot is provided, which mainly includes a first structural member, a second structural member, a universal joint structure for a humanoid robot as described above, and four bearings; the first structural member is constructed with two symmetrically arranged first connecting wings, and the two first connecting wings are constructed with a first axial hole respectively; the second structural member is constructed with two symmetrically arranged second connecting wings, and the two second connecting wings are constructed with a second axial hole respectively; wherein the inner rings of the four bearings are respectively abutted against the outer walls of the four connecting shaft sections, and the outer rings of the four bearings are respectively abutted against the inner walls of the axial holes of the two first connecting wings and the axial holes of the two second connecting wings.

[0013] In one embodiment, the universal joint hinge structure of the humanoid robot also includes four bushings; the connecting pin also includes a roughly cylindrical extension section, the extension section is arranged between the connecting section and the connecting section, the axis of the extension section and the connecting section are on the same straight line and have the same diameter; the four bushings are respectively sleeved on the extension sections, one end of the four bushings are respectively abutted against the main body, and the other end of the four bushings are respectively abutted against one end of the inner ring of the four bearings.

[0014] In one embodiment, the universal joint hinge structure of the humanoid robot also includes four roughly hollow annular pressure plates; the four pressure plates are fixedly connected to the two first connecting wings and the two second connecting wings, and the four pressure plates are respectively abutted against one side of the outer ring of the four bearings.

[0015] In one embodiment, one end of the inner wall of the axial hole of the two first connecting wings is also constructed with a first annular shoulder extending inward, and one end of the inner wall of the axial hole of the two second connecting wings is also constructed with a second annular shoulder extending inward, and the first annular shoulder and the second annular shoulder are respectively abutted against the side of the outer ring of the bearing close to the main body.

[0016] In one embodiment, the four coupling pins are also respectively constructed with a pressure-reducing section, which is connected to one end of the coupling section away from the connecting section. The pressure-reducing section is roughly annular, and the diameter of the pressure-reducing section is larger than that of the coupling section. The four pressure-reducing sections are respectively abutted against one side of the inner ring of the four bearings.

[0017] In one embodiment, a humanoid robot is provided, which mainly includes the universal joint structure of the humanoid robot as described above.

[0018] Beneficial effects of this application:

[0019] In the universal joint structure for a humanoid robot, the universal joint articulated structure of a humanoid robot, and the humanoid robot of the present application, the universal joint structure mainly includes a main body and four coupling pins, wherein the coupling pins are detachably connected to the main body, and the coupling section of the coupling pins is used to connect the bearings. Such a configuration enables the universal joint structure to be disassembled by disassembling the coupling pins and driving the bearings to be disassembled together, without the need to disassemble the bearings separately, and the disassembly process is convenient and maintainable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 is a cross-sectional schematic diagram of a universal joint structure for a humanoid robot in one embodiment of the present application;

[0022] Figure 2 is a front view schematic diagram of a coupling pin of a universal joint structure for a humanoid robot in one embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure of the main body of the universal joint structure used in the humanoid robot in one embodiment of the present application;

[0024] Figure 4 is a cross-sectional schematic diagram of a main body of a universal joint structure for a humanoid robot in one embodiment of the present application;

[0025] Figure 5 is a schematic diagram of the three-dimensional structure of the universal joint hinge structure of the humanoid robot in one embodiment of the present application;

[0026] Figure 6 is an exploded schematic diagram of a universal joint hinge structure of a humanoid robot in one embodiment of the present application;

[0027] Figure 7is a cross-sectional schematic diagram of a universal joint hinge structure of a humanoid robot in one embodiment of the present application;

[0028] Figure 8 is a schematic diagram of the three-dimensional structure of the first structural member in one embodiment of the present application;

[0029] Fig. 9 is a partial enlarged schematic diagram of the second structural member in one embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0031] Reference numerals in the figures:

[0032] 1. Main body; 11. Pin hole; 111. First hole section; 112. Second hole section; 113. Shoulder surface; 12. First interface portion; 13. Second interface portion; 14. Third interface portion; 15. Fourth interface portion;

[0033] 2. Coupling pin; 21. Connecting section; 211. First connecting section; 212. Second connecting section;

[0034] 22. Coupling section; 23. Extension section; 24. Final section;

[0035] 3. Bearings;

[0036] 4. first structural member; 41. first connecting wing; 411. first axial hole; 412. first annular shoulder;

[0037] 5. second structural member; 51. second connecting wing; 511. second axial hole; 512. second annular shoulder;

[0038] 6. Bushing;

[0039] 7. Tablet pressing;

[0040] 81. Knee joint module; 82. Thigh structure;

[0041] 83. Leg yaw joint module; 84. Leg roll joint module; 85. Hip pitch joint module;

[0042] 91. Hip structure; 92. Waist;

[0043] 10. Soles of feet.

[0044] Wherein, X represents a first horizontal direction, Y represents a second horizontal direction, X is perpendicular to Y, and Z represents a vertical direction. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] In one embodiment, see Figure 1 , provides a universal joint structure for a humanoid robot, which mainly includes a main body 1 and four coupling pins 2, the main body 1 is constructed with four pin holes 11 that are opposite to each other and arranged in a cross; the coupling pins 2 are respectively constructed with connecting sections 21 and connecting shaft sections 22, and the connecting shaft sections 22 are used to connect the bearings 3; wherein the connecting sections 21 of the four connecting pins 2 are respectively detachably fixedly connected to the four pin holes 11.

[0053] In the above-mentioned embodiment, each coupling pin 2 is detachably connected to the main body 1, and the coupling section 22 of the coupling pin 2 is used to connect the bearing 3. Such a configuration allows the universal joint structure to be disassembled by disassembling the coupling pin 2 and driving the bearing 3 to be disassembled together, without the need to disassemble the bearing 3 separately, which makes the disassembly process convenient and highly maintainable.

[0054] In one embodiment, see Figure 1 , Figure 3 and Figure 4The main body 1 includes a first interface portion 12, a second interface portion 13, a third interface portion 14 and a fourth interface portion 15, wherein the first interface portion 12 and the second interface portion 13 are respectively located on opposite sides of the main body 1, and the first interface portion 12 and the second interface portion 13 are both located on the first axis; the third interface portion 14 and the fourth interface portion 15 are also respectively located on opposite sides of the main body 1, and the third interface portion 14 and the fourth interface portion 15 are both located on the second axis, and the above first axis and the second axis are located in the same horizontal plane and are perpendicular to each other. The outward extension distance of the first interface portion 12 and the second interface portion 13 is greater than that of the third interface portion 14 and the fourth interface portion 15, so that the first interface portion 12 and the second interface portion 13 can be used to extend the pivot seat. Among them, the first interface portion 12, the second interface portion 13, the third interface portion 14 and the fourth interface portion 15 are all provided with a pin hole 11 open to the outer end.

[0055] In one embodiment, see Figure 1 , Figure 3 and Figure 4 The first interface part 12, the second interface part 13, the third interface part 14 and the fourth interface part 15 of the universal joint structure are arranged in a cross shape, corresponding to the four coupling pins 2, and the extension directions of two adjacent interface parts are arranged perpendicular to each other. Such an arrangement enables the two opposite interface parts and the two coupling pins 2 to form a rotation axis, and the combination of the two sets of rotation axes can realize the function of omnidirectional pivoting.

[0056] In one embodiment, see Figure 1 and Figure 2 The connecting section 21 of the coupling pin 2 also includes: a first connecting section 211 and a second connecting section 212. The first connecting section 211 and the second connecting section 212 are both roughly cylindrical. The diameter of the first connecting section 211 is smaller than the diameter of the second connecting section 212. The axes of the first connecting section 211 and the second connecting section 212 are on the same straight line, and the first connecting section 211 and the second connecting section 212 are continuously arranged along the above straight line. The first connecting section 211 is constructed with threads.

[0057] It is obvious to those skilled in the art that the axis of the cylinder refers to a straight line passing through the centers of the two bottom surfaces, and this straight line is the symmetry center line of the cylinder.

[0058] It is obvious to those skilled in the art that the axis of the cylinder refers to a straight line passing through the centers of the two bottom surfaces, and this straight line is the symmetry center line of the cylinder.

[0059] The first connecting section 211 and the second connecting section 212 which are substantially cylindrical are easy to assemble, and the cylindrical structure has a higher radial structural strength and a higher connection strength.

[0060] The diameter of the first connecting section 211 is smaller than that of the second connecting section 212 , so that it can be easily inserted into the pin hole 11 and assembled easily.

[0061] The axes of the first connecting section 211 and the second connecting section 212 are on the same straight line, that is, the axes of the first connecting section 211 and the second connecting section 212 coincide with each other, so that they have the same processing reference, can be processed and formed at one time, have the same assembly reference, and have high assembly accuracy.

[0062] The thread of the first connecting section 211 can be used for threaded assembly to fix the coupling pin 2 and play a supporting role for the bearing 3 .

[0063] In one embodiment, see Figure 3 and Figure 4 The pin hole 11 further includes: a first hole segment 111 and a second hole segment 112. The first hole segment 111 and the second hole segment 112 are both roughly cylindrical. The diameter of the first hole segment 111 is smaller than the diameter of the second hole segment 112. The second hole segment 112 is arranged at the opening of the pin hole 11 adjacent to the first hole segment 111. The axes of the first hole segment 111 and the second hole segment 112 are on the same straight line. The first hole segment 111 is configured with an internal thread.

[0064] The diameter of the first hole section 111 is smaller than the diameter of the second hole section 112, so that the structural strength of the main body 1 near the interior is greater than the structural strength far from the interior, which has the effect of strengthening the center and ensures the structural strength of the main body 1. At the same time, such a setting is convenient for processing, and the same tool can be used for milling to sequentially process the first hole section 111 and the second hole section 112, and the processing accuracy is high and has the same processing reference.

[0065] The internal thread of the first hole section 111 can be used for threaded engagement to form a detachable connection with the coupling pin 2 .

[0066] In one embodiment, see Figure 1 , the inner diameter of the second hole section 112 is slightly larger than the diameter of the second connecting section 212. Such a setting enables the second connecting section 212 to be loosely matched with the second hole section 112. In this embodiment, the matching of the second connecting section 212 and the second hole section 112 can facilitate the use of the hole-axis matching surface processed by the second connecting section 212 and the second hole section 112 to define the coaxiality of the coupling pin 2. This can achieve better coaxiality than only using the threaded matching between the first connecting section 211 and the first hole section 111, because the threaded matching will deviate due to different tightening states after actual assembly or use. After increasing the matching of the second connecting section 212 and the second hole section 112, the deviation of the coupling pin 2 from the axis can be better avoided. The coaxiality of the coupling pin 2 can be controlled by controlling the machining accuracy of the second connecting section 212 and the second hole section 112, without relying on strict assembly accuracy.

[0067] In the above embodiment, the diameter of the second connecting section 212 is larger than that of the first connecting section 211 , so as to form a larger positioning mating surface between the second connecting section 212 and the second hole section 112 , thereby reducing the positioning error that may be caused by machining tolerance.

[0068] In one embodiment, when the first connecting segment 211 and the first hole segment 111 are interference fit, the first connecting segment 211 and the first hole segment 111 are fixed directly by tight connection. At this time, the inner diameter of the first hole segment 111 may also be slightly smaller than the diameter of the first connecting segment 211 .

[0069] In one embodiment, see Figure 3 and Figure 4 The second hole section 112 is configured with a substantially annular clamping shoulder surface 113 adjacent to the first hole section 111 .

[0070] See also Figures 1 to 4 The end surface of the second connecting section 212 adjacent to the first connecting section 211 is a substantially annular shoulder plane, which can be arranged in abutment with the clamping shoulder surface 113. The shoulder plane abuts with the clamping shoulder surface 113, and the abutment positioning of the outer wall surface of the second connecting section 212 and the inner wall surface of the second hole section 112 in the radial direction can better avoid the situation where the coupling pin 2 deviates from the axis.

[0071] In one embodiment, the first connecting section 211 is threadedly connected to the first hole section 111 , and the second connecting section 212 is disposed in contact with an inner wall of the second hole section 112 .

[0072] The first connecting section 211 and the first hole section 111 are connected by threads to form a thread pair, so as to fix the first connecting section 211 and the first hole section 111. At this time, the inner diameter of the first hole section 111 is slightly larger than the diameter of the first connecting section 211, so that the first connecting section 211 can rotate in the first hole section 111. The two are fixed by self-locking formed by the threads, which limits the axial freedom of the coupling pin 2.

[0073] When the first connecting section 211 is connected to the first hole section 111 by threaded connection, the second connecting section 212 is arranged to abut against the inner wall of the second hole section 112. In this way, after assembly, the second connecting section 212 is tightly matched with the inner wall of the second hole section 112, which can limit the rotational freedom of the coupling pin 2 and reduce the probability of thread failure.

[0074] In one embodiment, a transition section is provided between the first connecting section 211 and the second connecting section 212. The diameter of the transition section is smaller than the diameter of the first connecting section 211. When the first connecting section 211 needs to be processed with external threads, the position of the transition section can achieve tool avoidance, which is convenient for processing. The axes of the transition section, the first connecting section 211 and the second connecting section 212 are on the same straight line. During assembly, the transition section can partially extend into the first hole section 111, so that the shoulder plane of the second connecting section 212 adjacent to the first connecting section 211 can abut against the shoulder surface 113.

[0075] In one embodiment, the diameter of the second connecting section 212 at one end close to the coupling section 22 is approximately equal to the diameter of the coupling section 22, and at the end of the second connecting section 212 away from the coupling section 22, the diameter of the second connecting section 212 gradually decreases along the axis of the coupling pin 2 to form a chamfer. Such a setting ensures the connection strength between the second connecting section 212 and the coupling section 22. At the same time, the diameter of the end of the second connecting section 212 close to the first connecting section 211 is smaller, so as to facilitate insertion into the second hole section 112, which is more conducive to assembly.

[0076] In one embodiment, see Figures 5 to 7 , a universal joint articulated structure of a humanoid robot is provided, which mainly comprises a first structural member 4, a second structural member 5, a universal joint structure for a humanoid robot as in any of the above embodiments, and four bearings 3. The beneficial effects of the universal joint structure for a humanoid robot are detailed in the above embodiments and will not be repeated here.

[0077] The first structural member 4 is constructed with two symmetrically arranged first connecting wings 41, and the two first connecting wings 41 are respectively constructed with a first axial hole 411; the second structural member 5 is constructed with two symmetrically arranged second connecting wings 51, and the two second connecting wings 51 are respectively constructed with a second axial hole 511; wherein, the inner rings of the four bearings 3 are respectively abutted against the outer walls of the four connecting shaft sections 22, and the outer rings of the four bearings 3 are respectively abutted against the inner walls of the first axial holes 411 of the two first connecting wings 41 and the second axial holes 511 of the two second connecting wings 51.

[0078] Such an arrangement enables the universal joint structure to be supported by the first structural member 4 and the second structural member 5 respectively through the bearing 3, thereby achieving a good supporting effect.

[0079] The symmetrically arranged first connecting wings 41 and the symmetrically arranged second connecting wings 51 can achieve stable support, so that the first structural member 4 can be deflected in the front-to-back direction and the left-to-right direction relative to the second structural member 5 .

[0080] The first shaft holes 411 of the two first connecting wings 41 abut against the outer rings of the bearings 3 that are oppositely disposed, and the second shaft holes 511 of the two second connecting wings 51 abut against the outer rings of the bearings 3 that are oppositely disposed.

[0081] In one embodiment, see Figures 5 to 7 The universal joint hinge structure of the humanoid robot also includes four bushings 6; the coupling pin 2 also includes a roughly cylindrical extension section 23, the extension section 23 is arranged between the connecting section 21 and the coupling section 22, and the axes of the extension section 23 and the coupling section 22 are on the same straight line and have the same diameter; the four bushings 6 are respectively sleeved on the extension sections 23, one end of the four bushings 6 is respectively abutted against the outer wall of the first hole section 111, and the other end of the four bushings 6 is respectively abutted against one end of the inner ring of the four bearings 3.

[0082] The arrangement of the shaft sleeve 6 can adjust the distance between the bearing 3 and the main body 1, and can prevent the first connecting wing 41 or the second connecting wing 51 from being connected to the main body 1, thereby preventing the interference of the rotational freedom.

[0083] At the same time, the bearing 3 and the main body 1 can be separated, and the inner ring or outer ring of the bearing 3 will not contact the main body 1 during assembly. The structural outer diameter of the pin hole 11 formed by the main body 1 is not limited by the size of the inner ring of the bearing 3, and can be designed according to the needs of structural strength.

[0084] The extending section 23 is provided to adapt to the axial width of the shaft sleeve 6 so that the first connecting section 211 and the second connecting section 212 can be installed in place.

[0085] The extension section 23 is disposed between the second connection section 212 and the shaft coupling section 22 , and the diameter of the extension section 23 is equal to the diameter of the shaft coupling section 22 , and the extension section 23 is clearance-fitted with the shaft sleeve 6 or abuts against the inner ring of the shaft sleeve 6 .

[0086] In one embodiment, the outer diameter of the sleeve 6 is slightly smaller than or equal to the diameter of the inner ring of the bearing 3 .

[0087] In one embodiment, see Figures 5 to 7 The universal joint hinge structure of the humanoid robot also includes four roughly hollow ring-shaped pressing plates 7; the four pressing plates 7 are fixedly connected to the two first connecting wings 41 and the two second connecting wings 51, and the four pressing plates 7 are respectively abutted against one side of the outer rings of the four bearings 3.

[0088] The pressing sheet 7 is used to abut against the side of the outer ring of the bearing 3 away from the main body 1 to form a limit for the outer ring of the bearing 3, thereby ensuring the axial position accuracy of the outer ring of the bearing 3 and further ensuring the supporting effect.

[0089] In one embodiment, the pressing sheet 7 is provided with a plurality of assembly holes, and a plurality of threaded holes are correspondingly provided on the surface of the first connecting wing 41 and the second connecting wing 51 facing the pressing sheet 7. The assembly holes are aligned one by one with the threaded holes. The assembly holes are countersunk holes. Threaded fasteners are passed through the assembly holes and the threaded holes in sequence to form threaded fastening, thereby fixing the pressing sheet 7.

[0090] In one embodiment, the pressure plate 7 partially overlaps with the outer ring of the bearing 3 in the axial projection. This arrangement allows the pressure plate 7 to only limit the outer ring of the bearing 3 and not to radially cross the outer ring of the bearing 3. This can avoid contact with the inner ring or rolling body, thereby avoiding wear on the bearing 3 and the pressure plate 7, which is beneficial to increasing the service life of the pressure plate 7 connection.

[0091] In one embodiment, the pressing piece 7 is substantially circular in shape and is adapted to the first connecting wing 41 and the second connecting wing 51 , so that only the axial thickness of the connection is increased without interfering with other components.

[0092] In one embodiment, see Figure 6 , Figure 8 and Fig. 9 One end of the inner wall of the first axial hole 411 of the two first connecting wings 41 is also constructed with a first annular shoulder 412 extending inward, and one end of the inner wall of the second axial hole 511 of the two second connecting wings 51 is also constructed with a second annular shoulder 512 extending inward. The first annular shoulder 412 and the second annular shoulder 512 are respectively abutted against the side of the outer ring of the bearing 3 close to the main body 1.

[0093] The first annular clamping shoulder 412 and the second annular clamping shoulder 512 are arranged to cooperate with the pressing sheet 7 to form a complete axial limit for the outer ring of the bearing 3 .

[0094] The inner diameters of the first annular shoulder 412 and the second annular shoulder 512 are slightly larger than the inner diameter of the outer ring of the bearing 3, so that they can form a limit without contacting the rolling element or the inner ring of the bearing 3, thereby avoiding wear.

[0095] In one embodiment, the axial width of the sleeve 6 is greater than or equal to the axial widths of the first annular shoulder 412 and the second annular shoulder 512 .

[0096] In one embodiment, see Figure 6 The four coupling pins 2 are also respectively configured with a pressure section 24, which is connected to the end of the coupling section 22 away from the connecting section 21, and is roughly annular. The diameter of the pressure section 24 is larger than that of the coupling section 22, and the four pressure sections 24 are respectively in contact with one side of the inner ring of the four bearings 3. The pressure section 24 is used to limit the inner ring of the bearing 3 away from the main body 1, so as to determine the axial position of the bearing 3 and provide a support basis.

[0097] In one embodiment, see Fig.10, a humanoid robot is provided, which mainly includes a universal joint hinge structure of a humanoid robot as in any of the above embodiments. The beneficial effects of the universal joint hinge structure of the humanoid robot are detailed in the above embodiments and will not be repeated here. In the universal joint hinge structure of the humanoid robot, one group of relatively arranged coupling pins 2 is arranged roughly along a horizontal first direction X, and another group of relatively arranged coupling pins 2 is arranged roughly along a horizontal second direction Y.

[0098] In one embodiment, the universal joint structure of the humanoid robot is used for universal adjustment of the sole 10 of the foot, the first structural member 4 is a connecting member above the sole 10, and the second structural member 5 is a calf structure.

[0099] See also Fig.10 , a knee joint module 81 and a thigh structure 82 are arranged above the second structural member 5, and the knee joint module 81 is used to drive the second structural member 5 to rotate relative to the thigh structure 82. Two foot drive joint modules are also arranged on the second structural member 5, which drive two sets of crank rocker groups to rotate, and the rocker drives the sole 10 to cooperate with the universal joint hinge structure to realize the omnidirectional movement of the sole 10 of the foot. The other side of the thigh structure 82 is connected to the leg structure, and the leg structure includes a leg yaw joint module 83, a leg roll joint module 84, and a hip pitch joint module 85 connected in sequence. The thigh structure 82 is connected to the output flange of the leg yaw joint module 83 to realize the movement of the entire leg. The hip pitch joint modules 85 of the two symmetrical leg structures are connected to the hip structural member 91, and the waist 92 and the upper limbs are connected above the hip structural member 91.

[0100] In one embodiment, see Fig.10 In the natural standing state, the setting direction of the leg yaw joint module 83 is set along the vertical direction Z, the leg roll joint module 84 is set along the front-to-back direction, that is, the horizontal second direction Y, and the hip pitch joint module 85 is tilted, providing a higher degree of freedom for the leg roll movement, which can realize complex human-like movements.

[0101] In one embodiment, see Fig.10 The leg yaw joint module 83, the leg roll joint module 84, and the hip pitch joint module 85, which are connected in sequence, cooperate with the knee joint module 81 to directly drive the calf swing, avoiding the traditional solution of setting a joint module at the hip and using a rocker to drive it. This saves the setting of the joint module at the hip and avoids the bloat of the hip.

[0102] In one embodiment, see Fig.10 The humanoid robot also includes a head, neck, torso, waist 92, hips, arms and legs. Such a multi-degree-of-freedom robot can imitate humanoid movements such as walking, standing, bending, etc., and can also realize complex behaviors such as carrying and climbing when combined with arms.

[0103] 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 universal joint structure for a humanoid robot, characterized in that: include: A main body, wherein the main body is configured with four pin holes that are opposite to each other and arranged in a cross shape; as well as Four coupling pins, each of which is configured with a connecting section and a coupling section, wherein the coupling section is used to connect the bearing; Wherein, the connecting sections of the four coupling pins are respectively and detachably fixedly connected to the four pin holes.

2. The universal joint structure for a humanoid robot according to claim 1, characterized in that: The connecting section also includes: The first connecting section and the second connecting section are both roughly cylindrical, the diameter of the first connecting section is smaller than the diameter of the second connecting section, the axes of the first connecting section and the second connecting section are on the same straight line, and the first connecting section is configured with threads.

3. The universal joint structure for a humanoid robot according to claim 2, characterized in that: The pin hole also includes: A first hole segment and a second hole segment, the first hole segment and the second hole segment are both roughly cylindrical, the diameter of the first hole segment is smaller than the diameter of the second hole segment, the second hole segment is arranged relative to the first hole segment adjacent to the opening of the pin hole, the axes of the first hole segment and the second hole segment are on the same straight line, and the first hole segment is constructed with an internal thread.

4. The universal joint structure for a humanoid robot according to claim 3, characterized in that: The inner diameter of the second hole segment is slightly larger than the diameter of the second connecting segment.

5. The universal joint structure for a humanoid robot according to claim 3, characterized in that: The second hole section is configured with a substantially annular clamping shoulder surface adjacent to the first hole section.

6. The universal joint structure for a humanoid robot according to claim 5, characterized in that: The end surface of the second connecting section adjacent to the first connecting section is a substantially annular plane, and the plane is disposed in abutment with the shoulder surface.

7. The universal joint structure for a humanoid robot according to claim 3, characterized in that: The first connecting section is threadedly connected to the first hole section, and the second connecting section is disposed in abutment with an inner wall of the second hole section.

8. A universal joint structure of a humanoid robot, characterized in that: A first structural member, wherein the first structural member is configured with two symmetrically arranged first connecting wings, and each of the two first connecting wings is configured with a first shaft hole; A second structural member, wherein the second structural member is configured with two symmetrically arranged second connecting wings, and each of the two second connecting wings is configured with a second axial hole; A universal joint structure for a humanoid robot as claimed in any one of claims 1 to 7; and Four bearings; The inner rings of the four bearings are respectively in contact with the outer walls of the four coupling sections, and the outer rings of the four bearings are respectively in contact with the inner walls of the shaft holes of the two first connecting wings and the shaft holes of the two second connecting wings.

9. The universal joint structure of a humanoid robot according to claim 8, characterized in that: Also includes: Four bushings; The coupling pin further comprises a substantially cylindrical extension section, the extension section being arranged between the connecting section and the coupling section, the axes of the extension section and the coupling section being on the same straight line and having the same diameter; The four sleeves are respectively sleeved on the extension sections, one end of the four sleeves are respectively abutted against the main body, and the other end of the four sleeves are respectively abutted against one end of the inner rings of the four bearings.

10. The universal joint structure of a humanoid robot according to claim 8, characterized in that: Also includes: Four generally hollow annular pressed tablets; The four pressing sheets are fixedly connected to the two first connecting wings and the two second connecting wings, and the four pressing sheets are respectively in contact with one side of the outer rings of the four bearings.

11. The universal joint structure of a humanoid robot according to claim 8, characterized in that: One end of the inner wall of the axial hole of the two first connecting wings is also constructed with a first annular shoulder extending inward, and one end of the inner wall of the axial hole of the two second connecting wings is also constructed with a second annular shoulder extending inward, and the first annular shoulder and the second annular shoulder are respectively abutted against the side of the outer ring of the bearing close to the main body.

12. The universal joint structure of a humanoid robot according to claim 8, characterized in that: The four coupling pins are also respectively constructed with a pressure-reducing section, which is connected to one end of the coupling section away from the connecting section. The pressure-reducing section is roughly annular, and the diameter of the pressure-reducing section is larger than that of the coupling section. The four pressure-reducing sections are respectively abutted against one side of the inner ring of the four bearings.

13. A humanoid robot, characterized in that: include: The universal joint structure of a humanoid robot as claimed in any one of claims 8 to 12.

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