Waist omni-directional driving assembly for humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a waist omni-directional driving assembly for a humanoid robot and the humanoid robot, the waist omni-directional driving assembly for the humanoid robot comprises a base, a driven shaft, a cross shaft universal joint, two waist omni-directional joint modules and two crank rocker mechanisms; the two waist omni-directional joint modules are rotatably connected with the two ends of the second rotating shaft respectively, the two waist omni-directional joint modules are coaxially arranged and approximately symmetrically distributed on the two sides of the second rotating shaft, motors of the two waist omni-directional joint modules are arranged adjacently, the output ends of speed reducers are arranged oppositely, and the second rotating shaft is parallel to the driven shaft; crank parts of the two crank and rocker mechanisms are fixedly connected with output flanges of the two speed reducers respectively, and rocker parts of the two crank and rocker mechanisms are hinged to the two ends of the driven shaft respectively. Effective transmission force arms at the two ends of the equivalent lever under the working condition of trunk roll motion are prolonged, the torque output requirement for the joint module is reduced, and the control precision is improved.

Description

Technical Field

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

[0002] In the bionic structure design of humanoid robots, the waist is the core motion unit connecting the trunk and lower limbs, and its motion performance directly affects the flexibility and control accuracy of the overall mechanism. Figure 1 and Figure 2 As shown, a double-joint horizontal parallel layout scheme is adopted: the rotation axes of the two parallel waist joints 101 are arranged horizontally, and the output end is equipped with an opposed crank 102, which is respectively connected to the driven shaft 103 through a connecting rod mechanism. This structure can theoretically realize omnidirectional drive of the waist, and realizes space optimization of the joint module through a compact layout.

[0003] However, kinematic analysis and experimental verification have found that the structure has mechanical performance defects under the condition of trunk roll motion: when the center point of the cross universal joint is used as the fulcrum of the lever, the connection points between the two ends of the cross universal joint and the joint constitute the two ends of the lever, but in fact, based on the analysis of the reaction force transmission path, the real force transmission fulcrum should be corrected to the connecting rod hinge point at both ends of the passive shaft. According to the principle of lever, at the same tilt angle, the length of the lever arm is inversely proportional to the rotation angle of the joint output flange, which is specifically manifested as: L∝1 / θ (where L is the effective force arm length and θ is the joint output flange rotation angle).

[0004] The existing technology is limited by the layout of the opposed cranks, which results in the effective transmission arm of the driven shaft being too short. This structural defect directly leads to two key technical problems: (1) the joint module needs to output a larger torque to compensate for the torque loss caused by the short lever arm; (2) the small angle error caused by the short lever arm is amplified by the transmission system, significantly reducing the overall control accuracy. This contradiction has become a key bottleneck restricting the improvement of the waist movement performance of humanoid robots. Summary of the invention

[0005] The present application provides a waist omnidirectional drive assembly for a humanoid robot and a humanoid robot, aiming to solve the technical problems existing in the above-mentioned prior art.

[0006] In one scheme, a waist omnidirectional drive assembly for a humanoid robot is provided, comprising a base, a driven shaft, a cross-axis universal joint, two waist omnidirectional joint modules and two crank rocker mechanisms; the base is provided with two symmetrical first cross-axis universal joint fixing positions; the driven shaft is arranged on the base; the cross-axis universal joint comprises a first rotating shaft and a second rotating shaft arranged orthogonally, and the two ends of the first rotating shaft are rotatably arranged at the two first cross-axis universal joint fixing positions; the two waist omnidirectional joint modules are respectively rotatably connected to the two ends of the second rotating shaft, and the two are coaxially arranged and roughly symmetrically distributed on both sides of the second rotating shaft, and the motors of the two are adjacently arranged, the output ends of the reducers are arranged back to back, and the second rotating shaft is parallel to the driven shaft; the crank parts of the two crank rocker mechanisms are respectively fixedly connected to the output flanges of the two reducers, and the rocker parts of the two are respectively hinged to the two ends of the driven shaft.

[0007] In one scenario, it also includes: Two joint connecting parts, both of which are roughly plate-shaped, and both of which are configured from top to bottom with a trunk connecting end, a joint fixing position, and a universal joint connecting position; The two joint fixing positions are roughly hollow ring-shaped, and the two universal joint connection positions are roughly hollow ring-shaped; The two waist omnidirectional joint modules are respectively embedded in the two joint fixing positions in a back-to-back manner, and the two are fixedly connected by fasteners. The two universal joint connection positions are respectively connected to the two ends of the two second rotating shafts through the first bearing support so as to be rotatably connected; The two trunk connection ends are respectively used to be connected to the same rigid structural member so that the two waist omnidirectional joint modules are relatively fixed.

[0008] In one solution, the center distance between the rotation pairs at both ends of the driven shaft is defined as L1, and the center distance between the two rotation pairs of the second rotation shaft is set as L2, and L1 is greater than L2.

[0009] In one solution, the center distance L1 of the rotating pairs at both ends of the driven shaft and the center distance L2 of the rotating pairs of the second rotating shaft satisfy: 0.5 ≤ L2 / L1 ≤ 0.8.

[0010] In one embodiment, it also includes: a driven bearing platform, which is constructed with a base connecting part, an extension part and a driven shaft connecting part. The base connecting part is detachably fixed to the base by a fastener, and the two ends of the extension part are respectively connected to the base connecting part and the driven shaft connecting part, and the driven shaft is assembled and connected to the driven shaft connecting part.

[0011] In one embodiment, the driven shaft includes an extension section and hinged ends respectively located at both ends of the extension section. The extension section also includes a sleeve section, which is roughly cylindrical. The driven shaft connecting portion is roughly hollow cylindrical. The sleeve section is embedded in the driven shaft connecting portion and fixedly connected to the driven shaft connecting portion.

[0012] In one scenario, it also includes: Two hollow hinged ball sleeves, The two hinged ends are roughly cylindrical. The two hinged ball sleeves are respectively nested on the two hinged ends and fixedly connected with the two hinged ends.

[0013] In one solution, in the horizontal direction, the center axis of the driven shaft is lower than the rotation axis of the first rotation shaft; the center point of the driven shaft and the rotation axis of the second rotation shaft are located in the same vertical plane.

[0014] In one embodiment, a humanoid robot is provided, comprising: a waist omnidirectional drive assembly for a humanoid robot as described in any of the preceding items.

[0015] In one embodiment, a humanoid robot is provided, further comprising: a trunk, wherein the lower end of the trunk is fixedly connected to two trunk connecting ends respectively.

[0016] Beneficial effects of this application: After the crank is externalized, the structure of the waist omnidirectional drive assembly is compact, and the length of the driven shaft can be directly extended, which extends the effective transmission force arm at both ends of the equivalent lever under the torso roll motion condition, reduces the torque output demand on the joint module, and improves the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a schematic diagram of the waist-driven three-dimensional structure of an existing humanoid robot; Figure 2 yes Figure 1 A schematic diagram of the main view structure driven by the waist; Figure 3 It is a schematic diagram of the structure of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Figure 4 yes Figure 3 A schematic diagram of the structure of the waist omnidirectional drive assembly of the humanoid robot; Figure 5 1 is a schematic cross-sectional structure diagram of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Figure 6 It is a schematic diagram of the structure of the joint connection member in the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Figure 7It is a schematic diagram of the front and side view of the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Figure 8 It is a schematic diagram of the structure of the lower component of the waist omnidirectional drive component for a humanoid robot in one embodiment of the present application; Fig. 9 It is a schematic diagram of the side view structure of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Fig.10 is a schematic cross-sectional structural diagram of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application, the cross section being along the axis of a driven shaft; Fig.11 It is a schematic structural diagram of a driven shaft in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Fig.12 It is a structural schematic diagram of a driven bearing platform in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Fig.13 It is a structural schematic diagram of a base in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Fig.14 It is a schematic structural diagram of a crank portion in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application; Fig.15 It is a schematic diagram of the structure of the waist omnidirectional drive assembly for a humanoid robot after being installed on the lower body in one embodiment of the present application; Fig.16 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0019] Reference numerals in the figures: 1. Base; 11. First cross-axis universal joint fixing position; 12. First wire-passing opening; 13. Second wire-passing opening; 2. driven shaft; 21. extension section; 22. hinge end; 23. sleeve shaft section; 24. flange section; 3. Cross-axis universal joint; 31. First rotation axis; 32. Second rotation axis; 4. Waist omnidirectional joint module; 41. Motor; 42. Reducer; 5. Crank rocker mechanism; 51. Crank portion; 511. Reinforcement rib; 512. Connecting flange; 513. Handle section; 514. Crank extension portion; 515. Transmission shaft; 52. Rocker unit; 6. Joint connection; 61. Trunk connection end; 62. Joint fixing position; 63. Universal joint connection position; 71. first bearing; 72. rigid structural member; 73. hollow hinged ball sleeve; 74. end cover; 75. second bearing; 8. driven bearing platform; 81. base connection part; 82. extension part; 83. driven shaft connecting part; 91. Hip structure; 92. Waist yaw joint; 93. Hip pitch joint; 94. Leg roll joint; 95. Leg yaw joint; 96. Thigh; 97. Knee joint; 98. Calf; 99. Ankle joint.

[0020] d1, the center axis of the driven shaft; d2, the rotation axis of the first rotation axis; d3, the rotation axis of the second rotation axis; A. The center point of the driven axis; L1 is the center distance of the rotating pairs at both ends of the driven shaft; L2 is the center distance between the two rotating pairs of the second rotating axis; X is a first horizontal direction; Y is a second horizontal direction; Z is a vertical direction; and C is a vertical plane. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] In one embodiment, a waist omnidirectional drive assembly for a humanoid robot and a humanoid robot are disclosed. Figure 3 and Figure 4As shown, the waist omnidirectional drive assembly in the embodiment of the present application mainly includes a base 1, a driven shaft 2, a cross-axis universal joint 3, two waist omnidirectional joint modules 4 and two crank rocker mechanisms 5.

[0029] The main body of the base 1 is roughly disc-shaped, and a symmetrically distributed first cross-axis universal joint fixing position 11 is provided on the main body of the base 1 for carrying the first rotating shaft 31 of the cross-axis universal joint 3. The driven shaft 2 is fixedly connected to one side of the base 1, and the axis of the driven shaft 2 is substantially perpendicular to the first rotating shaft 31.

[0030] The cross-axis universal joint 3 adopts a first rotating shaft 31 and a second rotating shaft 32 arranged orthogonally, and both ends of the first rotating shaft 31 are rotatably disposed at two first cross-axis universal joint fixing positions 11 .

[0031] The two waist omnidirectional joint modules 4 are rotatably connected to the two ends of the second rotating shaft 32 respectively, and the two are coaxially arranged and roughly symmetrically distributed on both sides of the second rotating shaft 32, and the motors of the two are adjacent to each other and the output ends of the reducers are back to back, and the second rotating shaft 32 is parallel to the driven shaft 2.

[0032] The two crank-rocker mechanisms 5 have their crank parts fixedly connected to the output flanges of the two reducers respectively, and their rocker parts hinged to the two ends of the driven shaft 2 respectively.

[0033] by Figure 4 Comparison of representative embodiments Figure 2 The prior art Figure 4 In the representative embodiment, after the crank of the lumbar omnidirectional joint module is externalized, the structure of the lumbar omnidirectional drive assembly is compact, and the length of the driven shaft can be directly extended, thereby extending the effective transmission force arm at both ends of the equivalent lever under the torso roll motion condition, reducing the torque output demand of the joint module, and improving the control accuracy.

[0034] On the other hand, it can also be considered that after the crank of the lumbar omnidirectional joint module 4 is externalized in the embodiment of the present application, the problem that the crank component of the lumbar omnidirectional joint module 4 is inconvenient to install and maintain can be solved, and the structure of the lumbar omnidirectional drive assembly is more compact.

[0035] On the other hand, since the output ends of the two waist omnidirectional joint modules 4 are arranged back to back, and the crank rocker mechanisms 5 are respectively assembled on the outer ends of the two waist omnidirectional joint modules 4, in addition to increasing the distance between the two crank rocker mechanisms 5, the space between the two waist omnidirectional joint modules 4 can also be configured with a wire-passing channel extending up and down for the wire-passing between the upper body and the lower body, so that the space for wire-passing is larger, and no other components interfere with the wire-passing. Even when the base 1 is driven to rotate around the vertical rotation axis, the wire-passing on the vertical midline of the robot between the two joint modules will not be interfered by the crank or similar components.

[0036] Obviously, it can be understood that, except for the disc-shaped base (such as Fig.13 In addition to the structure shown in the figure, a rectangular frame, a polygonal shell or a split splicing structure can also be used, and its material can be aluminum alloy, carbon fiber composite material or engineering plastic, as long as the functional requirement of symmetrically setting the first cross-axis universal joint fixing position is met.

[0037] It is obviously understandable that the orthogonal connection method of the first rotating shaft and the second rotating shaft is not limited to an integrated cross shaft, and a split hinge combination or a ball cage universal joint can also be used as long as the function of orthogonal and synchronous transmission of the two rotating shafts is achieved.

[0038] It is obviously understandable that the shape of the crank portion in the crank rocker mechanism is not limited to the eccentric handle segment plus extension structure in the embodiment, and can also be an L-shaped crank, a fan-shaped crank or a slide rail crank with adjustable length, and the articulation method of the rocker portion can include a ball hinge, a cross-axis hinge or an elastic bushing connection (such as Figure 7 An alternative to the hollow articulated ball sleeve 73).

[0039] In one embodiment, if Figure 8 and Fig.13 As shown, the main body of the base 1 is roughly disc-shaped, and the first cross-axis universal joint fixing position 11 thereon can be two mutually parallel pivot ear structures, which are arranged on the upper side of the base 1. The two first cross-axis universal joint fixing positions 11 can be provided with mounting shaft holes extending along the rotation axis d3 of the second rotating shaft. The mounting shaft holes can be blind hole structures to facilitate the assembly of bearings and the fixing bearing covers.

[0040] In one embodiment, if Figures 7 to 10 As shown, the driven shaft 2 is connected to the base 1 through the driven bearing platform 8, and hollow articulated ball sleeves 73 can be arranged between the two ends of the driven shaft 2 and the connecting rod driving it, so that when omnidirectional driving is performed, the driven shaft 2 can be driven at multiple angles to enhance the movement stability.

[0041] In one embodiment, if Figure 3 and Figure 8As shown, the cross-axis universal joint 3 includes a first rotating shaft 31 and a second rotating shaft 32 arranged orthogonally, and realizes multi-degree-of-freedom rotation through a first bearing 71 and a universal joint connection position 63 of the joint connection member 6. The second rotating shaft 32 is rotatably assembled in two first cross-axis universal joint fixing positions 11, and the two first cross-axis universal joint fixing positions 11 can assemble the second rotating shaft 32 by using the cooperation of the mounting seat, the bearing and the pressure cover.

[0042] In one embodiment, if Figure 5 As shown, the waist omnidirectional joint module 4 includes a coaxially arranged motor 41 and a reducer 42 , and the two waist omnidirectional joint modules 4 are respectively embedded in the joint fixing position 62 of the joint connecting member 6 with one end adjacent to the reducer 42 .

[0043] In one embodiment, if Figure 7 , Fig. 9 , Fig.10 as well as Fig.14 As shown, the crank-rocker mechanism 5 mainly includes a crank portion 51 and a rocker portion 52. The crank portion 51 mainly includes a connecting flange 512, a handle section 513, a crank extension portion 514 and a transmission shaft 515. The disc-shaped connecting flange 512 is located at one end of the crank portion 51 facing the joint module. The crank portion 51 is connected to the output flange of the joint through the connecting flange 512 at one end. The handle section 513 is connected to the connecting flange 512 on one side and extends in an eccentric direction. The end of the handle section 513 is a crank extension portion 514 bent inwardly, and a roughly triangular reinforcing rib 511 is arranged between the handle section 513 and the bent crank extension portion 514. The reinforcing rib 511 is used to enhance the strength of the crank extension portion 514. The end of the crank extension portion 514 is provided with a transmission shaft 515 arranged parallel to the driven shaft 2.

[0044] The crank part 51 of the crank rocker mechanism 5 is fixedly connected to the output flange part 24 of the reducer 42, and the rocker part 52 is linked to the driven shaft 2 through the hollow articulated ball sleeve 73 and the connecting rod. The central axis d1 of the driven shaft is lower than the rotation axis d2 of the first rotation axis, and the center point A of the driven shaft and the rotation axis d3 of the second rotation axis are coplanar with the vertical plane C. Since the central axis d1 of the driven shaft is lower, it is easier for the two waist omnidirectional joint modules 4 to drive the upper body to move away from the driven shaft 2, and there will be no dead points in the omnidirectional stroke. This spatial layout significantly optimizes the torque transmission path.

[0045] In one embodiment, if Figures 3 to 7 as well as Fig. 9As shown, the joint connection part 6 adopts a plate-like structure, which integrates a trunk connection end 61, a joint fixing position 62 and a universal joint connection position 63 from top to bottom, wherein the trunk connection end 61 on the top surface can be a horizontally extending receiving end surface, and the trunk connection end 61 can be provided with a plurality of assembly holes so as to be fixedly connected with the structural parts of the upper body through fasteners. The joint fixing position 62 can be a mounting cavity with an inner wall roughly in the shape of a hollow cylinder, and the outer side of the mounting cavity of the joint fixing position 62 (relative to the middle part where the universal joint is located) is also necked to form a fixed flange structure, so as to facilitate fastening and assembly of the waist omnidirectional joint module 4 on the outer side. And both joint connection parts 6 are assembled from the outside.

[0046] The opening of the universal joint connection position 63 is smaller than the joint fixing position 62, but the extension direction of the opening is parallel to the joint fixing position 62, and the axis of the universal joint connection position 63 coincides with the axis of the joint fixing position 62 in the vertical direction, so as to make the rotation axis of the assembled waist omnidirectional joint module 4 and the rotation axis d3 of the second rotation axis on the cross-axis universal joint 3 basically parallel in the natural state. In this way, the center of gravity of the combination formed by the two joint modules and the joint connection member 6 in the natural state (or called the initial state) coincides with the center of the cross-axis universal joint 3 in the vertical direction.

[0047] The torso connection end 61, the joint fixing position 62 and the universal joint connection position 63 can form three assembly fixing positions, which are respectively used to connect the upper body structure, the waist omnidirectional joint module 4 and the cross-axis universal joint 3. The first two are fixedly connected, while the other is rotatably assembled and connected to the cross-axis universal joint 3.

[0048] Among them, the joint connector 6 is a key support for the upper and lower body. The joint connector 6 can have good rigidity, and the rigid structure 72 connected to it can also have good rigidity, so as to obtain higher torsional rigidity. Its symmetrically distributed installation feature also allows the two waist omnidirectional joint modules 4 to be assembled in a mirrored manner to ensure the torque balance of the dual drive system. The two trunk connection ends 61 are fixedly connected to the robot trunk through the rigid structure 72, which effectively improves the torsional rigidity of the system.

[0049] In one embodiment, referring to Fig.11 As shown, the driven shaft 2 mainly includes two extension sections 21, two hinged ends 22, a sleeve section 23, and a flange portion 24. The driven shaft 2 is composed of hinged ends 22, extension sections 21, and sleeve section 23 from both ends to the middle. The hinged ends 22 and the extension sections 21 are symmetrically arranged relative to the sleeve section 23, and the flange portion 24 is arranged between one extension section 21 and the sleeve section 23. The sleeve section 23 of the driven shaft 2 is cylindrical and embedded in the hollow cylindrical structure of the driven shaft connecting shaft portion 83. The two can be fixed by interference fit.

[0050] In one embodiment, referring to Figure 7 As shown, in the embodiment of the present application, the center distance of the rotating pairs at both ends of the driven shaft 2 is defined as L1, and the center distance of the two ends of the second rotating shaft 32 is defined as L2, satisfying the proportional relationship of 0.5≤L2 / L1≤0.8. For example: L2 / L1=0.51, 0.6, 0.7 or 0.71. This proportional range has been verified through experiments to balance the contradiction between structural compactness and the length of the driving force arm. When the axial length of the universal joint remains unchanged, when L2 / L1<0.5, the supporting stiffness of the second rotating shaft 32 with a length that is too large is insufficient; when L2 / L1>0.8, the advantage of the extended force arm of the driven shaft 2 cannot be effectively exerted. In a specific implementation, the sleeve structure of the extension section 21 of the driven shaft 2 and the driven shaft connecting shaft portion 83, combined with the cantilever design of the extension portion 82, can reduce the space occupied by the drive system.

[0051] In one embodiment, referring to Fig.10 as well as Fig.12 As shown, the driven bearing stand 8, whose base connection part 81 can be connected to the base 1 by bolts, and the wedge-shaped structure of the extension part 82 forms an escape space in the second horizontal direction Y, so that the cable channel cross-sectional area of ​​the first wire-passing opening 12 is increased. The interference fit structure between the sleeve shaft section 23 and the driven shaft connecting shaft part 83, in conjunction with the positioning boss of the flange part 24, can control the assembly accuracy within ±0.02mm.

[0052] In one embodiment, referring to Fig.13 A first wire-passing opening 12 and a second wire-passing opening 13 are arranged on the base 1. The first wire-passing opening 12 is opened in the axial direction of the middle part of the base 1, and the second wire-passing opening 13 is opened at the junction of the two first cross-axis universal joint fixing positions 11 and the main body of the base 1, and the second wire-passing opening 13 extends along the second horizontal direction Y. The first wire-passing opening 12 and the second wire-passing opening 13 can be used for the waist yaw transportation of the cables downward, and the lower side channel of the first wire-passing opening 12 (the opening is located on the lower surface of the main body of the base 1) can be used for the cables to pass through, and the upper side channel of the first wire-passing opening 12 (the opening is located on the upper surface of the main body of the base 1) can provide an observation and auxiliary operation window for the threading operation.

[0053] The present invention also provides a robot, referring to Fig.15 and Fig.16 , including the waist omnidirectional drive assembly of the humanoid robot, hip structure 91, waist yaw joint 92, hip pitch joint 93, leg roll joint 94, leg yaw joint 95, thigh 96, knee joint 97, calf 98 and ankle joint 99. Among them, the leg roll joint 94 is a mechanism to realize the rotation of the lower limb around the femoral axis, the knee joint 97 is a driving joint to realize the flexion and extension of the thigh and calf, and the ankle joint 99 is a movable joint connected between the calf and the sole of the foot.

[0054] The trunk is relatively fixedly connected to the two waist omnidirectional joint modules 4. Through this structural design, the waist of the robot can achieve flexible omnidirectional movement, while ensuring the stability and reliability of the overall structure, and improving the robot's movement performance and adaptability.

[0055] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A waist omnidirectional drive assembly for a humanoid robot, characterized in that: include: A base, which is provided with two symmetrical first cross-axis universal joint fixing positions; A driven shaft, which is arranged on the base; A cross-axis universal joint, comprising a first rotating shaft and a second rotating shaft arranged orthogonally, wherein both ends of the first rotating shaft are rotatably arranged at two fixing positions of the first cross-axis universal joint; Two waist omnidirectional joint modules, both of which are rotatably connected to the two ends of the second rotating shaft, and are coaxially arranged and roughly symmetrically distributed on both sides of the second rotating shaft, and the motors of the two are arranged adjacently, and the output ends of the reducers are arranged in reverse, and the second rotating shaft is parallel to the driven shaft; and The two crank-rocker mechanisms have crank parts that are fixedly connected to the output flanges of the two reducers respectively, and rocker parts that are hinged to the two ends of the driven shaft respectively.

2. The waist omnidirectional drive assembly for a humanoid robot according to claim 1, characterized in that: Also includes: Two joint connecting parts, both of which are roughly plate-shaped, and both of which are configured from top to bottom with a trunk connecting end, a joint fixing position, and a universal joint connecting position; The two joint fixing positions are roughly hollow ring-shaped, and the two universal joint connecting positions are roughly hollow ring-shaped; The two waist omnidirectional joint modules are respectively embedded in the two joint fixing positions in a back-to-back manner, and the two are fixedly connected by fasteners, and the two universal joint connection positions are respectively rotatably connected to the two ends of the two second rotating shafts through the first bearing support; The two trunk connection ends are respectively used to be connected to the same rigid structural member so that the two waist omnidirectional joint modules are relatively fixed.

3. The waist omnidirectional drive assembly for a humanoid robot according to claim 1, characterized in that: The center distance between the rotation pairs at both ends of the driven shaft is defined as L1, and the center distance between the two rotation pairs of the second rotation shaft is defined as L2, where L1 is greater than L2.

4. The waist omnidirectional drive assembly for a humanoid robot according to claim 3, characterized in that: The center distance L1 of the rotating pairs at both ends of the driven shaft and the center distance L2 of the two rotating pairs of the second rotating shaft satisfy: L0.5 ≤ L2 / L1 ≤ 0.

8.

5. The waist omnidirectional drive assembly for a humanoid robot according to claim 1, characterized in that: Also includes: The driven bearing platform is constructed with a base connecting part, an extension part and a driven shaft connecting part. The base connecting part is detachably fixedly connected to the base by a fastener, and the two ends of the extension part are respectively connected to the base connecting part and the driven shaft connecting part, and the driven shaft is assembled and connected to the driven shaft connecting part.

6. The waist omnidirectional drive assembly for a humanoid robot according to claim 5, characterized in that: The driven shaft includes an extension section and hinged ends respectively located at both ends of the extension section. The extension section also includes a sleeve section, which is roughly cylindrical. The driven shaft connecting portion is roughly hollow cylindrical. The sleeve section is embedded in the driven shaft connecting portion and fixedly connected to the driven shaft connecting portion.

7. The waist omnidirectional drive assembly for a humanoid robot according to claim 6, characterized in that: Also includes: Two hollow hinged ball sleeves; The two hinged ends are roughly cylindrical; The two hinged ball sleeves are respectively nested on the two hinged ends and fixedly connected with the two hinged ends.

8. The waist omnidirectional drive assembly for a humanoid robot according to claim 7, characterized in that: In the horizontal direction, the center axis of the driven shaft is lower than the rotation axis of the first rotation shaft; The center point of the driven shaft and the rotation axis of the second rotation shaft are located in the same vertical plane.

9. A humanoid robot, characterized in that: include: A waist omnidirectional drive assembly for a humanoid robot as claimed in any one of claims 1 to 8.

10. A humanoid robot according to claim 9, characterized in that: Also includes: A trunk, wherein the lower end of the trunk is fixedly connected to the two trunk connecting ends respectively.

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