Waist omnidirectional driving component for humanoid robot and humanoid robot

Abstract

The present application relates to the field of robotics and discloses a waist omnidirectional drive assembly for a humanoid robot and a humanoid robot. The waist omnidirectional drive assembly for a humanoid robot includes a base, a driven shaft, a cross-axis universal joint, two waist omnidirectional joint modules, and two crank rocker mechanisms. The two waist omnidirectional joint modules are rotatably connected to the two ends of a second rotating shaft, and the two are coaxially arranged and roughly symmetrically distributed on both sides of the second rotating shaft. The two motors are arranged adjacently, 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 fixedly connected to the output flanges of the two reducers, and the rocker parts of the two crank rocker mechanisms are hinged to the two ends of the driven shaft. This extends the effective transmission force arm at both ends of the equivalent lever under the torso roll motion condition, reduces the torque output requirement for the joint module, and improves the control accuracy.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular 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 entire mechanism. Figure 1 and Figure 2 As shown, a dual-joint horizontal parallel layout is employed: the rotation axes of two parallel waist joints 101 are arranged horizontally, with opposed cranks 102 at the output ends, each connected to a driven shaft 103 via a connecting rod mechanism. This structure theoretically enables omnidirectional waist drive and optimizes the space of the joint module through a compact layout.

[0003] However, kinematic analysis and experimental verification revealed that this structure exhibited mechanical performance deficiencies under torso roll motion conditions: when the center point of the universal cross shaft was used as the lever fulcrum, the connection points between the ends of the universal cross shaft and the joint constituted the two ends of the lever. However, based on the analysis of the reaction force transmission path, the actual force transmission fulcrum should be corrected to the connecting rod hinge point at both ends of the passive shaft. According to the principle of leverage, at the same tilt angle, the length of the lever arm is inversely proportional to the angle of rotation of the joint output flange, as shown in the following example:

[0004] L∝1 / θ (where L is the effective lever arm length and θ is the joint output flange rotation angle).

[0005] Existing technology is limited by the layout of opposed cranks, resulting in a too-short effective transmission arm for the driven shaft. This structural defect directly leads to two key technical issues: (1) the joint module needs to output greater torque to compensate for the torque loss caused by the short arm; (2) the small angular errors caused by the short arm are amplified by the transmission system, significantly reducing the overall control accuracy. This contradiction has become a key bottleneck restricting the improvement of the humanoid robot's waist movement performance. Summary of the Invention

[0006] 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.

[0007] 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 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.

[0008] In one scenario, it also includes:

[0009] The two joint connecting parts are both roughly plate-shaped and are configured from top to bottom with a trunk connecting end, a joint fixing portion, and a universal joint connecting portion;

[0010] The two joint fixing positions are roughly hollow ring-shaped, and the two universal joint connection positions are roughly hollow ring-shaped;

[0011] The two waist omnidirectional joint modules are respectively embedded in the two joint fixing positions in a back-to-back manner and fixedly connected by fasteners. 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.

[0012] The two trunk connection ends are respectively used to connect to the same rigid structural member, so that the two waist omnidirectional joint modules are relatively fixed.

[0013] In one solution, the center distance between the rotating pairs at both ends of the driven shaft is defined as L1, and the center distance between the two rotating pairs of the second rotating shaft is set as L2, where L1 is greater than L2.

[0014] In one solution, the center distance L1 between the rotating pairs at both ends of the driven shaft and the center distance L2 between the two rotating pairs of the second rotating shaft satisfy: 0.5 ≤ L2 / L1 ≤ 0.8.

[0015] In one embodiment, the driven bearing platform is further comprised of a base connection portion, an extension portion, and a driven shaft coupling portion. The base connection portion is detachably fixedly connected to the base via fasteners, and both ends of the extension portion are respectively connected to the base connection portion and the driven shaft coupling portion. The driven shaft is assembled and connected to the driven shaft coupling portion.

[0016] In one embodiment, the driven shaft includes an extension section and hinged ends 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.

[0017] In one scenario, it also includes:

[0018] Two hollow hinged ball sleeves,

[0019] The two hinged ends are roughly cylindrical.

[0020] The two hinged ball sleeves are respectively nested on the two hinged ends and fixedly connected to the two hinged ends.

[0021] 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 first rotation shaft are located in the same vertical plane.

[0022] 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.

[0023] In one embodiment, a humanoid robot is provided, further comprising a torso, wherein the lower end of the torso is fixedly connected to two torso connecting ends.

[0024] Beneficial effects of this application:

[0025] 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 of the joint module, and improves the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0027] Figure 1 This is a schematic diagram of the waist-driven three-dimensional structure of an existing humanoid robot;

[0028] Figure 2 yes Figure 1 A schematic diagram of the main viewing direction of the waist drive;

[0029] Figure 3 This is a schematic diagram of the structure of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0030] Figure 4 yes Figure 3 A simplified structural diagram of the waist omnidirectional drive assembly of a humanoid robot;

[0031] Figure 5 1 is a schematic cross-sectional view of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0032] Figure 6 This is a schematic diagram of the structure of the joint connection components in the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0033] Figure 7 This is a schematic diagram of the front and side views of the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0034] Figure 8 1 is a schematic diagram of the lower component structure of the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0035] Figure 9 This is a schematic diagram of the side view of the waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0036] Figure 10 1 is a schematic cross-sectional structural diagram of a waist omnidirectional drive assembly for a humanoid robot according to an embodiment of the present application, taken along the axis of a driven shaft;

[0037] Figure 11 1 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;

[0038] Figure 12 1 is a schematic structural diagram of a driven bearing platform in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0039] Figure 13 1 is a schematic structural diagram of a base in a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0040] Figure 14 1 is a schematic structural diagram of a crank portion of a waist omnidirectional drive assembly for a humanoid robot in one embodiment of the present application;

[0041] Figure 15 This is a schematic diagram of the structure of a waist omnidirectional drive assembly for a humanoid robot installed on the lower body in one embodiment of the present application;

[0042] Figure 16 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0043] Reference numerals in the figures:

[0044] 1. Base; 11. First cross-axis universal joint fixing position; 12. First wire opening; 13. Second wire opening;

[0045] 2. Driven shaft; 21. Extension section; 22. Articulated end; 23. Sleeve shaft section; 24. Flange section;

[0046] 3. Cross-axis universal joint; 31. First rotation axis; 32. Second rotation axis;

[0047] 4. Lumbar omnidirectional joint module; 41. Motor; 42. Reducer;

[0048] 5. Crank rocker mechanism; 51. Crank portion; 511. Reinforcement rib; 512. Connecting flange; 513. Handle section; 514. Crank extension; 515. Drive shaft;

[0049] 52. Rocker section;

[0050] 6. Joint connector; 61. Trunk connection end; 62. Joint fixing position; 63. Universal joint connection position;

[0051] 71. First bearing; 72. Rigid structural member; 73. Hollow hinged ball sleeve; 74. End cover; 75. Second bearing;

[0052] 8. Driven bearing platform; 81. Base connection portion; 82. Extension portion; 83. Driven shaft coupling portion;

[0053] 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.

[0054] d1, the center axis of the driven shaft;

[0055] d2, the rotation axis of the first rotation axis; d3, the rotation axis of the second rotation axis;

[0056] A. The center point of the driven axis;

[0057] L1 is the center distance of the rotating pairs at both ends of the driven shaft;

[0058] L2 is the center distance between the two rotating pairs of the second rotating axis;

[0059] 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

[0060] 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 and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0061] In the description of the present invention, it should 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" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0063] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0064] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0065] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" 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 expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0066] In this disclosure, the concept of "generally" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily exhibits a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics and can therefore be classified as "generally" a certain shape. For example, when describing a round object, the expression "generally round" means that the overall shape of the object is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "generally cubic" means that the overall shape of the object is cubic, but there are differences in certain non-functional details.

[0067] In one embodiment, a waist omnidirectional drive assembly for a humanoid robot and the humanoid robot are disclosed. Figure 3 and Figure 4 As 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.

[0068] The main body of the base 1 is roughly disc-shaped and is provided with symmetrically distributed first cross-axis universal joint fixing points 11 for supporting the first rotating axis 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 approximately perpendicular to the first rotating axis 31.

[0069] The cross-axis universal joint 3 comprises a first rotating shaft 31 and a second rotating shaft 32 arranged orthogonally. Both ends of the first rotating shaft 31 are rotatably disposed at two first cross-axis universal joint fixing positions 11 .

[0070] 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. The motors of the two are arranged adjacent to each other, and the output ends of the reducers are arranged back to back, and the second rotating shaft 32 is parallel to the driven shaft 2.

[0071] 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.

[0072] by Figure 4 Comparison of representative embodiments Figure 2 The existing technology, 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 requirement of the joint module, and improving the control accuracy.

[0073] 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 of the crank component of the lumbar omnidirectional joint module 4 being inconvenient to install and maintain can be solved, and the structure of the lumbar omnidirectional drive assembly is more compact.

[0074] 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 wire-passing between the upper body and the lower body. In this way, 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 with by the crank or similar components.

[0075] It is obviously understood that, except for the disc-shaped base (such as Figure 13 In addition to the above, 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 it meets the functional requirement of symmetrically setting the first cross-axis universal joint fixing position.

[0076] It is obvious 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.

[0077] It is obvious 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 crank with adjustable length, and the rocker portion articulation method 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).

[0078] In one embodiment, if Figure 8 and Figure 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 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 both be provided with mounting shaft holes extending along the rotation axis d3 of the second rotation axis. The mounting shaft holes can be blind hole structures to facilitate the assembly of bearings and the fixing covers of the bearings.

[0079] 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. Hollow hinged ball sleeves 73 can be configured between the two ends of the driven shaft 2 and the connecting rod driving it, so that the driven shaft 2 can be driven at multiple angles during omnidirectional driving to enhance movement stability.

[0080] In one embodiment, if Figure 3 and Figure 8 As shown, the cross-axis universal joint 3 includes a first rotating axis 31 and a second rotating axis 32 arranged orthogonally. Multi-degree-of-freedom rotation is achieved through a first bearing 71 and the universal joint connection 63 of the joint connector 6. The second rotating axis 32 is rotatably mounted in two first cross-axis universal joint fixing locations 11. These two first cross-axis universal joint fixing locations 11 can be assembled with the second rotating axis 32 by using a mounting seat, bearings, and a gland.

[0081] In one embodiment, if Figure 5 As shown, the lumbar omnidirectional joint module 4 includes a coaxially arranged motor 41 and a reducer 42 , and the two lumbar 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 .

[0082] In one embodiment, if Figure 7 、 Figure 9 、 Figure 10 as well as Figure 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 514, and a transmission shaft 515. The disc-shaped connecting flange 512 is located at the 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 514 that is bent inward. A roughly triangular reinforcement rib 511 is arranged between the handle section 513 and the bent crank extension 514. The reinforcement rib 511 is used to enhance the strength of the crank extension 514. A transmission shaft 515 is provided at the end of the crank extension 514, which is arranged parallel to the driven shaft 2.

[0083] The crank portion 51 of the crank-rocker mechanism 5 is fixedly connected to the output flange portion 24 of the reducer 42, while the rocker portion 52 is linked to the driven shaft 2 via a hollow articulated ball sleeve 73 and a connecting rod. The driven shaft's central axis d1 is lower than the rotational axis d2 of the first rotational axis, and the center point A of the driven shaft and the rotational axis d2 of the first rotational axis are coplanar with the vertical plane C. Because the driven shaft's central axis d1 is lower, it is easier for the two waist omnidirectional joint modules 4 to drive the upper body away from the driven shaft 2. Dead points are eliminated during omnidirectional travel, and this spatial layout significantly optimizes the torque transmission path.

[0084] In one embodiment, if Figures 3 to 7 as well as Figure 9 As shown, the joint connector 6 is a plate-like structure, with a trunk connection end 61, a joint fixing portion 62, and a universal joint connection portion 63 integrated from top to bottom. The trunk connection end 61 on the top surface can be a horizontally extending receiving end surface, and can be provided with multiple assembly holes for secure connection to the upper body structural components via fasteners. The joint fixing portion 62 can be a mounting cavity with a generally hollow cylindrical inner wall. The outer side of the mounting cavity of the joint fixing portion 62 (relative to the center where the universal joint is located) is necked down to form a fixed flange structure, facilitating fastening and assembly of the waist omnidirectional joint module 4 from the outside. Both joint connectors 6 are assembled from the outside.

[0085] The opening of universal joint connection 63 is smaller than that of joint fixing 62, but its extension direction is parallel to that of joint fixing 62. The axis of universal joint connection 63 and the axis of joint fixing 62 are vertically aligned. This allows the rotation axis of the assembled lumbar omnidirectional joint module 4 to be substantially parallel to the rotation axis d3 of the second rotation axis of the cross-axis universal joint 3 in its natural state. Thus, in its natural state (or initial state), the center of gravity of the assembly formed by the two joint modules and joint connection 6 is vertically aligned with the center of the cross-axis universal joint 3.

[0086] 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 fixed connections, while the other is rotatably assembled and connected to the cross-axis universal joint 3.

[0087] The joint connector 6 is a key support for the upper and lower body. It can have good rigidity, and the rigid structural member 72 that connects to it can also have good rigidity to achieve high torsional rigidity. Its symmetrical installation feature also allows the two waist omnidirectional joint modules 4 to be assembled in a mirrored manner, ensuring torque balance in the dual-drive system. The rigid structural member 72 secures the two trunk connection ends 61 to the robot's trunk, effectively improving the system's torsional rigidity.

[0088] In one embodiment, referring to Figure 11 As shown, the driven shaft 2 primarily comprises two extensions 21, two hinged ends 22, a sleeve section 23, and a flange portion 24. From both ends toward the center, the driven shaft 2 comprises: hinged ends 22, extensions 21, and sleeve section 23. The hinged ends 22 and extensions 21 are symmetrically arranged relative to the sleeve section 23, with the flange portion 24 disposed between one of the extensions 21 and the sleeve section 23. The sleeve section 23 of the driven shaft 2 is cylindrical and fits within the hollow cylindrical structure of the driven shaft coupling portion 83, securing the two together via an interference fit.

[0089] 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 ratio 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 an excessive length 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.

[0090] In one embodiment, referring to Figure 10 as well as Figure 12 As shown, the base connection portion 81 of the driven bearing platform 8 is bolted to the base 1. The wedge-shaped structure of the extension portion 82 creates a clearance in the second horizontal direction Y, thereby increasing the cross-sectional area of the cable passageway of the first cable opening 12. The interference fit between the sleeve shaft section 23 and the driven shaft coupling portion 83, combined with the positioning boss of the flange portion 24, ensures assembly accuracy within ±0.02 mm.

[0091] In one embodiment, referring to Figure 13 , a first wire passing opening 12 and a second wire passing opening 13 are provided on the base 1, and the first wire passing opening 12 is opened in the middle axial direction 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 cable to be transported through the waist yaw 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 cable 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 during the threading operation.

[0092] The present invention also provides a robot, referring to Figure 15 and Figure 16 The humanoid robot comprises the waist omnidirectional drive assembly, 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. The leg roll joint 94 is a mechanism for rotating the lower limb around the femoral axis, the knee joint 97 is a driving joint for flexion and extension of the thigh and calf, and the ankle joint 99 is a movable joint connecting the calf and the sole of the foot.

[0093] The trunk is respectively 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.

[0094] The above are merely 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 scope of protection of the present application. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may make changes, modifications, replacements, and variations to 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, each rotatably connected to the ends of the second rotating shaft, and coaxially arranged and roughly symmetrically distributed on both sides of the second rotating shaft, with the motors of the two modules arranged adjacent to each other and the output ends of the reducers arranged opposite to each other, the second rotating shaft and the driven shaft being parallel, the center distance between the rotating pairs at both ends of the driven shaft being defined as L1, and the center distance between the two rotating pairs of the second rotating shaft being defined as L2, where L1 is greater than L2; and The two crank-rocker mechanisms have crank parts fixedly connected to the output flanges of the two reducers respectively, and rocker parts 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: The two joint connecting parts are both roughly plate-shaped and are configured from top to bottom with a trunk connecting end, a joint fixing portion, and a universal joint connecting portion; The two joint fixing parts are roughly hollow ring-shaped, and the two universal joint connecting parts are roughly hollow ring-shaped; The two waist omnidirectional joint modules are respectively embedded in the two joint fixing positions facing each other, and are fixedly connected by fasteners. The two universal joint connection positions are respectively rotatably connected to the two ends of the 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 L1 between the rotating pairs at both ends of the driven shaft and the center distance L2 between the two rotating pairs of the second rotating shaft satisfy the following: 0.5≤ L2 / L1≤ 0.

8.

4. The waist omnidirectional drive assembly for a humanoid robot according to claim 1, characterized in that: Also includes: The passive bearing platform is constructed with a base connecting part, an extension part and a passive 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 passive shaft connecting part, and the passive shaft is assembled and connected to the passive shaft connecting part.

5. The waist omnidirectional drive assembly for a humanoid robot according to claim 4, 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.

6. The waist omnidirectional drive assembly for a humanoid robot according to claim 5, 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 to the two hinged ends.

7. The waist omnidirectional drive assembly for a humanoid robot according to claim 6, 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 first rotation shaft are located in the same vertical plane.

8. 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 7.

9. The humanoid robot according to claim 8, characterized in that: Also includes: trunk; The waist omnidirectional drive assembly for a humanoid robot comprises two joint connecting parts, wherein the joint connecting parts are constructed from top to bottom with a trunk connecting end, a joint fixing part, and a universal joint connecting part; The two waist omnidirectional joint modules are fixedly connected to the joint fixing positions, the two universal joint connecting positions are rotatably connected to the two second rotating shafts, and the lower end of the torso is fixedly connected to the two torso connecting ends respectively.

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