Leg rolling joint supporting structure of robot, leg structure of robot, robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a leg rolling joint supporting structure of a robot, a leg structure of the robot, the robot and a humanoid robot, and the leg rolling joint supporting structure of the robot mainly comprises a hip pitching supporting piece, a bearing and a hip pitching output connecting piece. The bearing is arranged between the shaft sleeve of the hip pitching supporting piece and the shaft bearing part of the hip pitching output connecting piece for supporting, so that after the hip pitching joint and the leg rolling joint module are obliquely arranged, even if an eccentric phenomenon occurs, the eccentric phenomenon is prevented from being transmitted to the output flange under the supporting of the bearing, and the hip pitching joint and the leg rolling joint module are prevented from being damaged. And therefore, the problems of gear abrasion and the like caused by bias pressure on the speed reducer of the hip pitching joint module are effectively avoided.

Description

Technical Field

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

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

[0003] In the structure of humanoid robots, the legs of the robot usually use three degrees of freedom, namely pitch, roll and yaw, to simultaneously control the position and movement of the thighs, thereby achieving actions such as walking, squatting and standing. After the existing hip pitch joint is arranged obliquely, the leg roll joint is connected to the output flange of the hip pitch joint, and the connection position of the leg roll joint is also inclined. In this way, the output flange of the hip pitch joint is prone to eccentricity, and the reducer and other components inside it are prone to wear and even damage. Summary of the invention

[0004] The present application provides a robot leg roll joint support structure, a robot leg structure, a robot and a humanoid robot, aiming to solve the problem that after the existing hip pitch joint and the leg roll joint are arranged obliquely, the output flange of the hip pitch joint is prone to eccentricity, resulting in easy wear of components such as the reducer of the hip pitch joint.

[0005] In one embodiment, a leg roll joint support structure of a robot is provided, which mainly includes a hip pitch support member, a bearing, and a hip pitch output connection member;

[0006] The hip pitch output connector includes a substantially hollow cylindrical bearing portion and a flange portion fixedly connected to the bearing portion, wherein the inner wall of the bearing portion abuts against the outer ring of the bearing, and the flange portion is used to connect to the output flange of the hip pitch joint module;

[0007] The hip pitch support comprises a substantially hollow cylindrical sleeve, an outer wall of which abuts against an inner race of the bearing.

[0008] In one embodiment, the hip pitch output connector is further provided with a substantially hollow annular blocking portion, the blocking portion being located on the inner side of the inner wall of the bearing shaft portion, and the blocking portion being used to abut against the outer ring of the bearing in the axial direction;

[0009] The hip pitch support member further comprises a retaining ring structure arranged on the radial outer side of the sleeve, wherein the retaining ring structure is substantially in the shape of a hollow circular ring and abuts against the end surface of the inner ring of the bearing in the axial direction.

[0010] In one embodiment, the flange portion includes an outer end surface facing the hip pitch joint module, the outer end surface protrudes axially from the bearing portion, and the first axial height is between the bottom of the flange portion and the outer end surface; and the second axial height is between the top surface of the sleeve and the output flange of the hip pitch joint module, and the first axial height is greater than the second axial height.

[0011] In one embodiment, the hip pitch output connector is configured with a substantially disc-shaped extension portion, an outer ring of the extension portion is connected to an inner wall surface of the bearing portion, and an inner ring of the extension portion is connected to an outer wall surface of the flange portion.

[0012] In one embodiment, the hip pitch support member includes a barrel section that is roughly hollow cylindrical and a connecting portion that is hollow annular, wherein the connecting portion is connected to one end of the barrel section that is away from the output flange of the hip pitch joint module, and the barrel section includes a fixed end, which is arranged at one end of the barrel section adjacent to the output flange of the hip pitch joint module, and the sleeve is arranged on the outside of the fixed end.

[0013] In one embodiment, the flange portion is provided with a plurality of first assembly holes, and the first assembly holes penetrate the flange portion; fasteners are passed through the first assembly holes to fasten the flange portion to the output flange of the hip pitch joint module.

[0014] In one embodiment, the flange portion is further provided with an inner flange portion, and the inner flange portion is arranged in the middle of the flange portion, and the inner flange portion is used to connect the synchronization shaft of the hip pitch joint module.

[0015] In one embodiment, the leg roll joint support structure of the robot further includes a leg roll joint connector, which is connected to the leg roll joint module and is detachably connected to the hip pitch output connector.

[0016] In one embodiment, the bearing portion is provided with a plurality of second assembly holes, and the second assembly holes radially penetrate the bearing portion; the second assembly holes are located on the bearing portion adjacent to the leg roll joint connecting member, and the output connecting member is fastened to the leg roll joint connecting member by passing a plurality of fasteners through the second assembly holes.

[0017] In one embodiment, the bearing portion is further provided with a plurality of extension blocks, which extend radially inward from the inner wall of the bearing portion, and each of which has a second assembly hole passing through one of the extension blocks.

[0018] In one embodiment, a docking portion is provided on a side of the leg roll joint connector facing the hip pitch joint module, and the docking portion includes at least two semicircular docking rings, each docking ring is provided with a plurality of third assembly holes, and the output connector is fastened to the leg roll joint connector by passing a plurality of fasteners through the second assembly holes and the third assembly holes.

[0019] In one scheme, a robot leg structure is provided, which mainly includes two groups of hip pitch joint modules, a leg roll joint module and the leg roll joint support structure of the robot as described above, the two hip pitch joint modules are symmetrically arranged and inclined, and the output flanges of the hip pitch joint modules are both located on the outside and pointing downward; the hip pitch support member is mounted outside the hip pitch joint module.

[0020] In one embodiment, a robot is provided, which mainly includes the leg roll joint support structure of the robot as described above, or the leg structure of the robot as described above.

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

[0022] Beneficial effects of this application:

[0023] In a robot leg roll joint support structure, a robot leg structure, a robot and a humanoid robot of the present application, the robot leg roll joint support structure mainly includes a hip pitch support member, a bearing and a hip pitch output connector. A bearing is provided between the shaft sleeve of the hip pitch support member and the bearing shaft of the hip pitch output connector for support, thereby preventing the output flange from being directly stressed, thereby preventing the output flange of the hip pitch joint module from being eccentric, and avoiding the problem of easy wear of components such as the reducer of the hip pitch joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 is an exploded schematic diagram of a leg roll joint support structure of a robot in an embodiment of the present application in a three-dimensional state;

[0026] Figure 2 is an exploded schematic diagram of another angle of the leg roll joint support structure of the robot in one embodiment of the present application in a three-dimensional state;

[0027] Figure 3 is a cross-sectional schematic diagram of a leg roll joint support structure of a robot in one embodiment of the present application;

[0028] Figure 4 yes Figure 3 An enlarged schematic diagram of the leg roll joint support structure of the robot at position A;

[0029] Figure 5 yes Figure 3 An enlarged schematic diagram of the leg roll joint support structure of the robot at position B;

[0030] Figure 6 is a cross-sectional schematic diagram of another cross-section of the leg roll joint support structure of the robot in one embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the hip pitch output connector of the leg roll joint support structure of the robot in one embodiment of the present application;

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of the hip pitch output connector of the leg roll joint support structure of the robot in one embodiment of the present application from another angle;

[0033] Fig. 9 is a cross-sectional schematic diagram of a hip pitch output connector of a leg roll joint support structure of a robot in one embodiment of the present application;

[0034] Fig.10 is a front view schematic diagram of a hip pitch joint module and a hip pitch support member after being assembled in one embodiment of the present application;

[0035] Fig.11 It is a schematic diagram of the three-dimensional structure of a leg roll joint connection member in one embodiment of the present application;

[0036] Fig.12 is a schematic diagram of the three-dimensional structure of the hip position of the robot in one embodiment of the present application;

[0037] Fig.13 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0038] Reference numerals in the figures:

[0039] 1. Hip pitch support; 11. Bushing; 12. Retaining ring structure; 13. Cylinder section;

[0040] 14. Connecting part;

[0041] 2. Bearings;

[0042] 3. Hip pitch output connector; 31. Bearing shaft; 311. Second assembly hole; 312. Extension block; 32. Flange; 321. Outer end surface; 322. First assembly hole; 323. Inner flange; 324. Protective block; 325. Fourth assembly hole; 33. Blocking part; 34. Extension; 35. Positioning pin hole; 36. Wire avoidance groove;

[0043] 4. Hip pitch joint module; 41. Output flange; 42. Synchronous shaft;

[0044] 5. Leg roll joint connector; 51. docking portion; 511. docking ring; 512. third assembly hole;

[0045] 6. Leg rolling joint module;

[0046] 7. Leg structure; 71. Hip connector; 72. Leg roll output component; 73. Leg yaw joint module; 74. Thigh; 75. Knee joint; 76. Calf; 77. Foot drive joint; 78. Foot.

[0047] h1 is the first axial height; h2 is the second axial height;

[0048] X is the horizontal first direction; Y is the horizontal second direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] In some embodiments, see Figure 1 and Figure 2 , a leg roll joint support structure of a robot is provided, which mainly includes a hip pitch support member 1, a bearing 2 and a hip pitch output connector 3. The hip pitch output connector 3 includes a bearing shaft portion 31 which is roughly in the shape of a hollow cylinder, and a flange portion 32 which is fixedly connected to the bearing shaft portion 31, the inner wall of the bearing shaft portion 31 abuts against the outer ring of the bearing 2, and the flange portion 32 is used to connect the output flange 41 of the hip pitch joint module 4; the hip pitch support member 1 includes a sleeve 11 which is roughly in the shape of a hollow cylinder, and the outer wall of the sleeve 11 abuts against the inner ring of the bearing 2.

[0057] In the above-mentioned arrangement, a bearing 2 is arranged between the shaft sleeve 11 of the hip pitch support member 1 and the bearing shaft 31 of the hip pitch output connector 3 for support, so that after the hip pitch joint module 4 and the leg roll joint module 6 are arranged obliquely, even if eccentricity occurs, the eccentricity can be prevented from being transmitted to the output flange 41 under the support of the bearing, thereby effectively preventing the reducer of the hip pitch joint module 4 from being biased and causing problems such as gear wear.

[0058] In some embodiments, the bearing shaft portion 31, which is roughly hollow cylindrical, can be adapted to the outer ring of the annular bearing 2, and the two can be tightly combined to avoid relative sliding, reduce the wear of the outer ring of the bearing 2, and thus reduce maintenance costs; the sleeve 11, which is roughly hollow cylindrical, can be adapted to the inner ring of the annular bearing 2, which is beneficial to increase the contact area. After assembly, it is a tight fit, which can effectively avoid relative sliding between the inner ring of the bearing 2 and the sleeve 11, reduce the wear of the inner ring of the bearing 2, and thus reduce maintenance costs.

[0059] In some embodiments, see Figure 3 , Figure 4 as well as Figure 7The hip pitch output connector 3 is also provided with a substantially hollow annular blocking portion 33, which is located on the inner side of the inner wall of the bearing shaft portion 31, and is used to abut against the outer ring of the bearing 2 in the axial direction; the hip pitch support member 1 also includes a blocking ring structure 12 arranged on the radially outer side of the sleeve 11, and the blocking ring structure 12 is substantially hollow annular, and abuts against the end face of the inner ring of the bearing 2 in the axial direction.

[0060] The purpose of the stopper 33 is to limit the position of the outer ring of the bearing 2 in the axial direction, while the purpose of the stopper ring structure 12 is to limit the position of the inner ring of the bearing 2 in the axial direction. The stopper 33 cooperates with the stopper ring structure 12 to limit the position of the bearing 2 in the axial direction, effectively avoiding the potential problem of the inner and outer rings of the bearing 2 moving, thereby providing a stable and reliable support for the entire structure. Such a setting also effectively avoids the wear problem caused by the movement of the bearing 2, which undoubtedly significantly extends the service life of the bearing 2, allowing the leg roll joint support structure of the robot to operate more sustainably and stably.

[0061] In some embodiments, see Figure 4 The bearing 2 is located between the blocking portion 33 and the retaining ring structure 12, and the radial span of the retaining ring structure 12 is roughly equal to the thickness of the inner ring of the bearing 2, and the radial span of the blocking portion 33 is roughly equal to the thickness of the outer ring of the bearing 2. This can prevent the blocking portion 33 or the retaining ring structure 12 from contacting the inner and outer rings of the bearing 2 at the same time, thereby avoiding motion interference.

[0062] In some embodiments, see Figure 4 The flange portion 32 includes an outer end face 321 facing the hip pitch joint module 4, the outer end face 321 protrudes axially from the bearing portion 31, and a first axial height h1 is between the bottom of the flange portion 32 and the outer end face 321; and a second axial height h2 is between the top surface of the sleeve 11 and the output flange 41 of the hip pitch joint module 4, and the first axial height h1 is greater than the second axial height h2.

[0063] The connection position of the flange part 32 and the output flange 41 extends into the interior of the sleeve 11, avoiding multiple matches at the same axis position resulting in a complex structure, assembly difficulty and excessive precision of parts manufacturing, which is not conducive to production. In addition, such a setting allows the sleeve 11 to partially extend into the bearing shaft part 31, with multiple overlapping positions in the radial direction, which provides a better support effect between the hip pitch joint module 4 and the leg roll joint module 6.

[0064] In some embodiments, the bearing 2 may be a crossed roller bearing.

[0065] In some embodiments, see Figures 6 to 8The hip pitch output connector 3 is constructed with a substantially disc-shaped extension portion 34 , the outer ring of the extension portion 34 is connected to the inner wall surface of the bearing shaft portion 31 , and the inner ring of the extension portion 34 is connected to the outer wall surface of the flange portion 32 .

[0066] The extension part 34 provided in this way plays a connecting role, provides structural position matching between the flange part 32 and the bearing shaft part 31, and facilitates ensuring the accuracy of installing the bearing 2. At the same time, the extension part 34 also plays a sealing role, so that the flange part 32, the bearing shaft part 31 and the extension part 34 form an annular semi-open space, so that after the bearing 2 is installed, the semi-open space is sealed, and impurities and the like will not invade the bearing 2 on one side of the extension part 34.

[0067] The extension portion 34 divides the hip pitch output connector 3 into two axial spaces, wherein the space facing the output flange 41 is used to install the bearing 2 and accommodate the shaft sleeve 11 , and the space away from the output flange 41 is used to connect the leg roll joint connector 5 .

[0068] In some embodiments, see Figures 6 to 8 The hip pitch support 1 includes a barrel section 13 which is roughly hollow cylindrical and a connecting portion 14 which is hollow annular. The connecting portion 14 is connected to one end of the barrel section 13 which is away from the output flange 41 of the hip pitch joint module 4. The barrel section 13 includes a fixed end which is arranged at one end of the barrel section 13 which is adjacent to the output flange 41 of the hip pitch joint module 4, and the shaft sleeve 11 is arranged on the outside of the fixed end.

[0069] The barrel section 13 is used to accommodate the reducer part of the hip pitch joint module 4, and the connecting part 14 is used to support the shaft sleeve 11. Such a setting, on the one hand, plays the role of the outer shell of the joint module, so that the reducer and the output flange 41 have a precise installation position relative to the barrel section 13, and on the other hand, one end of the barrel section 13 is used to set the connecting part 14 and the shaft sleeve 11. The connecting part 14 can be provided with a mounting structure of the reducer, and at the same time, the position of the shaft sleeve 11 can be provided accurately, so that the position relationship between the output flange 41 and the bearing 2 is more accurate, so as to ensure the support effect of the bearing 2.

[0070] In some embodiments, the hip pitch support 1 may be an integral structure, so that the position accuracy of the various matching structures thereon is higher, which facilitates assembly.

[0071] In some embodiments, see Figure 6 The flange part 32 is provided with a plurality of first assembly holes 322, and the first assembly holes 322 penetrate the flange part 32; the flange part 32 is fastened to the output flange 41 of the hip pitch joint module 4 by fasteners passing through the first assembly holes 322. The provision of the fasteners facilitates stable and reliable assembly and convenient disassembly, which is beneficial to mass production and subsequent maintenance operations.

[0072] In some embodiments, the fastener may be a threaded fastener, and a threaded hole may be provided in the output flange 41 corresponding to the first assembly hole 322 to achieve a threaded connection with the threaded fastener.

[0073] In some embodiments, see Figure 3 , Figure 6 as well as Figure 7 The flange part 32 is also provided with an inner flange part 323, which is provided in the middle of the flange part 32 and is used to connect the synchronous shaft 42 of the hip pitch joint module 4. The inner flange is provided to connect the synchronous shaft 42 to transmit the real-time rotation speed of the output flange 41.

[0074] During operation, the rotation speed of the output flange 41 is transmitted to the flange part 32, and the inner flange part 323 on the flange part 32 is connected to the synchronous shaft 42 of the hip pitch joint module 4, so that the speed transmission of the output flange 41 can be realized. This enables the hip pitch joint module 4 to record the output speed more accurately. In the process of complex motion control of the robot, the accurate speed record can provide accurate data feedback for the control system, so that the leg joint movement of the robot is more coordinated and accurate, so as to better complete various complex tasks.

[0075] In addition, this design has the advantage of a simple structure. In traditional designs, if the synchronous shaft 42 and the output flange 41 are directly connected or assembled, not only do they need to be highly matched, but also the processing accuracy is extremely high; if the synchronous shaft 42 and the output flange 41 are connected by separately arranging the end cover, additional corresponding parts and connectors are required, which will undoubtedly increase the number of parts of the waist joint, which is not conducive to assembly and the lightweight of the whole machine. The design in this patent effectively avoids these problems and optimizes the overall structure.

[0076] In some embodiments, see Figure 5 as well as Figure 7 A radially extending mounting flange is provided on one side of the synchronous shaft 42 facing the inner flange portion 323, a fourth mounting hole 325 is provided on the inner flange portion 323, and a fifth mounting hole is provided on the corresponding mounting flange. The fifth mounting hole may be a threaded hole, and a threaded fastener is passed through the fourth mounting hole 325 and the fifth mounting hole to realize the fixed connection between the synchronous shaft 42 and the inner flange portion 323. The mounting flange provides a position for combining with the inner flange portion 323, avoiding processing of the hollow rotating shaft portion, which affects the structural strength of the synchronous shaft 42, is beneficial to the production yield, and the synchronous shaft 42 has better balance.

[0077] In some embodiments, see Figure 5The inner flange portion 323 is recessed inwardly along its axial direction to form a cylindrical accommodating space. The assembly flange can be extended into the accommodating space during assembly and form a connection relationship on the axis. Such a setting cooperates with each other in the radial direction, which is conducive to a compact structure.

[0078] In some embodiments, the fastener can be a threaded fastener, and a threaded hole is set on the fifth assembly hole on the assembly flange corresponding to the fourth assembly hole 325 to achieve a threaded connection with the threaded fastener, ensuring that the synchronization shaft 42 and the inner flange part 323 are firmly connected, thereby ensuring the accuracy and stability of speed transmission.

[0079] In some embodiments, see Figure 5 The flange portion 32 is provided with one or more positioning pin holes 35 on a circle surrounding the inner flange portion 323, which can be positioned and assembled with the output flange 41 through a pin shaft to ensure that the axial position between the output flange 41 and the flange portion 32 is accurately matched.

[0080] In some embodiments, see Figures 7 to 10 The outer end surface 321 of the flange portion 32 facing the output flange 41 is provided with a plurality of protective blocks 324 arranged in a ring array, and the protective blocks 324 are used to be clamped and fixed with the matching structure of the output flange 41.

[0081] In some embodiments, see Figure 1 and Figure 2 The leg roll joint support structure of the robot also includes: a leg roll joint connector 5, which is connected to the leg roll joint module 6 and is detachably connected to the hip pitch output connector 3.

[0082] In some embodiments, see Figure 7 and Figure 8 The bearing shaft portion 31 is provided with a plurality of second assembly holes 311, and the second assembly holes 311 radially penetrate the bearing shaft portion 31; the second assembly holes 311 are located on the bearing shaft portion 31 adjacent to the leg roll joint connector 5, and a plurality of fasteners are passed through the second assembly holes 311 to fasten the output connector to the leg roll joint connector 5.

[0083] The provision of the second assembly hole 311 can achieve radial connection, taking advantage of the radial thickness of the bearing shaft portion 31 . Meanwhile, the assembly direction can be distinguished from the assembly direction of the first assembly hole 322 , making the assembly simpler and more reliable.

[0084] In some embodiments, a threaded fastener may be used in the second assembly hole 311 to threadably engage with the leg roll joint connector 5 .

[0085] In some embodiments, see Figure 8The bearing part 31 is also provided with a plurality of extension blocks 312, which extend radially inward from the inner wall of the bearing part 31, and each of which has a second assembly hole 311 passing through an extension block 312. The extension block 312 is provided to increase the radial extension distance, which, on the one hand, increases the structural strength inside the bearing part 31 and is suitable for the support system, and on the other hand, the extension block 312 can extend the length of the second assembly hole 311 to facilitate the distance of the fastener to extend, so that a longer fastener can be used, the assembly degree of the fastener is increased, and the combination degree with the leg roll joint connector 5 is increased.

[0086] In some embodiments, see Figure 2 , Figure 8 as well as Fig.11 A docking portion 51 is provided on the side of the leg roll joint connector 5 facing the hip pitch joint module 4, and the docking portion 51 includes at least two semicircular docking rings 511, each docking ring 511 is provided with a plurality of third assembly holes 512, and the output connector is fastened to the leg roll joint connector 5 by passing through the second assembly hole 311 and the third assembly hole 512 through a plurality of fasteners.

[0087] The docking portion 51 is configured to fit the connecting portion 14 and the second assembly hole 311, and the two can be assembled and connected. Multiple semicircular docking rings 511 can be combined at multiple positions, leaving a margin during assembly, facilitating installation, increasing installation accuracy, and reducing assembly errors.

[0088] In some embodiments, see Figure 8 as well as Fig. 9 At least one wire avoidance groove 36 is provided on one side of the bearing shaft portion 31 , and the wire avoidance groove 36 can be connected to the hollow shaft through a through hole, so as to facilitate the passing and installation of the wire harness.

[0089] In some embodiments, see Fig.12 , a robot leg structure 7 is provided, which mainly includes two sets of hip pitch joint modules 4, leg roll joint modules 6 and a robot leg roll joint support structure as in any of the above embodiments. The beneficial effects of the robot leg roll joint support structure are detailed in the above embodiments and will not be repeated here.

[0090] The two hip pitch joint modules 4 are symmetrically arranged and tilted, and the output flanges 41 of the hip pitch joint modules 4 are both located on the outside and point downward; the hip pitch support member 1 is sleeved outside the hip pitch joint module 4 .

[0091] The output flange 41 of the hip pitch joint module 4 can form a certain avoidance space in both the vertical and horizontal directions, and the leg yaw joint module 73 has a larger activity space, which makes the leg structure 7 of the humanoid robot more flexible and adaptable to more scenarios.

[0092] The above arrangement also avoids the complicated assembly of the hip pitch joint module 4 on the hip structure, simplifies the structural design requirements of the hip, makes assembly more convenient, and helps to reduce the volume of the hip and avoid bloated structure at the hip position.

[0093] In some embodiments, see Fig.12 The rotation axis of the hip pitch joint module 4 has an angle with the horizontal direction and an angle with the vertical direction. The rotation axis of the leg roll joint module 6 is perpendicular to the rotation axis of the hip pitch joint module 4. This arrangement allows the hip pitch joint module 4 to form a certain avoidance space in the vertical and horizontal directions in a more crowded hip position, which makes the robot's leg structure 7 more flexible, with a larger range of motion and adaptable to more scenarios.

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

[0095] In some embodiments, see Fig.13 , a humanoid robot is provided, which mainly includes a leg roll joint support structure of the robot as in any of the above embodiments, or a leg structure 7 of the robot as in any of the above embodiments. The beneficial effects of the robot leg yaw joint support structure are detailed in the above embodiments, which will not be repeated here. The beneficial effects of the robot leg structure 7 are detailed in the above embodiments, which will not be repeated here.

[0096] In some embodiments, see Fig.13The humanoid robot includes a head, a neck, a torso, a waist, a hip, an arm and a leg, wherein the hip includes a hip connection seat 71, which is respectively connected to the waist and the leg structure 7. The waist is connected to two waist joint modules through a waist omnidirectional articulated structure, and the waist omnidirectional articulated structure is used to realize bending or tilting and other actions. The leg structure 7 includes a hip pitch joint module 4, a leg roll joint module 6 and a leg yaw joint module 73 which are connected in sequence. The hip pitch joint module 4 is connected to the hip connecting seat 71, the leg roll joint module 6 and the leg yaw joint module 73 are connected through the leg roll output member 72, and the thigh 74 of the leg is connected to the output end of the leg yaw joint. The hip pitch joint module 4, the leg roll joint module 6 and the leg yaw joint module 73 realize the pitch, roll and yaw movements of the thigh 74. A knee joint 75 is arranged between the thigh 74 and the calf 76 for directly driving the movement of the calf 76. The calf 76 drives the rocker arm through the sole driving joint 77 to realize the omnidirectional movement of the sole 78. Such a multi-degree-of-freedom robot can realize the imitation of humanoid walking, standing, bending and other movements, and can also realize complex behaviors such as carrying and climbing in combination with the arms.

[0097] 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 leg roll joint support structure of a robot, characterized in that: It includes a hip pitch support, a bearing and a hip pitch output connection; The hip pitch output connector includes a substantially hollow cylindrical bearing portion and a flange portion fixedly connected to the bearing portion, wherein the inner wall of the bearing portion abuts against the outer ring of the bearing, and the flange portion is used to connect to the output flange of the hip pitch joint module; The hip pitch support comprises a substantially hollow cylindrical sleeve, an outer wall of which abuts against an inner race of the bearing.

2. The leg roll joint support structure of the robot according to claim 1, characterized in that: The hip pitch output connector is also provided with a substantially hollow annular blocking portion, the blocking portion is located on the inner side of the inner wall of the bearing shaft portion, and the blocking portion is used to abut against the outer ring of the bearing in the axial direction; The hip pitch support member further comprises a retaining ring structure arranged on the radial outer side of the sleeve, wherein the retaining ring structure is substantially in the shape of a hollow circular ring and abuts against the end surface of the inner ring of the bearing in the axial direction.

3. The leg roll joint support structure of the robot according to claim 1, characterized in that: The flange portion includes an outer end surface facing the hip pitch joint module, the outer end surface protrudes axially from the bearing portion, and a first axial height is between the bottom of the flange portion and the outer end surface; and a second axial height is between the top surface of the sleeve and the output flange of the hip pitch joint module, and the first axial height is greater than the second axial height.

4. The leg roll joint support structure of the robot according to claim 1, characterized in that: The hip pitch output connector is configured with a substantially disc-shaped extension portion, an outer ring of the extension portion is connected to the inner wall surface of the bearing shaft portion, and an inner ring of the extension portion is connected to the outer wall surface of the flange portion.

5. The leg roll joint support structure of the robot according to claim 1, characterized in that: The hip pitch support member includes a barrel section that is roughly hollow cylindrical and a connecting portion that is hollow annular, wherein the connecting portion is connected to one end of the barrel section that is away from the output flange of the hip pitch joint module, and the barrel section includes a fixed end, which is arranged at one end of the barrel section adjacent to the output flange of the hip pitch joint module, and the sleeve is arranged on the outside of the fixed end.

6. The leg roll joint support structure of the robot according to claim 1, characterized in that: The flange part is provided with a plurality of first assembly holes, and the first assembly holes penetrate the flange part; fasteners are passed through the first assembly holes to fasten the flange part to the output flange of the hip pitch joint module.

7. The leg roll joint support structure of the robot according to claim 1, characterized in that: The flange part is also provided with an inner flange part, and the inner flange part is arranged in the middle part of the flange part, and the inner flange part is used for connecting the synchronization shaft of the hip pitch joint module.

8. The leg roll joint support structure of the robot according to claim 1, characterized in that: Also includes: A leg roll joint connection member is connected to the leg roll joint module and is detachably connected to the hip pitch output connection member.

9. The leg roll joint support structure of the robot according to claim 8, characterized in that: The bearing shaft portion is provided with a plurality of second assembly holes, and the second assembly holes radially penetrate the bearing shaft portion; the second assembly holes are located on the bearing shaft portion adjacent to the leg roll joint connecting member, and the output connecting member is fastened to the leg roll joint connecting member by passing a plurality of fasteners through the second assembly holes.

10. The leg roll joint support structure of the robot according to claim 9, characterized in that: The bearing shaft portion is further provided with a plurality of extension blocks, which extend radially inward from the inner wall of the bearing shaft portion, and each of which has a second assembly hole penetrating through one of the extension blocks.

11. The robot leg roll joint support structure according to claim 10, characterized in that: A docking portion is provided on the side of the leg roll joint connector facing the hip pitch joint module, and the docking portion includes at least two semicircular docking rings, each of which is provided with a plurality of third assembly holes, and the hip pitch output connector is fastened to the leg roll joint connector by passing a plurality of fasteners through the second assembly holes and the third assembly holes.

12. A leg structure of a robot, characterized in that: It comprises two groups of hip pitch joint modules, a leg roll joint module and a leg roll joint support structure of a robot as described in any one of claims 1 to 11, wherein the two hip pitch joint modules are symmetrically inclined and arranged, and the output flanges of the hip pitch joint modules are both located on the outside and pointing downward; and the hip pitch support component is mounted outside the hip pitch joint module.

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

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

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