Waist yaw driving structure of humanoid robot, waist crossing structure of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a waist yaw driving structure of a humanoid robot, a waist crossing structure of the humanoid robot and the humanoid robot. According to the waist yaw driving structure of the humanoid robot disclosed by the invention, the main body of the waist yaw joint is separated from the axis of the output shaft through the transmission structure, so that the axis of the waist yaw joint is separated from the rotating axis of the upper body of the robot through the transmission structure; the waist yawing joint module can be flexibly installed at any position deviating from the rotating axis of the robot body and can be selectively arranged on the front side, the rear side, the left side or the right side of the hip, and compared with a structure that a joint module and the body are coaxially arranged in the prior art, the waist yawing joint module almost does not need to occupy the space of the body upwards; and more axial space can be reserved for mounting a battery or a circuit component.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a waist yaw drive structure of a humanoid robot, a waist-span structure of a humanoid robot, and a humanoid robot. Background Art

[0002] In existing humanoid robots, the waist yaw joint is generally arranged at the center of the hip structure and is coaxial with the rotation axis of the upper body. In order to avoid displacement, the waist yaw joint position and the hip drive joints can only occupy more axial space upwards, which reduces the body space of the robot's upper body. The body space of the robot's upper body is generally used to configure batteries, circuits and computing devices, which results in a smaller body battery space or computer and other component installation space. Summary of the invention

[0003] The present application provides a waist yaw drive structure of a humanoid robot, a waist-span structure of a humanoid robot and a humanoid robot, so as to solve the technical problem of small installation space for the upper body.

[0004] In one technical solution, the waist yaw drive structure of the humanoid robot includes a waist yaw joint module, a first transmission member, a second transmission member, a first connecting member and a second connecting member. The output flange of the waist yaw joint module is fixedly connected to the first transmission member, the first transmission member is transmission-connected to the second transmission member and the rotation axes are not coaxial, the first connecting end of the second transmission member is rotatably connected to the first connecting member, and the second connecting end of the second transmission member is fixedly connected to the second connecting member.

[0005] In one technical solution, the torque can be transmitted between the first transmission member and the second transmission member through any one of spur gear meshing, bevel gear meshing, chain drive, worm drive or synchronous pulley structure, and the axes of the rotating shafts of the two are parallel and offset or perpendicular to each other.

[0006] In one technical solution, the first connecting member is a base, which is constructed with a first cavity and a second cavity connected to each other. The first cavity has a first base that is roughly hollow and annular, a first cylindrical side wall and an annular sinking section; the second cavity has a second base that is roughly hollow and annular and a second cylindrical side wall. The first base is connected to the second base, and the first cylindrical side wall is connected to the second cylindrical side wall. The second base is constructed with a bearing mounting groove, and its extension is constructed with a first support platform; the outer side of the second cylindrical side wall is constructed with an extension wing with a mounting hole, one end is constructed with a first sleeve shaft section, and the extension adjacent to the first sleeve shaft section is constructed with a second support platform. The first base is fixedly connected to the fixed plate of the output flange end of the waist yaw joint module by fasteners, and part of the output flange end of the waist yaw joint module is embedded in the annular sinking section.

[0007] In one technical solution, the second connecting member is a waist connecting member, which is sequentially constructed with a transmission member connecting seat, a mask cover and a trunk connecting seat. The outer extension of the mask cover is circular and the inner wall is provided with a first pressing platform, and the transmission member connecting seat is fixedly connected to the second connecting end.

[0008] In one technical solution, the first transmission member is a driving gear, and the second transmission member is a driven gear meshing with the driving gear. The axes of the rotating shafts of the two are vertically arranged and parallel to each other and offset.

[0009] In one technical solution, the first transmission member is constructed with a second shaft segment and a first gear segment, and a first retaining ring is arranged between the second shaft segment and the inner extension of the first gear segment. The second shaft segment is provided with a plurality of first assembly holes and positioning protrusions, and an inner groove is constructed at the center of the back of the first gear segment. The support bearing at the output flange end of the waist yaw joint module is protrudingly arranged, the outer wall of the second shaft segment abuts against the inner ring of the support bearing, and the first retaining ring abuts against the axial end face of the inner ring of the support bearing. The output flange end of the waist yaw joint module is provided with a plurality of positioning grooves and a plurality of second assembly holes, the positioning protrusions are arranged in alignment with the positioning grooves, and the first transmission member is fixedly connected to the output flange end of the waist yaw joint module by fasteners passing through the first assembly hole and the second assembly hole.

[0010] In one technical solution, the structure further includes a first bearing, a first bearing retaining ring and a second bearing retaining ring. The second transmission member is sequentially constructed with a third sleeve shaft section and a second gear section, and the inner wall of the third sleeve shaft section adjacent to the second gear section is formed with a second retaining ring protruding inward. The first bearing is embedded in the bearing mounting groove, the inner ring abuts against the outer wall of the third sleeve shaft section, the first bearing retaining ring is fixedly connected to the outer wall of the bearing mounting groove by a fastener, the second bearing retaining ring is fixedly connected to the third sleeve shaft section by a fastener, the first support platform and the first bearing retaining ring abut against the two ends of the outer ring of the first bearing respectively, and the second retaining ring and the second bearing retaining ring abut against the two ends of the inner ring of the first bearing respectively.

[0011] In one technical solution, the structure further includes a second bearing, a third bearing retaining ring and a fourth bearing retaining ring. The second bearing is embedded in the mask cover, and one end of the outer ring abuts against the first pressing platform. The third bearing retaining ring is fixedly connected to the extension of the mask cover by a fastener, and the third bearing retaining ring abuts against the other end of the outer ring of the second bearing. The inner ring of the second bearing is sleeved on the first sleeve shaft section, and one end of the inner ring abuts against the second bearing platform. The fourth bearing retaining ring is fixedly connected to the end face of the second cylindrical side wall by a fastener, and the other end of the inner ring of the second bearing abuts against the fourth bearing retaining ring.

[0012] In one technical solution, the reduction ratio between the first transmission member and the second transmission member ranges from i=1:1 to 20:1.

[0013] In one technical solution, the support bearing is a cross roller bearing, and the first bearing and the second bearing are cross roller bearings or angular contact ball bearings.

[0014] In one technical solution, the structure further includes a cover plate, an encoder reader circuit board and an encoder code disk. The encoder code disk is embedded in the inner groove, and the encoder reader circuit board is fixedly connected to the first cylindrical side wall through the cover plate. The encoder reader circuit board is aligned with the encoder code disk and is used to read the rotation amount and / or angular position of the encoder code disk. The rotation amount of the encoder code disk represents the rotation amount of the output flange of the waist yaw joint module, and the angular position of the encoder code disk represents the angular position of the output flange of the waist yaw joint module.

[0015] In one technical solution, a hollow wire hole is constructed at the rotation center position between the second transmission member and the second connecting member for passing the communication and power supply harness through the lower body of the humanoid robot.

[0016] In one technical solution, the trunk connecting seat includes two symmetrically arranged universal joint seats and a driven shaft.

[0017] In one technical solution, the first transmission member and the second transmission member are self-lubricating nylon gears, and the projections of the gear teeth of the two members in the horizontal first direction are overlapped. On this horizontal projection plane, the overlapping area of ​​the gear teeth accounts for 60%-100% of the tooth width.

[0018] In one technical solution, the third bearing retaining ring is arranged above the horizontal extension range of the extension wing, and its inner diameter is slightly larger than the outer diameter of the second cylindrical side wall. The fourth bearing retaining ring overlaps with the projection of the second cylindrical side wall in a vertical direction.

[0019] In one technical solution, the projections of the support bearing and the first bearing in a horizontal second direction at least partially overlap, and the first bearing and the second bearing are coaxially arranged and jointly form a rotation support for the second connecting member.

[0020] In one technical solution, the second transmission member and the second connecting member are an integrally formed structure.

[0021] In one technical solution, the waist span structure of a humanoid robot includes a hip span structure and the waist yaw drive structure of the humanoid robot. The hip span structure is composed of two symmetrically arranged hip pitch joint fixing positions, a waist yaw joint module fixing position arranged between the two hip pitch joint fixing positions, and a first connecting member fixing position. The waist yaw joint module is arranged on the waist yaw joint module fixing position, and the first connecting member is arranged on the first connecting member fixing position.

[0022] In one technical solution, an extension wing with a mounting hole is constructed on the outer side of the first connecting member, and the extension wing is fixedly connected to the hip span structural member.

[0023] In one technical solution, the first connecting member and the hip span structural member are integrally formed.

[0024] In one technical solution, the waist-span structure further includes two hip pitch joints, which are respectively arranged between the two pitch joint fixing positions, and the output flanges of the two joints are inclined to be arranged below the horizontal line. In the first horizontal direction, the waist yaw joint module is respectively arranged to overlap at least partially with the two hip pitch joints; in the first horizontal direction, the projection overlap rate of the two waist yaw joint modules and the hip pitch joints is ≤30%.

[0025] In one technical solution, the axis of rotation of the waist yaw joint module does not intersect with the axis of rotation of the two hip pitch joints, the axis of rotation of the second connecting member intersects with the axis of rotation of the two hip pitch joints, or the axis of rotation of the waist yaw joint module is closer to the axis of rotation of the two hip pitch joints.

[0026] In one technical solution, a humanoid robot includes the waist yaw drive structure of the above-mentioned humanoid robot.

[0027] The beneficial effects of the present application are as follows: the main body of the lumbar yaw joint is separated from the axis of the output shaft through a transmission structure, so that the installation position of the lumbar yaw joint can be deviated from the body's rotation axis, thereby allowing the lumbar yaw joint main body to be deviated from the body's rotation axis, and can be selectively configured on the front, back, left or right side of the hip, with almost no need to occupy upward space of the body, and more axial space can be left for installing batteries or circuit components. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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.

[0029] Figure 1 is a simplified structural diagram of the waist-span structure of a humanoid robot in one embodiment of the present application; Figure 2 is a schematic diagram of the three-dimensional structure of the waist-span structure of a humanoid robot in one embodiment of the present application; Figure 3 is a top view schematic diagram of a first transmission member and a second transmission member in a matching state in one embodiment of the present application (seen after removing the upper side components); Figure 4 is a schematic cross-sectional view of a waist-span structure of a humanoid robot in one embodiment of the present application; Figure 5 yes Figure 4 An enlarged schematic diagram of the waist-span structure at A; Figure 6 yes Figure 4 An enlarged schematic diagram of the waist-span structure at B; Figure 7 yes Figure 4 An enlarged schematic diagram of the waist-span structure at position C; Figure 8 is a schematic diagram of the associated assembly of the first transmission member along its axis in a cross-sectional state in one embodiment of the present application; Fig. 9 is a schematic diagram of the three-dimensional structure of the first connecting member in one embodiment of the present application; Fig.10 is a cross-sectional schematic diagram of a first connecting member in an embodiment of the present application; Fig.11 It is a schematic diagram of the associated assembly of the first transmission member along its axis in a three-dimensional state in one embodiment of the present application; Fig.12 is a schematic diagram of the associated assembly of the second transmission member along its axis in a cross-sectional state in one embodiment of the present application; Fig.13 is a schematic diagram of the three-dimensional structure of the first transmission member in a cross-sectional state in one embodiment of the present application; Fig.14 is a schematic diagram of the three-dimensional structure of the second transmission member in one embodiment of the present application; Fig.15 is a cross-sectional schematic diagram of a second transmission member in an embodiment of the present application; Fig.16 This is a schematic diagram of the three-dimensional structure of a waist yaw joint module in one embodiment of the present application; Fig.17 is a side view schematic diagram of a waist span structure in one embodiment of the present application; Fig.18 is a simplified structural diagram of the waist-span structure of a humanoid robot in one embodiment of the present application; Fig.19 is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application; Fig. 20 This is a schematic diagram of the waist and hip structure of a humanoid robot from a rear view perspective in one embodiment of the present application.

[0030] Reference numerals in the figures: 1. Lumbar yaw joint module; 11. Output flange; 111. Positioning groove; 112. Second assembly hole; 12. Support bearing; 2. first transmission member; 21. second sleeve shaft section; 211. first assembly hole; 212. positioning protrusion; 213. inner groove; 22. first gear section; 23. first retaining ring; 3. Second transmission member; 31. First connection end; 32. Second connection end; 33. The third sleeve shaft segment; 331. The second retaining ring; 34. The second gear segment; 4. A first connecting member; 41. first cavity; 411. first base; 412. first cylindrical side wall; 413. annular sinking section; 42. Second cavity; 421, second bottom bracket; 421a, bearing mounting groove; 421b, first support platform; 422, second cylindrical side wall; 422a, extension wing; 422b, first sleeve shaft section; 422c, second support platform; 5. Second connecting member; 51. Transmission member connecting seat; 52. Shield cover; 521. First pressing platform; 53. Trunk connecting seat; 531. Universal joint seat; 532. Driven shaft; 61. first bearing; 62. first bearing retaining ring; 63. second bearing retaining ring; 64, second bearing; 65, third bearing retaining ring; 66, fourth bearing retaining ring; 671, cover plate; 672, fixing plate; 68, encoder reader circuit board; 69, encoder code disk; 7. Hollow wire hole; 8. Hip span structural member; 81. Hip pitch joint fixing position; 82. Waist yaw joint module fixing position; 83. First connecting member fixing position; 91. Hip pitch joint; 92. Head; 93. Trunk; 94. Arm; 95. Waist omnidirectional joint; 96. Leg roll joint; 97. Leg yaw joint; 98. Thigh; 99. Knee joint; 100. Calf; 101. Ankle joint; d1, the axis of rotation of the waist yaw joint module; d2, the axis of rotation of the second connecting member; d3, the axis of rotation of the hip pitch joint; X is the horizontal first direction; Y is the horizontal second direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The embodiments of the present application mainly relate to the waist yaw drive structure, waist span structure and related technical improvements of a humanoid robot. The relevant technical solutions of the present application are exemplarily described below in conjunction with the accompanying drawings.

[0039] Please refer to Figure 1 As shown, an embodiment of the present application provides a waist yaw drive structure of a humanoid robot, which mainly includes a waist yaw joint module 1, a first transmission member 2, a second transmission member 3, a first connecting member 4 and a second connecting member 5.

[0040] In the embodiment of the present application, the waist yaw joint module 1 drives the upper body of the robot to rotate relative to the hip span structure 8 of the lower body around the vertical Z axis after transmission. The output flange 11 of the waist yaw joint module 1 is fixedly connected to the first transmission member 2. The first transmission member 2 is transmission-connected to the second transmission member 3 and the rotation axes are not coaxial, so that the torque of the waist yaw joint module 1 can be transmitted to the second transmission member 3. The first connecting end 31 of the second transmission member 3 is rotatably connected to the first connecting member 4 (see Figure 4 , Figure 8 as well as Fig.14 ), the second connecting end 32 of the second transmission member 3 is fixedly connected to the second connecting member 5 (see Figure 4 , Figure 8 as well as Fig.15). The structure of the embodiment of the present application separates the axis of the waist yaw joint module 1 from the rotation axis of the robot's upper body through a transmission structure, so that the waist yaw joint module 1 can be flexibly installed at any position deviating from the rotation axis of the robot's body, such as the front, back, left or right side of the hip. Compared with the structure in which the joint module and the body are coaxially configured in the prior art, the occupation of the axial space of the robot's body is reduced, leaving more space for installing batteries or circuit components.

[0041] It can be understood that the torque can be transmitted between the first transmission member 2 and the second transmission member 3 through any of the flat gear meshing methods, bevel gear meshing methods, chain drive methods, worm drive methods or synchronous pulley structure methods, and the axes of the rotating shafts of the two are parallel to each other and offset or perpendicular to each other. In practical applications, the appropriate transmission method can be selected according to specific needs. For example, the flat gear meshing method has a simple structure and high transmission efficiency, which is suitable for scenes with high requirements for precision and stability; if the spatial layout is relatively compact, a worm drive can be selected, which has a larger transmission ratio and self-locking property. These different transmission methods and their inter-axis relationships can meet the requirements for torque transmission and motion characteristics under different working conditions, and optimize the performance of the waist yaw drive structure.

[0042] like Figure 2 as well as Figure 4 As shown, the main function of the first connecting member 4 is to rotatably support the second transmission member 3 and / or the second connecting member 5, or in other words, the first connecting member 4 rotatably supports the upper body rotating body including the second transmission member 3 and the second connecting member 5. On the other hand, the first connecting member 4 can be fixedly connected to the hip span structure 8 of the lower body or integrated with the hip span structure 8. It can be understood that the first connecting member 4 includes various component forms including a rotating support seat at one end and a component form that can be connected to other components at the other end, such as a hollow annular connecting member, a circular bearing seat configured inside an outer square flange, etc., and is not specifically limited.

[0043] like Figure 2 as well as Figure 4 As shown, the second connecting member 5 is a waist connecting member, and the second connecting member 5 can be fixedly connected to or integrated with the second transmission member 3. Its main function is to connect and support the upper body structure of the robot, and to be connected to or integrated with the second transmission member 3, so that it can be driven to rotate as a driven member by the input torque. Its shape and form are not specifically limited as long as it can achieve the above functions.

[0044] In one embodiment, referring to Figures 4 to 15 As shown, in the embodiment of the present application, the first transmission member 2 is a driving gear, and the second transmission member 3 is a driven gear meshing with the driving gear. The axes of the rotating shafts of both can be vertically arranged and parallel to each other and offset by a certain distance.

[0045] In one embodiment, referring to Fig.13 As shown, in the embodiment of the present application, the first transmission member 2 is constructed with a second sleeve shaft section 21 and a first gear section 22, and a first retaining ring 23 is arranged between the second sleeve shaft section 21 and the inner extension of the first gear section 22. The second sleeve shaft section 21 is provided with a plurality of first assembly holes 211 and positioning protrusions 212, and a substantially plum blossom-shaped inner groove 213 is constructed at the center of the back of the first gear section 22, and a plurality of first assembly holes 211 can be opened at the bottom surface of the inner groove 213. A plurality of positioning protrusions 212 can be protrudingly arranged outside the end surface of the second sleeve shaft section 21 facing the waist yaw joint module 1, and the cross-sectional shape of the positioning protrusion 212 can be selected as a fan-shaped, which can be mutually clamped and fixed with the corresponding groove structure arranged on the output flange 11 of the waist yaw joint module 1.

[0046] In one embodiment, referring to Figure 5 as well as Fig.16 As shown, the support bearing 12 of the output flange end of the waist yaw joint module 1 is protrudingly arranged, the outer wall of the second sleeve shaft section 21 abuts against the inner ring of the support bearing 12, and the first retaining ring 23 abuts against the axial end face of the inner ring of the support bearing 12. The output flange end of the waist yaw joint module 1 is provided with a plurality of positioning grooves 111 and a plurality of second assembly holes 112, the positioning protrusions 212 are arranged in alignment with the positioning grooves 111, and the first transmission member 2 is fixedly connected with the output flange end of the waist yaw joint module 1 through fasteners passing through the first assembly holes 211 and the second assembly holes 112. It can be understood that the outer wall of the second sleeve shaft section 21 of the first transmission member 2 abuts against the inner ring of the support bearing 12, wherein the output flange 11 also has an outer end face abutting against the end face of the second sleeve shaft section 21, and at the same time, the outer side wall of the output flange 11 also abuts against the inner ring of the support bearing 12. On the one hand, it is no longer necessary to provide an additional support bearing for the first transmission member 2, and the support bearing 12 can be shared with the joint module; on the other hand, reducing the number of bearings can reduce the axial structure, thereby reducing the axial space occupied.

[0047] In one embodiment, referring to Fig.14 as well as Fig.15 As shown, the second transmission member 3 includes a first connecting end 31 and a second connecting end 32, both of which are roughly hollow cylindrical, and a third sleeve shaft section 33 and a second gear section 34 are sequentially constructed between the first connecting end 31 and the second connecting end 32. The inner wall of the third sleeve shaft section 33 adjacent to the second gear section 34 is formed with a second retaining ring 331 protruding inward. A plurality of assembly holes for assembly and connection with the second connecting member 5 are formed on the outer surface of the end surface of the second connecting end 32, and a plurality of assembly holes for assembly and connection with the pressure ring of the bearing are formed on the outer surface of the end surface of the first connecting end 31.

[0048] In one embodiment, referring to Figure 4 , Figure 8 , Fig. 9 and Fig.10As shown, the first connecting member 4 is a base for the upper body of the robot to be rotatably connected, and is constructed with a first cavity 41 and a second cavity 42 connected to each other. The first cavity 41 has a first base 411 that is roughly hollow and annular, a first cylindrical side wall 412, and an annular sinking section 413. The second cavity 42 has a second base 421 that is roughly hollow and annular, and a second cylindrical side wall 422. The first base 411 and the second base 421 are both horizontally extended and connected to each other, and the first cylindrical side wall 412 and the second cylindrical side wall 422 are connected. The second base 421 is constructed with a bearing mounting groove 421a, and its extension is formed with a first support 421b. The outer side of the second cylindrical side wall 422 is constructed with an extension wing 422a with a mounting hole, and one end of the second cylindrical side wall 422 is constructed with a first sleeve shaft section 422b, and the extension adjacent to the first sleeve shaft section 422b is constructed with a second support 422c. The first base 411 is fixedly connected to the fixing plate at the output flange 11 end of the lumbar yaw joint module 1 by fasteners, and the output flange end of the lumbar yaw joint module 1 is partially embedded in the annular sinking section 413. This structural design enables the first connecting member 4 to stably connect and fix the lumbar yaw joint module 1, while providing precise positioning and support for the installation of subsequent components, ensuring the stability and reliability of the entire drive structure.

[0049] In one embodiment, referring to Figure 2 , Figure 4 as well as Figure 8 As shown, the second connecting member 5 is a waist connecting member, which is sequentially constructed with a transmission member connecting seat 51, a mask cover 52 and a trunk connecting seat 53. The outer extension of the mask cover 52 is circular and the inner wall is provided with a first pressing platform 521. The transmission member connecting seat 51 is fixedly connected to the second connecting end 32 of the second transmission member 3. The second connecting member 5 not only realizes a stable connection with the second transmission member 3, but also protects the internal components through the mask cover 52 to prevent dust, debris, etc. from entering and affecting the normal operation of the structure. The trunk connecting seat 53 is used to connect with the trunk of the humanoid robot.

[0050] In one embodiment, referring to Figure 4 , Figure 7 , Figure 8 as well as Fig.15As shown, the second transmission member 3 and the first connecting member 4 further include a first bearing 61, a first bearing retaining ring 62 and a second bearing retaining ring 63. The first bearing 61 is embedded in the bearing installation groove 421a of the first connecting member 4, the inner wall surface of the inner ring of the first bearing 61 abuts against the outer wall of the third sleeve shaft section 33 of the second transmission member 3, the first bearing retaining ring 62 is fixedly connected to the outer wall of the bearing installation groove 421a by fasteners, the second bearing retaining ring 63 is fixedly connected to the third sleeve shaft section 33 by fasteners, the first support 421b and the first bearing retaining ring 62 abut against the two ends of the outer ring of the first bearing 61 respectively, and the second retaining ring 331 of the second transmission member 3 and the second bearing retaining ring 63 abut against the two ends of the inner ring of the first bearing 61 respectively. These components work together to provide stable support and positioning for the first connecting end 31 of the second transmission member 3, and the second transmission member 3 is fixedly connected to the second connecting member 5. The first bearing 61 also supports the second connecting member 5 during rotation, ensuring the stability and accuracy of the second transmission member 3 and the second connecting member 5 during the transmission process and reducing shaking and friction.

[0051] In one embodiment, referring to Figure 4 , Figure 5 , Figure 6 , Figure 8 As shown, the first connecting member 4 and the second connecting member 5 also include a second bearing 64, a third bearing retaining ring 65 and a fourth bearing retaining ring 66. One end of the second bearing 64 can be embedded in the mask cover 52, and one end of the outer ring abuts against the first pressing platform 521. The third bearing retaining ring 65 is fixedly connected to the outer extension of the mask cover 52 by fasteners, and the third bearing retaining ring 65 abuts against the other end of the outer ring of the second bearing 64. The inner ring of the second bearing 64 is sleeved on the first sleeve shaft section 422b (see Figure 6 ), and one end of the inner ring abuts against the second support platform 422c, the fourth bearing retaining ring 66 is fixedly connected to the end face of the second cylindrical side wall 422 through a fastener, and the other end of the inner ring of the second bearing 64 abuts against the fourth bearing retaining ring 66. This series of components further enhances the support and rotation stability of the second connecting member 5, ensuring that the second connecting member 5 can rotate smoothly during the movement of the waist yaw drive structure, reducing the motion error caused by shaking and offset, and improving the accuracy and smoothness of the waist movement of the humanoid robot. On the other hand, the second transmission member 3 is fixedly connected to the second connection member 5, and the second bearing 64 is also equivalent to supporting the second transmission member 3 during rotation.

[0052] In one embodiment, the range of the reduction ratio of the first transmission member 2 and the second transmission member 3 is i=1:1 to 20:1 (input speed: output speed). Reasonable reduction ratio setting can adjust the speed and torque output by the waist yaw joint module 1 according to the actual movement requirements of the humanoid robot. For example, in a sports scene that requires a quick response, a smaller reduction ratio can be selected, such as 1:1, 2:1, 3:1, 4:1, 5:1, 6:1, 7:1, 8:1, 9:1, etc., so that the waist can rotate quickly; and in the case of a larger torque, such as when carrying heavy objects, a larger reduction ratio can be selected, such as: 20:1, 19:1, 18:1, 17:1, 16:1, 15:1, 14:1, 13:1, 12:1, 11:1, 10:1, etc. In this embodiment, there is a reduction ratio between the two transmission parts, which can be coupled with the reducer function in the joint module. The above two transmission parts can provide a reduction effect while realizing transmission. One embodiment is to distribute part of the reduction function of the reducer to the above two transmission parts, so that, for example, a multi-stage reducer can be reduced by one or more stages, thereby reducing the volume of the reducer in the joint module; another embodiment is that the function of the reducer in the joint module is completely realized by the above two transmission parts, so that the joint module can save the reducer. In other words, the above two transmission parts can achieve the full or partial reduction function of the joint module while transmitting.

[0053] In one embodiment, the support bearing 12 is a cross roller bearing, and the first bearing 61 and the second bearing 64 are cross roller bearings or angular contact ball bearings. It can be understood that the cross roller bearing has high rigidity and rotation accuracy, can withstand large radial and axial loads, and adapt to various forces generated by the waist yaw drive structure during complex motion. Angular contact ball bearings can withstand radial and axial loads at the same time, and have a high limit speed, which can meet the requirements for bearing performance under different working conditions.

[0054] In one embodiment, referring to Figure 3 , Figure 4 , Fig.11 and Fig.12As shown, the structure also includes a cover plate 671, a fixing plate 672, an encoder reader circuit board 68 and an encoder code disk 69. The encoder code disk 69 is embedded in the inner groove 213, and the encoder reader circuit board 68 is fixedly connected to the first cylindrical side wall 412 through the fixing plate 672, and the cover plate 671 is covered and connected to the upper opening of the inner groove 213. The encoder reader circuit board 68 and the encoder code disk 69 are arranged in alignment to read the rotation amount and / or angular position of the encoder code disk 69. The rotation amount of the encoder code disk 69 represents the rotation amount of the output flange 11 of the waist yaw joint module 1, and the angular position of the encoder code disk 69 represents the angular position of the output flange 11 of the waist yaw joint module 1. Through this design, the motion state of the waist yaw joint module 1 can be accurately monitored in real time, providing accurate data for the control system, and realizing precise control of the waist movement of the humanoid robot.

[0055] In one embodiment, referring to Figure 4 and Figure 8 As shown, a hollow wire hole 7 is constructed at the rotation center position between the second transmission member 3 and the second connecting member 5, which is used to pass the communication and power supply harness of the lower body of the humanoid robot. In this design, since the hollow wire hole 7 is coaxially arranged with the body rotation axis, the harness is least affected by the body rotation, thereby solving the problem of harness arrangement and avoiding the harness being pulled, squeezed, etc. during the movement of the robot. At the same time, it also makes the internal structure of the robot more compact and neat, and improves the overall reliability and safety.

[0056] In one embodiment, referring to Figure 2 , Figure 4 As shown, the trunk connection seat 53 includes two symmetrically arranged universal joint seats 531 and a driven shaft 532. The universal joint seat 531 can be rotatably fixed to the cross-axis universal joint, and the driven shaft 532 can be connected to the waist drive joint module through a connecting rod. Through the above structure, the waist and the trunk of the humanoid robot can be flexibly connected and the motion transmission can be achieved.

[0057] In one embodiment, the first transmission member 2 and the second transmission member 3 use self-lubricating nylon gears, and the projections of the gear teeth of the two are overlapped in the horizontal first direction X. On this horizontal projection plane, the overlapping area of ​​the gear teeth accounts for 60%-100% of the tooth width. For example, the overlapping area of ​​the gear teeth accounts for 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95% or 100% of the tooth width. Self-lubricating nylon gears have good wear resistance, low noise and self-lubricating properties, which can avoid the use of lubricating oil, reduce maintenance and related sealing costs, and reduce maintenance costs. The overlapping setting of gear teeth increases the overlap of gear meshing, improves the smoothness and load-bearing capacity of the transmission, ensures the reliability of power transmission, and makes the waist yaw drive structure more stable and efficient during operation.

[0058] In one embodiment, referring to Figures 4 to 6 Combined with Fig. 9 As shown, the third bearing retaining ring 65 is arranged above the horizontal extension range of the extension wing 422a, and the inner diameter is slightly larger than the outer diameter of the second cylindrical side wall 422. The fourth bearing retaining ring 66 overlaps with the projection of the second cylindrical side wall 422 in a vertical direction Z. In this way, the bearing is connected to the first connecting member 4 at the lower side by the inner ring, and connected to the second connecting member 5 at the upper side by the outer ring. On the one hand, it can be considered that the third bearing retaining ring 65 and the extension wing 422a can form a clearance fit relationship. For example, the two extension wings 422a on both sides of the middle of the two cavities of the first connecting member 4, and the clearance fit between the two extension wings 422a and the third bearing retaining ring 65 in the horizontal direction can largely prevent foreign matter from being brought into the transmission cavity in the first connecting member 4 with the rotation of the third bearing retaining ring 65. On the other hand, it can also be considered that the multiple extension wings 422a can protect the lower edge of the second connecting member 5 with a certain gap on the lower side, so as to prevent the upper body of the robot from tilting off-axis at a large angle when being impacted. On the other hand, such a layout design makes rational use of space, enhances the fixing and supporting effect of the second bearing 64, further improves the rotation stability of the second connecting member 5, and ensures that the waist yaw drive structure maintains good performance during complex movement.

[0059] In one embodiment, referring to Figures 4 to 7 Combined with Figure 8 As shown, the projections of the support bearing 12 and the first bearing 61 in a horizontal second direction Y at least partially overlap, and the first bearing 61 and the second bearing 64 are coaxially arranged and together form a rotation support for the second connecting member 5. This bearing layout increases the stability and uniformity of the support, effectively disperses the force on the second connecting member 5 during the rotation process, reduces the load of a single bearing, improves the bearing capacity and reliability of the entire structure, and ensures the stability of the waist movement of the humanoid robot. In addition, the second bearing 64 and the support bearing 12 at least partially overlap in the vertical direction, which also brings a better rotation support effect, and the entire transmission system is also relatively compact.

[0060] In one embodiment, please refer to Fig.18 As shown, the second transmission member 3 and the second connecting member 5 can also be an integrally formed structure. The integrally formed design reduces the connection links between the components, improves the integrity and rigidity of the structure, reduces the risk of failure caused by loose connections, makes the waist yaw drive structure more compact and reliable, and improves the overall performance of the humanoid robot.

[0061] In one embodiment, referring to Figures 1 to 4 as well as Figure 8 , Fig.11 and Fig.12As shown, an embodiment of the present application provides a waist-span structure of a humanoid robot, including a hip-span structural member 8 and the waist yaw drive structure of the above-mentioned humanoid robot. The hip-span structural member 8 is configured with two symmetrically arranged hip pitch joint fixing positions 81 at positions corresponding to the thighs on both sides, and the hip-span structural member 8 also includes a waist yaw joint module fixing position 82 and a first connecting member fixing position 83 arranged between the two hip pitch joint fixing positions 81. The waist yaw joint module 1 is arranged on the waist yaw joint module fixing position 82, and the first connecting member 4 is arranged on the first connecting member fixing position 83. This structural design organically combines the waist yaw drive structure with the hip-span structural member 8, so that the layout of the entire waist-span structure is more reasonable, and the coordination between the various components is smoother, providing a stable foundation for the waist and hip movements of the humanoid robot.

[0062] In one embodiment, if Figure 8 The extended wing 422a of the illustrated first connecting member 4 is fixedly connected to the hip span structural member 8. The fixed connection between the extended wing 422a and the hip span structural member 8 enhances the connection strength between the first connecting member 4 and the hip span structural member 8, enables the waist yaw drive structure and the hip span structure to work better together, and improves the overall stability and reliability of the waist span structure.

[0063] In one embodiment, the first connecting member 4 can also be integrally formed with the hip span structure 8. The integral forming method further improves the integrity and rigidity of the waist span structure, reduces the assembly links, reduces the problems caused by assembly errors, makes the connection between the waist yaw drive structure and the hip span structure more stable, and improves the stability and reliability of the humanoid robot during movement.

[0064] In one embodiment, referring to Figures 1 to 8 as well as Fig.17 As shown, the waist-span structure also includes two hip pitch joints 91, which are respectively arranged at two hip pitch joint fixing positions 81, and the output flanges of the two are arranged to be inclined below the horizontal line. In the horizontal first direction X, the waist yaw joint module 1 is respectively arranged to at least partially overlap with the two hip pitch joints 91; in the horizontal first direction X, the projection overlap rate of the waist yaw joint module 1 and the hip pitch joint 91 is ≤30%. Such a layout design reasonably arranges the positions of the waist yaw joint module 1 and the hip pitch joint 91 in a limited space, which not only ensures the coordinated movement between the joints, but also avoids mutual interference, thereby improving the space utilization and movement performance of the waist-span structure.

[0065] In one embodiment, referring to Figures 1 to 8 as well as Fig.17As shown, in the horizontal second direction Y, the rotation axis d1 of the waist yaw joint module does not intersect with the rotation axis d3 of the two hip pitch joints, and the rotation axis d2 of the second connecting member and the rotation axis d3 of the two hip pitch joints may intersect in the horizontal first direction X, or the rotation axis d1 of the waist yaw joint module is closer to the rotation axis d3 of the two hip pitch joints.

[0066] In other words, in the lateral horizontal projection, the rotation axis d1 of the waist yaw joint module and the rotation axis d3 of the two hip pitch joints are respectively located on both sides of the rotation axis d2 of the second connecting member, and the rotation axis d3 of the two hip pitch joints is closer to the rotation axis d2 of the second connecting member. Among them, the rotation axis d2 of the second connecting member can be roughly regarded as the axis where the center of gravity of the robot is located. On the one hand, it can be considered that the two hip pitch joints 91 are shifted to one side relative to the center of gravity of the robot so as to be balanced with a waist yaw joint module 1 configured on the opposite side relative to the center of gravity of the robot. The design of this inter-axis relationship optimizes the kinematic characteristics of the waist-span structure, so that when the humanoid robot performs waist and hip movements, the movements between the joints are more coordinated, which improves the flexibility and fluency of the robot's movement and adapts to different movement scenes and task requirements.

[0067] Reference Fig.19 and Fig. 20 As shown, in the humanoid robot of this embodiment, it includes the waist yaw drive structure, and the humanoid robot also has a head 92, a trunk 93, an arm 94, a waist omnidirectional joint 95, a leg roll joint 96, a leg yaw joint 97, a thigh 98, a knee joint 99, a calf 100, and an ankle joint 101. The application of the waist yaw drive structure effectively solves the problem of the small installation space of the upper body due to the position of the waist yaw joint in the prior art, which not only improves the performance of the waist movement of the humanoid robot, but also enhances the flexibility and coordination of the overall movement, so that the robot has better performance in practical applications.

[0068] 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 yaw drive structure of a humanoid robot, characterized in that: include: Waist yaw joint module; A first transmission member and a second transmission member, wherein the second transmission member is configured with a first connecting end and a second connecting end; as well as, a first connecting member, a second connecting member; Among them, the output flange of the lumbar yaw joint module is fixedly connected to the first transmission member, the first transmission member is transmission-connected to the second transmission member, and the rotation axes of the first transmission member and the second transmission member are not coaxial, the first connecting end is rotatably connected to the first connecting member, and the second connecting end is fixedly connected to the second connecting member.

2. The waist yaw drive structure of a humanoid robot as claimed in claim 1, characterized in that: The torque is transmitted between the first transmission member and the second transmission member through any one of spur gear meshing, bevel gear meshing, chain transmission, worm transmission or synchronous pulley structure, and the axes of rotation shafts of the first transmission member and the second transmission member are parallel and offset or perpendicular to each other.

3. The waist yaw drive structure of a humanoid robot as claimed in claim 1, characterized in that: The first connecting member is a base, and the base is structured with a first cavity and a second cavity connected to each other; The first cavity portion has a first base that is substantially hollow and annular, a first cylindrical side wall and an annular sinking section; The second cavity portion has a second base which is substantially hollow and annular and a second cylindrical side wall; The first base is connected to the second base, and the first cylindrical side wall is connected to the second cylindrical side wall; The second bottom bracket is configured with a bearing installation groove, the bearing installation groove is configured as a hollow ring, and the first support is configured on its outer extension; An extension wing with a mounting hole is configured on the outer side of the second cylindrical side wall, a first sleeve shaft section is configured at one end of the extension wing, and a second support platform is configured adjacent to the extension of the first sleeve shaft section; The first base is fixedly connected to the fixing plate at the output flange end of the waist yaw joint module by a fastener; The output flange end of the waist yaw joint module is partially embedded in the annular sinking section.

4. The waist yaw drive structure of a humanoid robot as claimed in claim 3, characterized in that: The second connecting member is a waist connecting member, and the waist connecting member is sequentially constructed with a transmission member connecting seat, a cover, and a torso connecting seat; The outer extension of the shield cover is circular and the inner wall is provided with a first pressing platform, and the transmission member connecting seat is fixedly connected to the second connecting end.

5. The waist yaw drive structure of a humanoid robot as claimed in claim 4, characterized in that: The first transmission member is a driving gear, and the second transmission member is a driven gear meshing with the driving gear. The axes of the rotating shafts of the first transmission member and the second transmission member are vertically arranged, parallel to each other, and offset.

6. The waist yaw drive structure of a humanoid robot as claimed in claim 5, characterized in that: The first transmission member is constructed with a second sleeve shaft section and a first gear section, and a first retaining ring is arranged between the second sleeve shaft section and the inner extension of the first gear section; The second sleeve shaft section is provided with a plurality of first assembly holes and positioning protrusions, and the back center of the first gear section is provided with an inner groove; The support bearing at the output flange end of the waist yaw joint module is protrudingly arranged, the outer wall of the second sleeve shaft section abuts against the inner ring of the support bearing, and the first retaining ring abuts against the axial end surface of the inner ring of the support bearing; The output flange end of the lumbar yaw joint module is provided with a plurality of positioning grooves and a plurality of second assembly holes, the positioning protrusions are arranged in alignment with the positioning grooves, and the first transmission member and the output flange end of the lumbar yaw joint module are fixedly connected by fasteners passing through the first assembly holes and the second assembly holes.

7. The waist yaw drive structure of a humanoid robot as claimed in claim 6, characterized in that: Also includes: a first bearing, a first bearing retaining ring, and a second bearing retaining ring; The second transmission member is sequentially constructed with a third sleeve shaft section and a second gear section, and an inner wall of an end of the third sleeve shaft section adjacent to the second gear section is formed with a second retaining ring protruding inwardly; The first bearing is embedded in the bearing mounting groove, and its inner ring abuts against the outer wall of the third sleeve shaft section. The first bearing retaining ring is fixedly connected to the outer wall of the bearing mounting groove by fasteners, and the second bearing retaining ring is fixedly connected to the third sleeve shaft section by fasteners. The first support platform and the first bearing retaining ring respectively abut against the two ends of the outer ring of the first bearing, and the second retaining ring and the second bearing retaining ring respectively abut against the two ends of the inner ring of the first bearing.

8. The waist yaw drive structure of a humanoid robot as claimed in claim 7, characterized in that: Also includes: a second bearing, a third bearing retaining ring, and a fourth bearing retaining ring; The second bearing is embedded in the mask cover, and one end of its outer ring abuts against the first pressing platform, the third bearing retaining ring is fixedly connected to the outer extension of the mask cover by a fastener, and the third bearing retaining ring abuts against the other end of the outer ring of the second bearing; The inner ring of the second bearing is sleeved on the first sleeve shaft section, and one end of its inner ring abuts against the second support platform. The fourth bearing retaining ring is fixedly connected to the end face of the second cylindrical side wall by a fastener, and the other end of the inner ring of the second bearing abuts against the fourth bearing retaining ring.

9. The waist yaw drive structure of a humanoid robot as claimed in claim 6, characterized in that: Also includes: The reduction ratio between the first transmission member and the second transmission member ranges from i=1:1 to 20:

1.

10. The waist yaw drive structure of a humanoid robot as claimed in claim 7, characterized in that: The support bearing is a cross roller bearing; The first bearing and the second bearing are crossed roller bearings or angular contact ball bearings.

11. The waist yaw drive structure of a humanoid robot as claimed in claim 6, characterized in that: Also includes: Cover plate; Encoder reader circuit board; Encoder code disc; The encoder code disc is embedded in the inner groove, and the encoder reader circuit board is fixedly connected to the first cylindrical side wall through the cover plate; The encoder reader circuit board is arranged in alignment with the encoder code disk, and the encoder reader circuit board is used to read the rotation amount and / or angular position of the encoder code disk. The rotation amount of the encoder code disk represents the rotation amount of the output flange of the waist yaw joint module, and the angular position of the encoder code disk represents the angular position of the output flange of the waist yaw joint module.

12. The waist yaw drive structure of a humanoid robot as claimed in claim 1, characterized in that: A hollow wire hole is configured at the rotation center position between the second transmission member and the second connecting member, and the hollow wire hole is used for passing the communication and power supply harness of the lower body of the humanoid robot.

13. The waist yaw drive structure of a humanoid robot as claimed in claim 4, characterized in that: The trunk connecting seat comprises two symmetrically arranged universal joint seats and a driven shaft.

14. The waist yaw drive structure of a humanoid robot as claimed in claim 5, characterized in that: The first transmission member and the second transmission member are self-lubricating nylon gears, and the projections of the gear teeth of the first transmission member and the second transmission member in a horizontal first direction are overlapped, and on this horizontal projection plane, the overlapping area of ​​the gear teeth accounts for 60%-100% of the tooth width.

15. The waist yaw drive structure of a humanoid robot as claimed in claim 8, characterized in that: The third bearing retaining ring is arranged above the horizontal extension range of the extension wing, the inner diameter of the third bearing retaining ring is slightly larger than the outer diameter of the second cylindrical side wall, and the fourth bearing retaining ring overlaps with the projection of the second cylindrical side wall in a vertical direction.

16. The waist yaw drive structure of a humanoid robot as claimed in claim 8, characterized in that: The support bearing at least partially overlaps with the projection of the first bearing in a horizontal second direction; The first bearing and the second bearing are coaxially arranged, and the first bearing and the second bearing together form a rotation support for the second connecting member.

17. The waist yaw drive structure of a humanoid robot as claimed in claim 1, characterized in that: The second transmission member and the second connecting member are an integrally formed structure.

18. A waist-span structure of a humanoid robot, characterized in that: include: The hip span structural member is composed of two symmetrically arranged hip pitch joint fixing positions, a waist yaw joint module fixing position arranged between the two hip pitch joint fixing positions, and a first connecting member fixing position; as well as The waist yaw drive structure of a humanoid robot as claimed in any one of claims 1 to 17; Among them, the waist yaw joint module is arranged on the waist yaw joint module fixing position, and the first connecting member is arranged on the first connecting member fixing position.

19. The waist-span structure of a humanoid robot as claimed in claim 18, characterized in that: An extension wing with a mounting hole is configured on the outer side of the first connecting member, and the extension wing is fixedly connected to the hip span structural member.

20. The waist-span structure of a humanoid robot as claimed in claim 18, characterized in that: The first connecting member and the hip span structural member are integrally formed.

21. The waist-span structure of a humanoid robot as claimed in claim 18, characterized in that: Also includes: Two hip pitch joints, the two hip pitch joints are respectively arranged at the two pitch joint fixing positions, and the output flanges of the two hip pitch joints are arranged to be inclined below the horizontal line; In the horizontal first direction, the waist yaw joint module is respectively arranged to at least partially overlap with the two hip pitch joints, and the projection overlap rate of the waist yaw joint module and the hip pitch joint is ≤30%.

22. The waist-span structure of a humanoid robot as claimed in claim 18, characterized in that: Also includes: The axis of rotation of the waist yaw joint module does not intersect with the axes of rotation of the two hip pitch joints; The rotation axis of the second connecting member intersects with the rotation axis of the two hip pitch joints, or is closer to the rotation axis of the two hip pitch joints relative to the rotation axis of the waist yaw joint module.

23. A humanoid robot, characterized in that: include: The waist yaw drive structure of a humanoid robot as described in any one of claims 18 to 22.

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