Waist-span structure of humanoid robot and humanoid robot

Abstract

The present application relates to the field of robotics technology, and discloses a waist-span structure of a humanoid robot and a humanoid robot; the waist yaw drive structure of the humanoid robot disclosed in the present application separates the main body of the waist yaw joint from the axis of the output shaft through a transmission structure, so that the axis of the waist yaw joint is separated from the rotation axis of the robot's upper body through the transmission structure, so that the waist yaw joint module can be flexibly installed at any position deviating from the rotation axis of the robot's body, and can be selectively configured at the front, back, left or right side of the hip. Compared with the structure in which the joint module is coaxially configured with the body in the prior art, it hardly requires the body's space to be occupied upward, and more axial space can be left for installing batteries or circuit components.

Description

Technical Field

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

[0002] In existing humanoid robots, the waist yaw joint is generally set 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 various hip drive joints can only occupy more axial space upward, which reduces the space of the robot's upper body. The space in the robot's upper body is generally used to configure batteries, circuits and computing devices, resulting in smaller space for batteries or installation of components such as computers. Summary of the Invention

[0003] The present application provides 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, a waist yaw drive structure for a 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 in transmission connection with the second transmission member, and their 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, torque can be transmitted between the first transmission member and the second transmission member through any one of a spur gear meshing method, a bevel gear meshing method, a chain drive method, a worm drive method or a synchronous pulley structure method, and the axes of the rotating shafts of the two are parallel to each other 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 and the second base are connected, and the first cylindrical side wall and the second cylindrical side wall are connected. 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 lumbar yaw joint module by fasteners, and part of the output flange end of the lumbar 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 torso connecting seat. The outer extension of the mask cover is circular and the inner wall is provided with a first pressing platform. 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 sleeve shaft section and a first gear section, and a first retaining ring is provided 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 an inner groove is constructed at the center of the back of the first gear section. The support bearing of the output flange end of the waist yaw joint module is protrudingly provided, 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 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 and the output flange end of the waist yaw joint module are fixedly connected 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 shaft segment and a second gear segment. The inner wall of the third shaft segment adjacent to the second gear segment is formed with a second retaining ring protruding inwardly. The first bearing is embedded in a bearing mounting groove, with the inner ring abutting the outer wall of the third shaft segment. The first bearing retaining ring is fixedly connected to the outer wall of the bearing mounting groove via fasteners. The second bearing retaining ring is fixedly connected to the third shaft segment via fasteners. The first support and the first bearing retaining ring respectively abut the ends of the first bearing outer ring, and the second retaining ring and the second bearing retaining ring respectively abut the ends of the first bearing inner ring.

[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 within the mask cover, with one end of its outer ring abutting the first pressure platform. The third bearing retaining ring is fixedly connected to the outer extension of the mask cover via fasteners, and the third bearing retaining ring abuts 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, with one end of the inner ring abutting the second support platform. The fourth bearing retaining ring is fixedly connected to the end face of the second cylindrical side wall via fasteners, and the other end of the inner ring of the second bearing abuts 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 crossed roller bearing, and the first bearing and the second bearing are crossed 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 via 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 lumbar yaw joint module, and the angular position of the encoder code disk represents the angular position of the output flange of the lumbar 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 teeth of the two are overlapped in the horizontal first direction. On this horizontal projection plane, the overlapping area of ​​the 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 rotational 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, a waist-span structure for a humanoid robot includes a hip-span structure and the aforementioned waist yaw drive structure for the humanoid robot. The hip-span structure comprises two symmetrically arranged hip pitch joint fixing locations, a waist yaw joint module fixing location disposed between the two hip pitch joint fixing locations, and a first connector fixing location. The waist yaw joint module is disposed above the waist yaw joint module fixing location, and the first connector is disposed above the first connector fixing location.

[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, one positioned between the two hip pitch joint fixing locations, with the output flanges of the two joints tilted downwardly. In a first horizontal direction, the waist yaw joint modules are at least partially overlapped with the two hip pitch joints. In the first horizontal direction, the projections of the two waist yaw joint modules overlap the hip pitch joints by ≤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, without occupying almost any space upwards 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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 This is a simplified structural diagram of the waist-span structure of a humanoid robot in one embodiment of the present application;

[0030] Figure 2 1 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;

[0031] Figure 3 is a schematic top view of the first transmission member and the second transmission member in an embodiment of the present application in a mating state (seen after removing the upper component);

[0032] Figure 4 is a schematic cross-sectional view of the waist-span structure of a humanoid robot in one embodiment of the present application;

[0033] Figure 5 yes Figure 4 An enlarged schematic diagram of the waist-span structure at point A;

[0034] Figure 6 yes Figure 4 An enlarged schematic diagram of the waist-span structure at point B;

[0035] Figure 7 yes Figure 4 An enlarged schematic diagram of the waist-span structure at position C;

[0036] Figure 8 This is a schematic diagram of the associated assembly of the first transmission member along its axis in a cross-sectional view in one embodiment of the present application;

[0037] Figure 9 is a schematic diagram of the three-dimensional structure of the first connecting member in one embodiment of the present application;

[0038] Figure 10 is a schematic cross-sectional view of a first connecting member in one embodiment of the present application;

[0039] Figure 11 This 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;

[0040] Figure 12 1 is a schematic diagram of the associated assembly of the second transmission member along its axis in a cross-sectional view in one embodiment of the present application;

[0041] Figure 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;

[0042] Figure 14 is a schematic diagram of the three-dimensional structure of the second transmission member in one embodiment of the present application;

[0043] Figure 15 is a schematic cross-sectional view of a second transmission member in one embodiment of the present application;

[0044] Figure 16 This is a schematic diagram of the three-dimensional structure of the waist yaw joint module in one embodiment of the present application;

[0045] Figure 17 is a side view schematic diagram of a waist span structure in one embodiment of the present application;

[0046] Figure 18 This is a simplified structural diagram of the waist-span structure of a humanoid robot in one embodiment of the present application;

[0047] Figure 19 This is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application;

[0048] Figure 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.

[0049] Reference numerals in the figures:

[0050] 1. Lumbar yaw joint module; 11. Output flange; 111. Positioning groove; 112. Second assembly hole; 12. Support bearing;

[0051] 2. First transmission member; 21. Second sleeve shaft segment; 211. First assembly hole; 212. Positioning protrusion; 213. Inner groove; 22. First gear segment; 23. First retaining ring;

[0052] 3. Second transmission member; 31. First connection end; 32. Second connection end;

[0053] 33. Third shaft segment; 331. Second retaining ring; 34. Second gear segment;

[0054] 4. First connecting member;

[0055] 41. First cavity; 411. First base; 412. First cylindrical side wall; 413. Annular sinking section;

[0056] 42. Second cavity;

[0057] 421, second bottom bracket; 421a, bearing mounting groove; 421b, first support platform;

[0058] 422, second cylindrical side wall; 422a, extension wing; 422b, first sleeve shaft segment; 422c, second support platform;

[0059] 5. Second connecting member; 51. Transmission member connecting seat; 52. Shield cover; 521. First pressing platform; 53. Trunk connecting seat; 531. Universal joint hinge seat; 532. Driven shaft;

[0060] 61. First bearing; 62. First bearing retaining ring; 63. Second bearing retaining ring;

[0061] 64, second bearing; 65, third bearing retaining ring; 66, fourth bearing retaining ring;

[0062] 671, cover plate; 672, fixing plate; 68, encoder reader circuit board; 69, encoder code disk;

[0063] 7. Hollow wire hole;

[0064] 8. Hip span structural member; 81. Hip pitch joint fixing position; 82. Waist yaw joint module fixing position; 83. First connecting member fixing position;

[0065] 91. Hip pitch joint;

[0066] 92. Head; 93. Torso; 94. Arm; 95. Waist omnidirectional joint; 96. Leg roll joint; 97. Leg yaw joint; 98. Thigh; 99. Knee joint; 100. Calf; 101. Ankle joint;

[0067] d1, the rotation axis of the waist yaw joint module; d2, the rotation axis of the second connecting member; d3, the rotation axis of the hip pitch joint;

[0068] X is the first horizontal direction; Y is the second horizontal direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0069] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0072] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0073] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0074] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0075] In this disclosure, the concept of "generally" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily exhibits a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics and can therefore be classified as "generally" a certain shape. For example, when describing a round object, the expression "generally round" means that the overall shape of the object is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "generally cubic" means that the overall shape of the object is cubic, but there are differences in certain non-functional details.

[0076] The embodiments of the present application mainly relate to the waist yaw drive structure, waist span structure and related technical improvements of the humanoid robot. The following is an illustrative description of the relevant technical solutions of the present application in conjunction with the accompanying drawings.

[0077] 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.

[0078] 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. 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 connected to the second transmission member 3 in a transmission manner 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 Figure 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 Figure 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 the prior art where the joint module is coaxially arranged with the body, this reduces the occupation of the axial space of the robot's body, leaving more space for installing batteries or circuit components.

[0079] 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 following methods: spur gear meshing, bevel gear meshing, chain transmission, worm transmission or synchronous pulley structure, and the axes of the rotating shafts of the two are parallel to each other and offset or perpendicular to each other. In actual applications, the appropriate transmission method can be selected according to specific needs. For example, the spur gear meshing method has a simple structure and high transmission efficiency, which is suitable for scenarios with high requirements for precision and stability; if the spatial layout is relatively compact, a worm transmission can be selected, which has a larger transmission ratio and self-locking properties. These different transmission methods and the relationship between their axes can meet the requirements of torque transmission and motion characteristics under different working conditions, and optimize the performance of the waist yaw drive structure.

[0080] like Figure 2 as well as Figure 4As shown, the primary function of the first connector 4 is to rotatably support the second transmission member 3 and / or the second connector 5, or in other words, the first connector 4 rotatably supports the upper body rotating body including the second transmission member 3 and the second connector 5. Furthermore, the first connector 4 can be fixedly connected to the hip span structure 8 of the lower body or be integral with the hip span structure 8. It can be understood that the first connector 4 can include various forms of components with one end including a rotation support seat and the other end capable of connecting to other components, such as a hollow annular connector, a form with a square flange on the outside and a circular bearing seat on the inside, etc., without being specifically limited thereto.

[0081] 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.

[0082] 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 the two can be vertically arranged and parallel to each other and offset by a certain distance.

[0083] In one embodiment, referring to Figure 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 provided 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. The center of the back of the first gear section 22 is provided with an inner groove 213 that is roughly in the shape of a plum blossom. A plurality of first assembly holes 211 can be provided on the bottom surface of the inner groove 213. A plurality of positioning protrusions 212 can be provided protrudingly on the end surface of the second sleeve shaft section 21 facing the lumbar yaw joint module 1. The cross-sectional shape of the positioning protrusions 212 can be selected to be fan-shaped, and can be mutually clamped and fixed with the corresponding groove structure provided on the output flange 11 of the lumbar yaw joint module 1.

[0084] In one embodiment, referring to Figure 5 as well as Figure 16As shown, the support bearing 12 of the output flange end of the lumbar yaw joint module 1 is protruding, 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 lumbar 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 to the output flange end of the lumbar yaw joint module 1 by 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, there is no need to set up a separate 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.

[0085] In one embodiment, referring to Figure 14 as well as Figure 15 As shown, the second transmission member 3 includes a first connecting end 31 and a second connecting end 32, both of which are generally hollow cylindrical. A third sleeve shaft section 33 and a second gear section 34 are sequentially arranged 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 an inwardly protruding second retaining ring 331. The end surface of the second connecting end 32 is provided with a plurality of mounting holes for connection with the second connecting member 5, while the end surface of the first connecting end 31 is provided with a plurality of mounting holes for connection with the bearing's compression ring.

[0086] In one embodiment, referring to Figure 4 、 Figure 8 、 Figure 9 and Figure 10As shown, the first connecting member 4 is a base for the rotatable connection of the robot's upper body. It 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, which is generally hollow and annular, a first cylindrical sidewall 412, and an annular sunken section 413. The second cavity 42 has a second base 421, which is generally hollow and annular, and a second cylindrical sidewall 422. The first base 411 and the second base 421 extend horizontally and are interconnected. The first cylindrical sidewall 412 and the second cylindrical sidewall 422 are connected. The second base 421 has a bearing mounting groove 421a, the outer extension of which forms a first support 421b. The outer side of the second cylindrical sidewall 422 is constructed with an extension wing 422a with a mounting hole. The second cylindrical sidewall 422 has a first sleeve shaft section 422b at one end, and a second support 422c is constructed adjacent to the outer extension of the first sleeve shaft section 422b. The first base 411 is securely connected to the fixed plate at the output flange 11 of the lumbar yaw joint module 1 via fasteners. The output flange of the lumbar yaw joint module 1 is partially embedded within the annular sunken section 413. This structural design allows the first connector 4 to stably connect and secure the lumbar yaw joint module 1, while also providing precise positioning and support for the installation of subsequent components, ensuring the stability and reliability of the entire drive structure.

[0087] 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, constructed in this order: a transmission member connecting seat 51, a shield cover 52, and a torso connecting seat 53. The shield cover 52 has a circular outer extension and a first pressing platform 521 on its inner wall. 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 provides a stable connection to the second transmission member 3, but also, through the shield cover 52, protects the internal components, preventing dust and debris from entering and affecting the normal operation of the structure. The torso connecting seat 53 is used to connect to the torso of the humanoid robot.

[0088] In one embodiment, referring to Figure 4 、 Figure 7 、 Figure 8 as well as Figure 15As shown, a first bearing 61, a first bearing retaining ring 62, and a second bearing retaining ring 63 are further provided between the second transmission member 3 and the first connecting member 4. The first bearing 61 is embedded in the bearing mounting groove 421a of the first connecting member 4. The inner wall surface of the inner ring of the first bearing 61 abuts 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 mounting 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 respectively abut the ends of the outer ring of the first bearing 61. The second retaining ring 331 of the second transmission member 3 and the second bearing retaining ring 63 respectively abut the ends of the inner ring of the first bearing 61. 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.

[0089] In one embodiment, referring to Figure 4 、 Figure 5 、 Figure 6 、 Figure 8 As shown, a second bearing 64, a third bearing retaining ring 65, and a fourth bearing retaining ring 66 are further included between the first connecting member 4 and the second connecting member 5. 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 by fasteners, 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 rotational 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 motion errors caused by shaking and offset, and improving the accuracy and smoothness of the humanoid robot's waist movement. On the other hand, the second transmission member 3 can be fixedly connected to the second connecting member 5, and the second bearing 64 is also equivalent to supporting the second transmission member 3 during rotation.

[0090] In one embodiment, the reduction ratio of the first transmission member 2 to the second transmission member 3 ranges from i=1:1 to 20:1 (input speed: output speed). A 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 motion 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 cases where a larger torque is required, 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 to completely realize the function of the reducer in the joint module 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.

[0091] In one embodiment, the support bearing 12 is a crossed roller bearing, and the first and second bearings 61 and 64 are either crossed roller bearings or angular contact ball bearings. As will be appreciated, crossed roller bearings offer high rigidity and rotational accuracy, capable of withstanding significant radial and axial loads and adapting to the various forces generated during the complex motion of the yaw drive structure. Angular contact ball bearings, on the other hand, can simultaneously withstand radial and axial loads and offer a higher maximum speed, meeting the performance requirements of bearings under various operating conditions.

[0092] In one embodiment, referring to Figure 3 、 Figure 4 、 Figure 11 and Figure 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. 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 with each other and are used 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.

[0093] In one embodiment, referring to Figure 4 and Figure 8 As shown, a hollow cable hole 7 is constructed at the rotational center between the second transmission member 3 and the second connecting member 5. This hole is used to pass the communication and power harnesses through the lower body of the humanoid robot. This design minimizes the impact of body rotation on the harness, since the hollow cable hole 7 is coaxial with the body's rotation axis. This solves the wiring harness routing issue and prevents damage such as pulling and squeezing during robot movement. It also makes the robot's internal structure more compact and neat, improving overall reliability and safety.

[0094] In one embodiment, referring to Figure 2 、 Figure 4 As shown, the torso connection base 53 includes two symmetrically arranged universal joints 531 and a driven shaft 532. The universal joints 531 can be used to rotatably fix the cross-axis universal joint, while the driven shaft 532 can be connected to the waist drive joint module via a connecting rod. This structure enables flexible connection and motion transmission between the waist and torso of the humanoid robot.

[0095] In one embodiment, the first transmission member 2 and the second transmission member 3 are self-lubricating nylon gears, and the projections of the teeth of the two are arranged to overlap in the horizontal first direction X. On this horizontal projection plane, the overlapping area of ​​the teeth accounts for 60%-100% of the tooth width. For example, the overlapping area of ​​the 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 lower maintenance costs. The overlapping setting of the teeth increases the overlap of the 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.

[0096] In one embodiment, referring to Figures 4 to 6 Combined with Figure 9 As shown, the third bearing retaining ring 65 is disposed above the horizontal extension of the extension wings 422a, and its inner diameter is slightly larger than the outer diameter of the second cylindrical sidewall 422. The fourth bearing retaining ring 66 overlaps with the projection of the second cylindrical sidewall 422 in the vertical direction Z. In this manner, the bearing is connected to the lower first connector 4 by its inner ring and to the upper second connector 5 by its outer ring. On the one hand, it can be considered that a clearance fit can be formed between the third bearing retaining ring 65 and the extension wings 422a. For example, the clearance fit between the two extension wings 422a on either side of the middle of the two cavities of the first connector 4 and the third bearing retaining ring 65 in the horizontal direction can largely prevent foreign matter from being introduced into the transmission cavity within the first connector 4 as a result of 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 connector 5 with a certain clearance, preventing large-angle off-axis movement of the robot's upper body when impacted. On the other hand, such a layout design rationally utilizes 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.

[0097] 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. The first bearing 61 and the second bearing 64 are coaxially arranged and together provide rotational support for the second connecting member 5. This bearing layout enhances support stability and uniformity, effectively distributing the forces acting on the second connecting member 5 during rotation, reducing the load on individual bearings, improving the load-bearing capacity and reliability of the entire structure, and ensuring smooth movement of the humanoid robot's waist. Furthermore, the second bearing 64 and the support bearing 12 at least partially overlap in their vertical projections, similarly providing excellent rotational support and a more compact transmission system.

[0098] In one embodiment, please refer to Figure 18 As shown, the second transmission member 3 and the second connecting member 5 can also be an integrally molded structure. This integrated design reduces the number of connections between components, improves the integrity and rigidity of the structure, reduces the risk of failure due to loose connections, and makes the waist yaw drive structure more compact and reliable, thereby improving the overall performance of the humanoid robot.

[0099] In one embodiment, referring to Figures 1 to 4 as well as Figure 8 、 Figure 11 and Figure 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 above the waist yaw joint module fixing position 82, and the first connecting member 4 is arranged above the first connecting member fixing position 83. This structural design organically combines the waist yaw drive structure with the hip-span structural member 8, making the layout of the entire waist-span structure more reasonable, and the coordination between the various components smoother, providing a stable foundation for the waist and hip movements of the humanoid robot.

[0100] In one embodiment, Figure 8 The illustrated extending wing 422a of the first connector 4 is fixedly connected to the hip-span structural member 8. The fixed connection of the extending wing 422a to the hip-span structural member 8 strengthens the connection strength between the first connector 4 and the hip-span structural member 8, enabling better coordination between the waist yaw drive structure and the hip-span structure, and improving the overall stability and reliability of the waist-span structure.

[0101] In one embodiment, the first connector 4 can also be integrally formed with the hip-span structure 8. This integrated molding method further improves the integrity and rigidity of the waist-span structure, reduces assembly steps, and mitigates problems caused by assembly errors. It also makes the connection between the waist yaw drive structure and the hip-span structure more stable, thereby improving the stability and reliability of the humanoid robot during movement.

[0102] In one embodiment, referring to Figures 1 to 8 as well as Figure 17 As shown, the waist-span structure also includes two hip pitch joints 91, which are respectively arranged at the two hip pitch joint fixing positions 81, and the output flanges of the two are tilted and arranged below the horizontal line. In the first horizontal 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 first horizontal 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 within a limited space, which not only ensures the coordinated movement between the various joints, but also avoids mutual interference, thereby improving the space utilization and movement performance of the waist-span structure.

[0103] In one embodiment, referring to Figures 1 to 8 as well as Figure 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 may be closer to the rotation axis d3 of the two hip pitch joints.

[0104] In other words, in 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 of the robot's center of gravity. On the one hand, it can be considered that the two hip pitch joints 91 are shifted to one side relative to the robot's center of gravity so as to be balanced with a waist yaw joint module 1 configured on the opposite side relative to the robot's center of gravity. 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, improving the flexibility and smoothness of the robot's movement, and adapting to different movement scenarios and task requirements.

[0105] Reference Figure 19 and Figure 20 As shown, the humanoid robot of this embodiment includes the aforementioned waist yaw drive structure. The humanoid robot also has a head 92, a torso 93, arms 94, waist omnidirectional joints 95, leg roll joints 96, leg yaw joints 97, thighs 98, knee joints 99, calves 100, and ankle joints 101. The use of this waist yaw drive structure effectively addresses the existing problem of limited upper torso installation space due to the location of the waist yaw joint. This not only improves the performance of the humanoid robot's waist movements, but also enhances the flexibility and coordination of the robot's overall movements, resulting in superior performance in practical applications.

[0106] The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. A waist-span structure of a humanoid robot, characterized in that: include: The humanoid robot's waist yaw drive structure, hip span structure, and two hip pitch joints; The waist yaw drive structure includes a waist yaw joint module, a first transmission member, a second transmission member, a first connecting member and a second connecting member, wherein the second transmission member has a first connecting end and a second connecting end; 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 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; 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; Wherein, 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; The two hip pitch joints are respectively arranged at the two hip pitch joint fixing positions; In the horizontal first direction, the waist yaw joint module is respectively arranged to at least partially overlap with the two hip pitch joints.

2. The waist-span structure of a humanoid robot according to claim 1, wherein: The torque is transmitted between the first transmission member and the second transmission member through any one of a spur gear meshing method, a bevel gear meshing method, a chain transmission method, a worm transmission method or a synchronous pulley structure method, and the rotating shaft axes of the first transmission member and the second transmission member are parallel to each other and offset or perpendicular to each other.

3. The waist-span structure of a humanoid robot according to claim 1, wherein: 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 comprises a first base which is substantially hollow and annular, a first cylindrical side wall and an annular sinking section; The second cavity portion has a second base that is substantially hollow and annular and a second cylindrical side wall; The first base and the second base are connected, and the first cylindrical side wall and the second cylindrical side wall are connected; The second bottom bracket is configured with a bearing mounting groove, the bearing mounting groove is configured as a hollow ring, and the outer extension thereof is configured with a first support platform; An extension wing with a mounting hole is constructed on the outer side of the second cylindrical side wall, a first sleeve shaft section is constructed at one end of the extension wing, and a second support platform is constructed 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 fasteners; The output flange end of the waist yaw joint module is embedded in the annular sinking section.

4. The waist-span structure of a humanoid robot according to claim 3, wherein: The second connecting member is a waist connecting member, which is sequentially constructed with a transmission member connecting seat, a mask 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-span structure of a humanoid robot according to 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 rotation axes of the first transmission member and the second transmission member are vertically arranged, parallel to each other, and offset.

6. The waist-span structure of a humanoid robot according to claim 5, wherein: The first transmission member is constructed with a second sleeve shaft segment and a first gear segment, and a first retaining ring is provided between the second sleeve shaft segment and the inner extension of the first gear segment; The second sleeve shaft segment is provided with a plurality of first assembly holes and positioning protrusions, and the back center of the first gear segment 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-span structure of a humanoid robot according to claim 6, wherein: 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 segment and a second gear segment, and an inner wall of an end of the third sleeve shaft segment adjacent to the second gear segment 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 segment. 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 segment by fasteners. The first support platform and the first bearing retaining ring respectively abut against the two ends of the first bearing outer ring, 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-span structure of a humanoid robot according to claim 7, wherein: 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 supporting 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-span structure of a humanoid robot according to claim 6, wherein: 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-span structure of a humanoid robot according to claim 8, wherein: 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-span structure of a humanoid robot according to claim 6, wherein: Also includes: cover; 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 aligned 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-span structure of a humanoid robot according to claim 1, wherein: 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-span structure of a humanoid robot according to claim 4, wherein: The trunk connecting seat includes two symmetrically arranged universal joint seats and a driven shaft.

14. The waist-span structure of a humanoid robot according to claim 5, wherein: The first transmission member and the second transmission member are self-lubricating nylon gears, and the projections of the teeth of the first transmission member and the second transmission member in a horizontal first direction are overlapped. On this horizontal projection plane, the overlapping area of ​​the teeth accounts for 60%-100% of the tooth width.

15. The waist-span structure of a humanoid robot according to claim 8, wherein: 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-span structure of a humanoid robot according to claim 8, wherein: 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-span structure of a humanoid robot according to claim 1, wherein: The second transmission member and the second connecting member are an integrally formed structure.

18. The waist-span structure of a humanoid robot according to claim 1, wherein: 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.

19. The waist-span structure of a humanoid robot according to claim 1, wherein: The first connecting member and the hip span structural member are integrally formed.

20. The waist-span structure of a humanoid robot according to claim 1, characterized in that: Also includes: The output flanges of the two hip pitch joints are arranged tilted toward below the horizontal line; The projection overlap rate of the waist yaw joint module and the hip pitch joint is ≤30%.

21. The waist-span structure of a humanoid robot according to claim 1, characterized in that: Also includes: The rotation axis of the waist yaw joint module does not intersect with the rotation axis of the two hip pitch joints; The rotation axis of the second connecting member intersects with the rotation axes of the two hip pitch joints, or is closer to the rotation axis of the two hip pitch joints than the rotation axis of the waist yaw joint module.

22. A humanoid robot, characterized in that: include: The waist-span structure of a humanoid robot according to any one of claims 1 to 21.

Images