Hip structure of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a hip structure of a humanoid robot and the humanoid robot, and the hip structure comprises a waist-hip connecting piece, two joint connecting pieces, two middle connecting pieces and a bottom connecting piece. The waist and hip connecting piece is provided with a waist connecting base and two connecting arms which are arranged on the two opposite sides of the connecting base and extend downwards, and the tail ends of the two connecting arms are provided with connecting ends extending downwards respectively. The two connecting ends are fixedly connected with the upper ends of the two joint connecting pieces correspondingly, the two joint connecting pieces are symmetrically arranged along the sagittal plane of the humanoid robot, and the ends, corresponding to the joint output flanges, of the outer sides of the two joint connecting pieces are obliquely and downwards arranged. The middle connecting piece and the bottom connecting piece further reinforce connection among all the components, it is ensured that under the condition of complex stress, the whole hip structure can work cooperatively, acting force and counter-acting force from top to bottom are effectively dispersed and borne, complex design of the hip is avoided, and the stability of the hip is improved.

Description

Technical Field

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

[0002] The hip structure of a humanoid robot is a key part that connects the upper body and legs. The hip needs to bear the gravity from the upper body and various forces and reaction forces generated by the movement of the legs. The force situation is complex. In order to cope with the complex force, the existing hip structure design is usually more complicated, which not only increases the manufacturing difficulty and cost, but also has poor structural stability during actual use. Summary of the invention

[0003] The present invention aims to solve the technical problems in the prior art that the hip structure of a humanoid robot is complex and has poor stability, and provides a humanoid robot hip structure with a reasonable structure and a humanoid robot.

[0004] In one technical solution, a hip structure of a humanoid robot is provided, including a waist-hip connector, two joint connectors, two middle connectors, and a bottom connector. The waist-hip connector is constructed with a waist connector seat, and two connecting arms arranged on opposite sides of the connector seat and extending downward, and the ends of the two connecting arms are respectively provided with connecting ends extending downward. The two connecting ends are respectively fixedly connected to the upper ends of the two joint connectors, the two joint connectors are symmetrically arranged along the sagittal plane of the humanoid robot, and the ends of the two outer sides corresponding to the joint output flanges are both inclined downward, the two ends of the two middle connectors are respectively fixedly connected to the middle of the ends of the two joint connectors away from the joint output flanges, and the bottom connectors are respectively fixedly connected to the lower ends of the two joint connectors.

[0005] In one technical solution, the waist connecting seat is roughly in the shape of a hollow circular ring and is arranged horizontally to form a waist yaw joint installation cavity; the angle between the extension direction of the two connecting arms and the horizontal direction is less than 90 degrees.

[0006] In one technical solution, a first assembly hole is provided at the connection end, a first fixing block is provided on the outer contour surface of the joint connection part, a second assembly hole is provided at the first fixing block, and the first assembly hole and the second assembly hole are connected by a fastener so that the connection end is fixedly connected to the first fixing block.

[0007] In one technical solution, the joint connector is a shell of a hip pitch joint module or is used for a hip pitch joint module; the joint connector includes a first cylindrical section, a radial extension section and a second cylindrical section which are coaxially arranged in sequence, the first cylindrical section is located on the side adjacent to the joint output flange, the second cylindrical section is located on the side away from the joint output flange, and the outer diameter of the second cylindrical section is larger than the outer diameter of the first cylindrical section; the inner ring of the radial extension section is connected to the first cylindrical section, the outer ring of the radial extension section is connected to the second cylindrical section, and the axis of the first cylindrical section has an angle of 20 to 45 degrees with the horizontal direction.

[0008] In one technical solution, the first fixing block is disposed on the first cylindrical section and is spaced apart from and parallel to the radially extending section. The connecting end is assembled between the first fixing block and the radially extending section and abuts against the outer contour surface of the first cylindrical section.

[0009] In one technical solution, the two middle connecting parts are roughly sheet-shaped trapezoidal structures, and the middle connecting parts are respectively provided with third assembly holes near the edges on both sides; the second cylindrical section is provided with second fixing blocks on both sides of the middle area of ​​the end, and the second fixing blocks are provided with fourth assembly holes, and the third assembly holes and the fourth assembly holes are connected by fasteners, so that the two middle connecting parts are respectively fixedly connected to the two joint connecting parts.

[0010] In one technical solution, the bottom connecting member includes two docking parts and a protruding spacer part between the two docking parts, the two docking parts are respectively docked with the lower ends of the two joint connecting members, and each docking part is fitted and abutted against the corresponding position of the outer contour surface of the joint connecting member; the bottom connecting member includes a fifth assembly hole penetrating through each docking part, and a sixth assembly hole is provided at the lower end of the outer contour surface of each joint connecting member, and each fifth assembly hole and each sixth assembly hole are connected by a fastener, so that the bottom connecting member is fixedly connected to the two joint connecting members respectively.

[0011] In one technical solution, the spacer is a convex block protruding from the two docking parts, and the spacer is provided with a weight-reducing hole, and the spacer is respectively in contact with one side of the lower ends of the two joint connectors.

[0012] In one technical solution, two ribs are provided on both sides of each connecting arm to enhance the resistance strength of the connecting arm in the vertical direction, and the ribs extend to the inner end of the connecting end and are connected to the connecting seat.

[0013] In one technical solution, a humanoid robot is provided, including the hip structure of any one of the above-mentioned humanoid robots.

[0014] Compared with the prior art, the hip structure of the humanoid robot and the humanoid robot provided in the embodiments of the present application, the hip structure is constructed as a structural framework for stabilizing the hip through the frame layout and connection of the waist-hip connector, the joint connector, the middle connector and the bottom connector. The connecting arm of the waist-hip connector is connected to the joint connector, which can effectively transfer the gravity of the upper body to the joint connector. The two joint connectors are symmetrically arranged, and cooperate with one end of the joint output flange tilted downward, so that the force generated during leg movement can be more evenly distributed throughout the hip structure. The middle connector and the bottom connector further strengthen the connection between the components, ensuring that under complex force conditions, the entire hip structure can work together to effectively disperse and withstand the action and reaction forces from above or below, avoiding the complex design of the hip, and improving stability, thereby improving the overall performance and reliability of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 is a three-dimensional structural schematic diagram of a hip structure of a robot in one embodiment of the present application; Figure 2 is a schematic diagram of a three-dimensional structure of a hip structure of a robot in an embodiment of the present application in an upward-looking state; Figure 3 is an exploded schematic diagram of a hip structure of a robot in one embodiment of the present application; Figure 4 is a cross-sectional schematic diagram of a hip structure of a robot in one embodiment of the present application; Figure 5 yes Figure 4 An enlarged schematic diagram of the hip structure of the robot at position A; Figure 6 yes Figure 4 An enlarged schematic diagram of the hip structure of the robot at position B; Figure 7 is a schematic diagram of the three-dimensional structure of the waist-hip connection member of the hip structure of the robot in one embodiment of the present application; Figure 8 is a bottom view schematic diagram of a joint connection member of a hip structure of a robot in one embodiment of the present application; Fig. 9 is a front view schematic diagram of a joint connection member of a hip structure of a robot in one embodiment of the present application; Fig.10 is a front view schematic diagram of a middle connecting member of a hip structure of a robot in one embodiment of the present application; Fig.11 is a schematic diagram of the three-dimensional structure of the bottom connecting piece of the hip structure of the robot in one embodiment of the present application; Fig.12 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0017] Reference numerals in the figures: 1. Waist-hip connector; 11. Waist connector; 111. Waist yaw joint mounting cavity; 12. Connecting arm; 121. Connecting end; 121a. First assembly hole; 122. Rib; 2. Joint connector; 21. First fixing block; 211. Second assembly hole; 211a. Countersunk head; 22. first cylindrical section; 23. radially extending section; 24, second cylindrical section; 241, second fixing block; 241a, fourth assembly hole; 241b, second pin hole; 25. Sixth assembly hole; 3. Middle connecting piece; 31. Third assembly hole; 4. Bottom connector; 41. docking portion; 42. spacer portion; 421. weight-reducing hole; 43. fifth assembly hole; 44. first pin hole; 5. Joint output flange; 6. Hip pitch joint module; 71. Head; 72. Trunk; 73. Forearm; 74, lumbar omnidirectional joint; 76, lumbar yaw joint; 78, leg roll joint; 79, thigh; 80, knee joint; 81, calf; 82, ankle joint; X is the horizontal first direction; Y is the horizontal second direction; Z is the vertical direction; S is the sagittal plane of the humanoid robot; θ1, the angle between the extension direction of the connecting arm and the horizontal direction; θ2, the angle between the axis of the first cylindrical section and the horizontal direction; r1, the outer diameter of the first cylindrical section; r2, the outer diameter of the second cylindrical section; d1. The axis of the first cylindrical section. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The embodiments of the present application provide a hip structure of a humanoid robot and a humanoid robot. The following describes in detail the technical solutions in conjunction with the accompanying drawings.

[0026] In one embodiment, please refer to Figure 1 , Figure 3 The hip structure of the humanoid robot in this embodiment mainly includes a waist-hip connection part 1, two joint connection parts 2, two middle connection parts 3 and a bottom connection part 4. Among them: The waist-hip connection member 1 is constructed with a waist connection seat 11 and two connection arms 12 arranged on opposite sides of the waist connection seat 11 and extending downwards, and the ends of the two connection arms 12 are respectively provided with connection ends 121 extending downwards.

[0027] The two connection ends 121 are fixedly connected to the upper ends of the two joint connectors 2 respectively. The two joint connectors 2 are symmetrically arranged along the sagittal plane S of the humanoid robot, and one end of the outer side of the two corresponding to the joint output flange 5 is inclined downward.

[0028] Both ends of the two middle connecting members 3 are respectively fixedly connected to the middle of one end of the two joint connecting members 2 away from the joint output flange 5 , and the bottom connecting members 4 are respectively fixedly connected to the lower ends of the two joint connecting members 2 .

[0029] The two joint connectors 2 are respectively used to fix and assemble the two hip pitch joints. It can be understood that, on the one hand, these can be considered as fixed assembly positions of the two hip pitch joints, and on the other hand, these can be considered as two side structural members in the hip structure, the upper side of which is connected to the waist-hip connector 1 and the lower side is connected to the thigh through the hip pitch joint, and the joint connectors 2 respectively play a role of lateral support connection.

[0030] In one embodiment, the hip structure of the humanoid robot mainly includes a waist-hip connection part 1, two joint connection parts 2, two middle connection parts 3 and a bottom connection part 4. The waist-hip connection part 1 is connected to the joint connection part 2 through a connecting arm 12, the middle connection part 3 is connected to the middle part of the joint connection part 2, and the bottom connection part 4 is connected to the lower end of the joint connection part 2, and each component cooperates to construct a stable frame.

[0031] The two joint connectors 2 are symmetrically arranged along the sagittal plane S of the humanoid robot, and one end of the outer corresponding joint output flange 5 is tilted downward. This arrangement allows the force generated by leg movement, such as the thrust of the leg swinging forward or the reaction force of pushing the ground backward, to be transmitted in multiple directions of the joint connector, such as up, down, left, and right, to avoid the concentration of the force in a specific single direction or a specific component. The middle connector 3 and the bottom connector 4 further strengthen the force transmission path, so that the entire hip structure forms a continuous and stable system during the force transmission process. When the robot is walking, the reaction force of the actuating leg can be transmitted to the waist-hip connector 1, the middle connector 3 and the bottom connector 4 through the joint connector 2, and then the joint connector 2 on the opposite side transmits the force to the upper body and the supporting leg, and mainly to the parts of the supporting leg that are in contact with the ground (such as the foot). The force transmission path in the whole process is clear and reasonable, which effectively reduces the situation of excessive local force.

[0032] In one embodiment, please refer to Figure 1 and Figure 7 The waist connection seat 11 is generally hollow and circular and arranged horizontally, forming a waist yaw joint installation cavity 111; the extension direction of the two connecting arms 12 and the horizontal first direction X include an angle θ1 (see Figure 4 ) are less than 90 degrees. This design enables the waist-hip connector 1 to not only stably install the waist yaw joint, but also better transfer and disperse the gravity of the upper body when connecting the upper body and other hip parts. In practical applications, the angle design of less than 90 degrees helps to reduce the stress concentration of the connecting arm 12 when it is subjected to force and enhance the stability of the structure. Moreover, this structural form provides possibilities for different installation and adjustment methods. As long as the technical solutions that the waist connecting seat 11 is roughly hollow circular, horizontally arranged and forms a waist yaw joint installation cavity 111, and the angle requirements of the extending direction of the connecting arm 12 are met, they are all within the scope of this technical solution.

[0033] When the humanoid robot moves, such as walking or carrying weight, various forces will be generated. Taking the upper body gravity as an example, it is transmitted to the connecting arm 12 through the waist connecting seat 11 of the waist-hip connecting member 1. Since the angle between the connecting arm 12 and the horizontal direction is less than 90 degrees, the upper body gravity can be dispersed to the joint connecting member 2 at a certain angle during the transmission process.

[0034] In one embodiment, please refer to Figure 3 and Figure 5 , the two connecting ends 121 of the connecting arm 12 are provided with a first assembly hole 121a, the outer contour surface of the joint connecting member 2 is provided with a first fixing block 21, and the first fixing block 21 is provided with a second assembly hole 211, and the first assembly hole 121a and the second assembly hole 211 are connected by fasteners, so that the connecting end 121 is fixedly connected with the first fixing block 21. Among them, the first assembly hole 121a can be an internal threaded hole, and the second assembly hole 211 can be a countersunk through hole with the countersunk head 211a located on the outside, so as to use a plurality of bolt fasteners to fix and assemble the waist and hip connecting member 1 and the joint connecting member 2. This assembly method is simple and reliable, convenient for assembly and disassembly during the production process, and conducive to improving production efficiency and convenience of later maintenance.

[0035] In one embodiment, please refer to Figure 3 and Figure 4 The joint connector 2 is the shell of the hip pitch joint module 6 or is used to install the hip pitch joint module 6 inside. The joint connector 2 includes a first cylindrical section 22, a radial extension section 23 and a second cylindrical section 24 which are coaxially arranged in sequence. The first cylindrical section 22 is located on the side adjacent to the joint output flange 5, and the second cylindrical section 24 is located on the side away from the joint output flange 5. The outer diameter r2 of the second cylindrical section is greater than the outer diameter r1 of the first cylindrical section. The inner ring of the radial extension section 23 is connected to the first cylindrical section 22, and the outer ring of the radial extension section 23 is connected to the second cylindrical section 24. The axis d1 of the first cylindrical section has an angle θ2 of 20 to 45 degrees with the horizontal first direction X.

[0036] Such a structural design enables the joint connector 2 to better adapt to the force generated during leg movement while ensuring structural strength. Different angle settings will affect the flexibility and stability of leg movement. The angle θ2 can be specifically selected to be 20 degrees, 21 degrees, 22 degrees, 23 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, etc., which can also meet the needs of various movements of the humanoid robot.

[0037] In one embodiment, please refer to Figure 3 , Figure 8 as well as Fig. 9The first fixing block 21 is arranged on the first cylindrical section 22 and is arranged parallel to and spaced from the radial extension section 23. The connecting end 121 is assembled between the first fixing block 21 and the radial extension section 23 and abuts against the outer contour surface of the first cylindrical section 22. This assembly method further enhances the stability of the connection and makes the connection between the waist-hip connector 1 and the joint connector 2 more secure. In practical applications, this tight assembly relationship can effectively reduce the shaking and displacement between the components and improve the overall performance of the hip structure.

[0038] In one embodiment, please refer to Figure 3 and Fig.10 The two middle connecting parts 3 are roughly sheet-shaped trapezoidal structures, and the middle connecting parts 3 are respectively provided with third assembly holes 31 near the edges on both sides; the second cylindrical section 24 is provided with second fixing blocks 241 on both sides of the middle area of ​​the end, and the second fixing block 241 is provided with fourth assembly holes 241a, and the third assembly holes 31 and the fourth assembly holes 241a are connected by fasteners, so that the two middle connecting parts 3 are respectively fixedly connected to the two joint connecting parts 2.

[0039] The positions of the two middle connectors 3 are offset by a certain distance to both sides of the horizontal second direction Y compared to the waist-hip connector 1, the joint connector 2 and the bottom connector 4. This is because the second cylindrical section 24 has a larger outer diameter and a larger width in the horizontal second direction Y. The middle connector 3 of the sheet-like trapezoidal structure not only ensures the structural strength but also reduces the overall weight. Through this assembly method, the stability of the hip structure is further enhanced, and when the humanoid robot moves, it can better disperse and transmit force in the horizontal second direction Y.

[0040] In one embodiment, the outer end faces of the two middle connecting members 3 can be selected to abut or nearly abut the rear end face of the joint connecting member 2. In this way, the two joint connecting members 2 can also be abutted and supported on the inner side, so that the joint connecting member 2 can be supported in the forward or backward direction of the horizontal second direction Y, or the stress can be dispersed and transmitted in this direction.

[0041] For working conditions where a humanoid robot may be subject to impact while leaning forward or backward, according to the current understanding of technical personnel, the position and connection relationship of the two middle connectors 3 in the embodiment of the present application can bring greater overall rigidity to the hip and better impact resistance.

[0042] In one embodiment, please refer to Figure 2 , Figure 3 as well as Fig.11The bottom connecting member 4 includes two docking portions 41 and a protruding spacer portion 42 between the two docking portions 41. The two docking portions 41 are respectively docked with the lower ends of the two joint connecting members 2, and each docking portion 41 is fitted and abutted against the corresponding position of the outer contour surface of the joint connecting member 2; the bottom connecting member 4 includes a fifth assembly hole 43 that passes through each docking portion 41, and a sixth assembly hole 25 is provided at the lower end of the outer contour surface of each joint connecting member 2. The fifth assembly hole 43 and the sixth assembly hole 25 are connected by fasteners, so that the bottom connecting member 4 is fixedly connected to the two joint connecting members 2 respectively.

[0043] This structural design enables the bottom connector 4 to stably connect the two joint connectors 2, thereby enhancing the bottom support force of the hip structure. In actual use, the fit and abutment method and the design of the assembly holes ensure the tightness and reliability of the connection. Figure 3 , Fig.11 The spacer 42 is a convex block protruding from the two docking parts 41, and the spacer 42 is provided with a weight-reducing hole 421, and the spacer 42 abuts against one side of the lower end of the two joint connectors 2. The design of the weight-reducing hole 421 reduces the overall weight without affecting the structural strength, thereby improving the energy efficiency of the robot. The abutment between the spacer 42 and the lower end of the joint connector 2 further enhances the stability of the bottom connection.

[0044] In one embodiment, if Figure 6 As shown in the figure, the second pin hole 241b is located near the sixth assembly hole 25 on the second cylindrical section 24, and the first pin hole 44 is arranged on the docking portion 41 of the bottom connecting member 4, and cooperates with the corresponding positioning pin. On the one hand, it can be considered that the cooperation between the second pin hole 241b and the first pin hole 44 can further enhance the accuracy and stability of the connection between the bottom connecting member 4 and the lower end of the joint connecting member 2. On the other hand, it can be considered that the cooperation between the second pin hole 241b and the first pin hole 44 can protect the fasteners between the third assembly hole 31 and each fourth assembly hole 241a from impact in the shear direction.

[0045] In one embodiment, please refer to Figure 7 Two ribs 122 are provided on both sides of each connecting arm 12 to enhance the resistance strength of the connecting arm 12 in the vertical direction, and the ribs 122 extend to the inner end of the connecting end 121 and are connected to the waist connecting seat 11. The provision of the ribs 122 effectively enhances the strength of the connecting arm 12, making it less likely to deform when subjected to a large force. In practical applications, this design can improve the overall reliability of the hip structure and extend its service life.

[0046] From the perspective of structure and connection, the waist-hip connector 1, the joint connector 2, the middle connector 3 and the bottom connector 4 are interconnected to form a stable frame. The hollow circular ring design of the waist connector 11 and the layout of the connecting arm 12 provide a stable foundation for the entire hip structure.

[0047] The joint connector 2 includes a first cylindrical section 22, a radially extending section 23, and a second cylindrical section 24, which not only enhances its own structural strength, but also further improves the stability of the overall structure when connected with other components. For example, the axis d1 of the first cylindrical section has a certain angle with the horizontal direction. This design enables the joint connector to better resist deformation when subjected to forces in different directions, just like a stable support column, supporting the entire hip structure.

[0048] The sheet-like trapezoidal structure of the middle connector 3 and the design of the docking portion 41 and the spacer portion 42 of the bottom connector 4 further enhance the stability of the structure. The assembly holes of the middle connector 3 arranged near the edges on both sides are connected to the fixing blocks on the joint connector through fasteners, so that a firm connection is formed between the middle connector and the joint connector, just like the connection between the beam and the column in the building structure, which effectively disperses and withstands forces from different directions. The docking portion 41 of the bottom connector 4 fits and abuts against the lower end of the joint connector 2, and the spacer portion 42 abuts against one side of the lower end of the joint connector 2. This connection method is like a stable base, which enhances the bottom support force of the entire hip structure and prevents the robot from shaking or becoming unstable during movement.

[0049] In one embodiment, please refer to Fig.12 A humanoid robot includes the hip structure of any of the above humanoid robots. The above hip structure is applied to the humanoid robot, which mainly includes a head 71, a trunk 72, a forearm 73, a waist omnidirectional joint 74, a waist yaw joint 76, a leg roll joint 78, a thigh 79, a knee joint 80, a calf 81, and an ankle joint 82. Specifically, it can be considered that the hip structure disclosed in the embodiment of the present application is used to connect the waist yaw joint 76 and the leg roll joint 78, which can effectively improve the performance and stability of the humanoid robot, making it more stable and reliable during walking, carrying and other actions.

[0050] The sagittal plane S of a humanoid robot refers to a section that cuts the robot longitudinally into two left and right parts along the front-back direction of the humanoid robot. It is used to describe the movement of the robot in the front-back direction, the structural layout, and the positional relationship between the components. In the hip structure of the humanoid robot involved in the present application, two joint connectors are symmetrically arranged along the sagittal plane of the humanoid robot. This symmetrical arrangement makes the hip structure more balanced in mechanical properties. When the robot walks, runs, turns around, etc., the joint connectors on both sides can evenly bear the gravity from the upper body and the action and reaction forces generated by the leg movements, avoiding structural damage or unstable movement caused by uneven force. For example, during the walking process of the robot, when one leg steps forward, the joint connector on this side will be subjected to the pulling force generated by the torsion of the joint module and the reaction force of the ground, while the joint connector on the other side can adjust the force state accordingly through the symmetrical relationship of the sagittal plane to maintain the balance and stability of the robot as a whole.

[0051] 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 hip structure of a humanoid robot, characterized in that: include: A waist-hip connection, two joint connections, two middle connections, and a bottom connection; The waist-hip connection piece is constructed with a waist connection seat, and two connection arms arranged on two opposite sides of the connection seat and extending downward, and the ends of the two connection arms are respectively provided with connection ends extending downward; Among them, the two connecting ends are respectively fixedly connected to the upper ends of the two joint connecting parts, the two joint connecting parts are symmetrically arranged along the sagittal plane of the humanoid robot, and the ends of the outer sides corresponding to the joint output flanges of the two are tilted downward, the two ends of the two middle connecting parts are respectively fixedly connected to the middle of the ends of the two joint connecting parts away from the joint output flanges, and the bottom connecting parts are respectively fixedly connected to the lower ends of the two joint connecting parts.

2. The hip structure of a humanoid robot according to claim 1, characterized in that: The waist connection seat is generally in the shape of a hollow circular ring and is arranged horizontally to form a waist yaw joint installation cavity; The included angles between the extension directions of the two connecting arms and the horizontal direction are both less than 90 degrees.

3. The hip structure of a humanoid robot according to claim 1, characterized in that: The connecting end is provided with a first assembly hole, the outer contour surface of the joint connecting part is provided with a first fixing block, the first fixing block is provided with a second assembly hole, and the first assembly hole and the second assembly hole are connected by a fastener so that the connecting end is fixedly connected to the first fixing block.

4. The hip structure of a humanoid robot according to claim 3, characterized in that: The joint connection piece is a shell of a hip pitch joint module or is used for a hip pitch joint module; The joint connecting member comprises a first cylindrical section, a radially extending section and a second cylindrical section which are coaxially arranged in sequence, wherein the first cylindrical section is located on a side close to the joint output flange, and the second cylindrical section is located on a side away from the joint output flange, and the outer diameter of the second cylindrical section is greater than the outer diameter of the first cylindrical section; The inner ring of the radially extending section is connected to the first cylindrical section, the outer ring of the radially extending section is connected to the second cylindrical section, and the axis of the first cylindrical section has an angle of 20 to 45 degrees with the horizontal direction.

5. The hip structure of a humanoid robot according to claim 4, characterized in that: The first fixing block is disposed on the first cylindrical section and is spaced apart from and parallel to the radially extending section. The connecting end is assembled between the first fixing block and the radially extending section and abuts against the outer contour surface of the first cylindrical section.

6. The hip structure of a humanoid robot according to claim 4, characterized in that: The two middle connecting parts are roughly sheet-shaped trapezoidal structures, and the middle connecting parts are respectively provided with third assembly holes near the two side edges; the second cylindrical section is provided with second fixing blocks on both sides of the middle area of ​​the end, and the second fixing blocks are provided with fourth assembly holes, and each of the third assembly holes and each of the fourth assembly holes are connected by fasteners, so that the two middle connecting parts are respectively fixedly connected to the two joint connecting parts.

7. The hip structure of a humanoid robot according to claim 1, characterized in that: The bottom connecting member includes two docking parts and a protruding spacer part between the two docking parts, the two docking parts are respectively docked with the lower ends of the two joint connecting members, and each docking part is fitted and abutted against the corresponding position of the outer contour surface of the joint connecting member; the bottom connecting member includes a fifth assembly hole that passes through each docking part, and a sixth assembly hole is provided at the lower end of the outer contour surface of each joint connecting member, and each fifth assembly hole is connected with each sixth assembly hole by a fastener, so that the bottom connecting member is fixedly connected to the two joint connecting members respectively.

8. The hip structure of a humanoid robot according to claim 7, characterized in that: The spacer is a convex block protruding from the two docking parts, and is provided with a weight-reducing hole. The spacer is respectively in contact with one side of the lower ends of the two joint connectors.

9. The hip structure of a humanoid robot according to claim 2, characterized in that: Two ribs are arranged on both sides of each connecting arm for enhancing the resistance strength of the connecting arm in the vertical direction, and the ribs extend to the inner end of the connecting end and are connected to the connecting seat.

10. A humanoid robot, characterized in that: A hip structure comprising a humanoid robot as claimed in any one of claims 1 to 9.

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