Assembly structure of hip pitching joint and hip structural part of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses an assembling structure of a hip pitching joint and a hip structural part of a humanoid robot and the humanoid robot. The assembly structure of the hip pitching joint and the hip structural part of the humanoid robot mainly comprises the hip structural part and two hip pitching joint modules. The hip structural part is provided with an approximately annular joint fixing position, the hip pitching joint module is embedded in the joint fixing position, two first clamping lugs of the hip pitching joint module are clamped with two first clamping openings in the two sides of the upper edge of the joint fixing position respectively, and two second clamping lugs of the hip pitching joint module are clamped with two second clamping openings in the two sides of the lower edge of the joint fixing position respectively. The position of the first bayonet does not exceed the upper edge of the joint fixing position, and the position of the second bayonet does not exceed the lower edge of the joint fixing position, so that the sizes of the upper edge and the lower edge of the hip structural member cannot be increased due to the arrangement of the bayonets, the occupied space of the hip structure is reduced, and the structure is more compact.

Description

Technical Field

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

[0002] In the field of humanoid robot technology, the connection assembly structure between the hip pitch joint module and the hip structure is equivalent to the connection between the leg structure and the body of the robot, and the hip pitch joint module must also be configured as a high-power joint module to drive the thigh structure to swing forward or backward relative to the body. Therefore, this connection must not only withstand the reaction force attached to the large joint torque, but also withstand the large dynamic and static loads between the legs and the body, which has always been a technical difficulty in humanoid robot technology.

[0003] At present, a connecting part is required between the hip pitch joint module and the hip structural part for connection. For example, in the Chinese patent application with application number 202411954577.6, the hip pitch joint module is embedded in the first end of the leg connecting part. The diameter of the first end is larger than the diameter of the outer shell of the hip pitch joint module. The hip structural part and the second end of the leg connecting part are clamped. The leg connecting part needs to accommodate multiple clamping blocks and requires multiple sets of screws to fasten the connection. The radial dimension of the second end is larger than the first end. The structure of the position where the hip pitch joint module is connected to the hip structural part is complex, which obviously occupies too much space and is bloated and unsightly. Summary of the invention

[0004] The present application provides an assembly structure of a hip pitch joint and a hip structural member of a humanoid robot and a humanoid robot, aiming to solve the problem in the prior art that the hip of the humanoid robot occupies too much space and has a bloated and unsightly structure.

[0005] In one technical solution, an assembly structure of a hip pitch joint and a hip structure of a humanoid robot is provided, which mainly includes: a hip structure and two hip pitch joint modules, wherein the hip structure is constructed with two roughly hollow annular joint fixing positions, and two first bayonet holes are respectively arranged on both sides of the upper edge of the joint fixing position, and two second bayonet holes are respectively arranged on both sides of the lower edge. Two hip pitch joint modules Two first ears and two second ears are respectively arranged on the outer sides of the shells of the two hip pitch joint modules. Among them, the two hip pitch joint modules are respectively embedded in the two joint fixing positions, and the two first ears of the two are respectively engaged with the two first bayonet holes, and the two second ears of the two are respectively engaged with the two second bayonet holes, and each ear and each bayonet hole are fixedly connected by fasteners.

[0006] In one technical solution, the hip structure is a frame structure composed of a plurality of structural beams, the structural beams include a top beam, a bottom beam and side beams, the side beams are inclined and connected to the top beam and the bottom beam; The two side beams located on the same side together with the top beam body and the bottom beam body constitute a joint fixing position, and the two joint fixing positions are symmetrically arranged on both sides of the hip structure, and the joint fixing position has an assembly cavity with a circular inner wall; the axis lines of the two joint fixing positions are inclined downward, and the angles between them and the horizontal plane are 45 degrees ± 10 degrees respectively; The connection points between the two side beams and the top beam body are defined as the first connection parts, and the connection points between the two side beams and the bottom beam body are defined as the second connection parts; the two first bayonet holes are respectively arranged at the two first connection parts, and the two second bayonet holes are respectively arranged at the two second connection parts.

[0007] In one technical solution, the hip structure comprises an upper structure layer and two side structures extending downward; the upper edges of the two side structures are connected to the corresponding edges of the upper structure layer; the lower edges of the two side structures are connected directly or indirectly through a lower structure member; The distance between the outer surfaces of the upper ends of the two side structures in the horizontal direction is a first distance, and the distance between the outer surfaces of the lower ends of the two side structures in the horizontal direction is a second distance, and the first distance is greater than the second distance; Two joint fixing positions are respectively constructed on the two side structures, and the joint fixing positions are roughly in the shape of a hollow circular ring. Each side structure includes two side edges located on both sides of the joint fixing position; a first bayonet is provided at the junction of each side edge and the upper structural layer, and a second bayonet is provided at the junction of each side edge and the lower structural layer; The ear and the bayonet form a three-dimensional curved contact surface.

[0008] In one technical solution, the first bayonet and the second bayonet both include an opening communicating with the mounting cavity inside the joint fixing position; The two first bayonet holes located at the same joint fixing position are connected by a connecting groove, and / or the two second bayonet holes located at the same joint fixing position are connected by a connecting groove; The communicating groove is communicated with the mounting cavity inside the joint fixing position, and the extending distance of the communicating groove in the radial direction is smaller than that of the first bayonet and the second bayonet.

[0009] In one technical solution, at the same joint fixing position, the two first bayonet holes are symmetrically arranged with respect to the axis of the joint fixing position and the second bayonet holes on the opposite side.

[0010] In one technical solution, one or more internal threaded holes are provided in the first bayonet and the second bayonet, and the extension direction of the internal threaded holes is parallel to the axis of the joint fixing position, or the extension direction of the internal threaded holes is parallel to the horizontal plane.

[0011] In one technical solution, multiple top beams of a hip structure are connected end to end to form an upper structure layer, and a lumbar yaw joint mounting position is constructed in the middle of the upper structure layer. The lumbar yaw joint mounting position has an mounting cavity with a circular inner wall and a docking seat located outside the mounting cavity, and the docking seat is used to be fastened to the lumbar yaw joint.

[0012] In one technical solution, the hip structure also has an internal support beam, which includes a lower vertical beam and two upper diagonal support beams. A first cavity is constructed between the two diagonal support beams. The first cavity is connected to the assembly cavity, and two first through holes are opened on the two diagonal support beams, which are respectively located at two joint fixing positions.

[0013] In one technical solution, the bottom beam body is constructed with a second through hole, and the vertical beam body is provided with a notch or an opening aligned with the second through hole.

[0014] In one technical solution, a clearance gap is provided in the middle of a top beam body between two first joint parts, and the clearance gap is connected to the installation cavity in the horizontal direction.

[0015] In one technical solution, the axis line of the mounting cavity of the lumbar yaw joint mounting position is parallel to the axis lines of the two joint fixing positions in the horizontal projection in a side view and is separated by a preset distance.

[0016] In one technical solution, The first bayonet port and the first bayonet ear at least partially overlap in the vertical direction; and / or, The second bayonet opening at least partially overlaps with the second bayonet ear in the vertical direction.

[0017] In one technical solution, An abutment section is connected between the two first ears on the same side, and / or an abutment section is connected between the two second ears on the lower side; the radial extension distance of the abutment section is smaller than the radial extension distance of each of the first and second ears; Each abutting section abuts against a connecting groove of matching shape on the hip structural member.

[0018] In one technical solution, each abutting section is provided with a radially penetrating assembly hole, and a fastener is passed through the assembly hole to assemble the abutting section and two ears connected thereto to the hip structure.

[0019] In one technical solution, the first ear and the second ear have the same ear structure, and each ear includes an external positioning surface, two radial positioning surfaces and an internal assembly surface. The external positioning surface is an arc-shaped extension surface located on the outer side of each ear, and the internal assembly surface is an arc-shaped extension surface located on the inner side of each ear. The two radial positioning surfaces are respectively connected to the two ends of the external positioning surface and the two ends of the internal assembly surface.

[0020] In one technical solution, the waist yaw joint installation position is used to install the waist yaw joint, the waist yaw joint includes a waist yaw joint module and a transmission assembly, the axis of the installation cavity of the waist yaw joint installation position is coaxial with the output end of the transmission assembly, and both are located on the first axis, the motor and the reducer in the hip pitch joint module are coaxially arranged on the second axis, and the motor and the reducer in the waist yaw joint module are coaxially arranged on the third axis; In a horizontal projection of the side surface, the first axis, the second axis and the third axis are parallel and spaced apart by a preset distance, and the second axis and the third axis are respectively located on both sides of the first axis.

[0021] In one technical solution, in a horizontal projection of the side surface, the distance between the second axis and the first axis is smaller than the distance between the third axis and the first axis.

[0022] In one technical solution, a humanoid robot is provided, which mainly includes an assembly structure of a hip pitch joint and a hip structure of the humanoid robot as described above, and a torso component connected via a waist yaw joint mounting position.

[0023] The embodiment of the present application proposes an assembly structure of a hip pitch joint and a hip structural part of a humanoid robot and a humanoid robot, wherein the assembly structure of the hip pitch joint and the hip structural part of the humanoid robot mainly includes a hip structural part and two hip pitch joint modules, the shell of the hip pitch joint module is provided with two first ears and two second ears, and the corresponding hip structural part is provided with two first bayonet holes on both sides of the upper edge of its joint fixing position, and two second bayonet holes on both sides of the lower edge, respectively, and the hip pitch joint module is embedded in the joint fixing position, and the two first ears are respectively engaged with the two first bayonet holes, and the two second ears are respectively engaged with the two second bayonet holes. In the above-mentioned setting, the position of the first bayonet hole will not exceed the upper edge of the joint fixing position, and the position of the second bayonet hole will not exceed the lower edge of the joint fixing position. Such a setting will not increase the size of the upper and lower edges of the hip structural part due to the bayonet hole, and the space occupied by the hip structure is reduced, and the structure is more compact. In addition, the cooperation between the ear and the bayonet hole can avoid complicated assembly steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 It is a three-dimensional structural schematic diagram of an assembly structure of a hip pitch joint and a hip structure of a humanoid robot in one embodiment of the present application; Figure 2 It is a bottom view of the hip pitch joint and the hip structure after assembly in one embodiment of the present application, viewed from the perspective of the output flange of the hip pitch joint; Figure 3 is a schematic diagram of the assembly of a hip pitch joint and a hip structure in a main viewing angle in one embodiment of the present application; Figure 4 is a schematic diagram of the assembly of a hip pitch joint and a hip structure in a three-dimensional perspective in one embodiment of the present application; Figure 5 is a schematic diagram of the assembly of the hip pitch joint and the hip structure in another stereoscopic perspective in one embodiment of the present application; Figure 6 is a schematic diagram of a hip structure in one embodiment of the present application from a perspective facing a joint fixation position; Figure 7 is a schematic diagram of the three-dimensional structure of a hip structure in one embodiment of the present application; Figure 8 is a cross-sectional schematic diagram of a hip structure in one embodiment of the present application; Fig. 9 yes Figure 8 A schematic front view of a side structure of a hip structure; Fig.10 is a cross-sectional schematic diagram of a hip structure in another embodiment of the present application; Fig.11 is a partially enlarged schematic diagram of a hip structure at a first bayonet in a cross-sectional state in one embodiment of the present application; Fig.12 is a partial enlarged schematic diagram of a hip structure at a first clip in a cross-sectional state in another embodiment of the present application; Fig.13 is a schematic diagram of the three-dimensional structure of a hip pitch joint module in one embodiment of the present application; Fig.14 is a schematic front view of a hip pitch joint module in one embodiment of the present application; Fig.15 is a schematic diagram of the three-dimensional structure of the waist and hip structure of a humanoid robot provided in one embodiment of the present application; Fig.16 is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application; Fig.17 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.

[0026] Reference numerals in the figures: 1. Hip structural member; 11. Joint fixing position; 111. First bayonet; 112. Second bayonet; 113. Assembly cavity; 12. top beam body; 13. bottom beam body; 132. second through hole; 14. side beam; 15. connecting groove; 16. internal thread hole; 17. Internal support beam; 171. Vertical beam; 172. Diagonal support beam; 18. Make way gap; 19. Strengthen beam; a1, first joint part; a2, second joint part; b1, upper structure layer; b11, waist yaw joint installation position; b12, docking seat; b2, side structure; c1, first cavity; c2, first via hole; e1, external locating surface; e2, two radial locating surfaces; e3, internal assembly surface; 2. Hip pitch joint module; 21. First clamp; 22. Second clamp; 23. abutment section; 3. Lumbar yaw joint; 31. Lumbar yaw joint module; 32. Transmission assembly; 41. a first reinforcement member; 42. a second reinforcement member; 51. Head; 52. Trunk; 53. Arm; 54. Waist omnidirectional joint; 55. Leg roll joint; 56. Leg yaw joint; 57. Thigh structure; 58. Knee joint; 59. Calf structure; 60. Ankle joint; d1, axis of the joint fixation position; d2, axis of the installation cavity; d3, first axis; d4, second axis; d5, third axis; θ1, the angle between the horizontal planes of the axis of the joint fixed position; L1, first distance; L2, second distance; X is the horizontal first direction; Y is the horizontal second direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] In the embodiments of the present application, the assembly structure of the hip pitch joint and the hip structure 1 of the humanoid robot and the humanoid robot are described in detail.

[0035] In one embodiment, see Figure 1 and Figure 2 , provides an assembly structure of a hip pitch joint and a hip structure 1 of a humanoid robot, which mainly includes: a hip structure 1 and two hip pitch joint modules 2. The hip structure 1 is constructed with two roughly hollow annular joint fixing positions 11, and two first bayonet holes 111 are respectively arranged on both sides of the upper edge of the joint fixing position 11, and two second bayonet holes 112 are respectively arranged on both sides of the lower edge. Two first ears 21 and two second ears 22 are respectively arranged on the outer side of the shell of the two hip pitch joint modules 2; wherein, the two hip pitch joint modules 2 are respectively embedded in the two joint fixing positions 11, and the two first ears 21 of the two are respectively engaged with the two first bayonet holes 111, and the two second ears 22 of the two are respectively engaged with the two second bayonet holes 112, and each ear and each bayonet are fixedly connected by a fastener.

[0036] In the above scheme, the first ear 21 and the two second ears 22 on the shell of the hip pitch joint module 2 are respectively engaged with the first bayonet 111 and the second bayonet 112 of the two joint fixing positions 11 on the hip structural member 1, and then fixed with fasteners. The hip structural member 1 is directly connected to the shell of the hip pitch joint module 2, avoiding a complicated connection relationship, and the close fit between the ear and the bayonet and the connection method of the fastener enhances the connection strength between the hip structural member 1 and the joint module. At the same time, the snap-fit ​​fastening connection method provides a stable connection and avoids complicated assembly steps. Not only is the structure more compact and lightweight, but the connection strength is also improved, and the stability of the hip position of the humanoid robot is better.

[0037] In the above arrangement, the position of the first bayonet 111 does not exceed the upper edge of the joint fixing position 11, and the position of the second bayonet 112 does not exceed the lower edge of the joint fixing position 11. Such an arrangement does not increase the size of the upper and lower edges of the hip structure due to the bayonet, and the space occupied by the hip structure is reduced, making the structure more compact. In addition, the cooperation between the bayonet and the bayonet can avoid complicated assembly steps.

[0038] The cooperation between the ear and the bayonet can form a limit of radial freedom, and the cooperation between multiple ears and bayonet can form a snap-fit ​​fit at multiple positions, which can distribute the force when subjected to force, thus avoiding the concentration of force on a certain contact point, thereby effectively protecting the assembly of the hip pitch joint and the hip structure 1, and providing a stable hip structure.

[0039] In one embodiment, see Figure 3 , Figure 6 and Figure 7 The hip structure 1 is a frame structure composed of multiple structural beams, and the structural beams include a top beam 12, a bottom beam 13 and a side beam 14. The side beam 14 is tilted and connected to the top beam 12 and the bottom beam 13. The two side beams 14 on the same side together with the top beam 12 and the bottom beam 13 form a joint fixing position 11. The two joint fixing positions 11 are symmetrically arranged on both sides of the hip structure 1. The joint fixing position 11 has an assembly cavity 113 with a circular inner wall; the axis d1 of the two joint fixing positions is tilted downward and the angle θ1 between each of them and the horizontal plane is 45 degrees ± 10 degrees. The connection between the two side beams 14 and the top beam 12 is defined as the first joint a1, and the connection between the two side beams 14 and the bottom beam 13 is defined as the second joint a2; the two first bayonet holes 111 are respectively arranged at the two first joint parts a1, and the two second bayonet holes 112 are respectively arranged at the two second joint parts a2.

[0040] The setting of the frame structure can form multiple installation positions, and the multiple beams support each other to make the structure more stable and reliable. When subjected to force, the different beams can work together to resist the force and avoid structural damage. It is suitable for complex hip positions.

[0041] The assembly cavity 113 of the annular inner wall can be adapted to the roughly cylindrical outer shell of the hip pitch joint module 2, and the two can form mutual limitation and support, increase the contact area, and make the connection more stable.

[0042] like Figure 3 As shown, the axis line d1 of the joint fixing position is tilted, so that the hip pitch joint module 2 can also be arranged tilted, so that the distance between the output flange ends of the hip pitch joint module 2 becomes smaller, and the legs of the humanoid robot can be retracted inward to prevent the hips of the humanoid robot from being too wide and affecting the distance between the two upper arms.

[0043] In addition, this arrangement allows the hip pitch joint module 2 connected to the leg to obliquely support the hip structure 1. The hip pitch joint modules 2 on both sides are arranged symmetrically, reducing the biasing effect on the output flange caused by gravity, which is beneficial to protecting the hip pitch joint module 2.

[0044] In one embodiment, if Figure 3 As shown, the axis lines d1 of the two joint fixing positions are inclined downward and the angles θ1 between them and the horizontal plane are 45 degrees ± 10 degrees.

[0045] In one embodiment, the axis lines d1 of the two joint fixing positions are inclined downward and the angles θ1 between them and the horizontal plane can be 36 degrees, 38 degrees, 40 degrees, 41 degrees, 42.5 degrees, 45 degrees, 47 degrees, 48.5 degrees, 51.5 degrees, 54 degrees, etc., without any special limitation.

[0046] In one embodiment, if Figure 8 and Fig. 9As shown, the hip structure 1 includes an upper structure layer b1 and two side structures b2 extending downward; the upper edges of the two side structures b2 are connected to the corresponding edges of the upper structure layer b1. The lower edges of the two side structures b2 are indirectly connected through a lower structure. The distance between the outer surfaces of the two side structures b2 at the upper ends in the horizontal direction is a first distance L1, and the distance between the outer surfaces of the lower ends of the two side structures b2 in the horizontal direction is a second distance L2, and the first distance L1 is greater than the second distance L2. Two joint fixing positions 11 are respectively constructed on the two side structures b2, and the joint fixing positions 11 are roughly hollow circular rings. Each side structure b2 includes two side edges located on both sides of the joint fixing position 11; each side edge is provided with a first bayonet 111 at the junction with the upper structure layer b1, and each side edge is provided with a second bayonet 112 at the junction with the lower structure layer. The bayonet and the bayonet form a three-dimensional curved contact surface.

[0047] The upper structure layer b1 is set wider to meet the connection of the waist structure, and the wider position is more convenient and stable for assembly. The spacing between the lower ends of the side structures b2 does not need to be configured with other components or only needs to be configured with visual or sensor components. It occupies less space and can be connected by a connector. Therefore, the spacing between the lower ends of the two side structures b2 can be smaller than the spacing between the upper ends of the two side structures b2. This not only saves space occupied by the hips and is beneficial to aesthetics, but also can be lightweight and reduce the weight of the humanoid robot.

[0048] The junction of each side with the upper structure layer b1 is provided with a first bayonet 111, and the junction of each side with the lower structure layer is provided with a second bayonet 112. The advantages of providing the first bayonet 111 and the second bayonet 112 at the junction are the same as the advantages of providing the first bayonet 111 and the second bayonet 112 at the first junction a1 and the second junction a2, and will not be repeated here.

[0049] The ear and the bayonet form a three-dimensional curved contact surface. This connection method has good adaptability, high assembly precision, and is easy to position. At the same time, the contact area is maximized, which is conducive to the transmission and dispersion of force and plays a protective role.

[0050] In one embodiment, if Fig.10As shown, the lower edges of the two side structures b2 are directly connected. The distance between the outer surfaces of the upper ends of the two side structures b2 in the horizontal direction is a first distance L1, and the distance between the outer surfaces of the lower ends of the two side structures b2 in the horizontal direction is a second distance L2, and the first distance L1 is greater than the second distance L2. Two joint fixing positions 11 are respectively constructed on the two side structures b2, and the joint fixing positions 11 are roughly hollow circular rings. Each side structure b2 includes two side edges located on both sides of the joint fixing position 11; each side edge is provided with a first bayonet 111 at the junction with the upper structure layer b1, and a second bayonet 112 is provided at the junction of the two side structures b2. The bayonet and the bayonet form a three-dimensional curved contact surface.

[0051] With the above Figure 8 and with Fig. 9 Compared with the embodiment of Fig.10 In the embodiment, the lower ends of the two side structures b2 are directly combined, and second snap-fits 112 are respectively provided on both sides of the combined portion. Such a configuration is more compact, and the two side structures b2 and the upper structure layer b1 form a roughly triangular structure. The triangular support method is relatively stable, which is beneficial to the structural strength of the hip structure 1 itself.

[0052] In one embodiment, if Figure 5 and Figure 6 As shown, the first bayonet 111 and the second bayonet 112 both include openings communicating with the mounting cavity inside the joint fixing position 11. Two first bayonet 111 located at the same joint fixing position 11 are communicated with by a communication groove 15, and / or two second bayonet 112 located at the same joint fixing position 11 are communicated with by a communication groove 15. The communication groove 15 is communicated with the mounting cavity inside the joint fixing position 11, and the extension distance of the communication groove 15 in the radial direction is smaller than that of the first bayonet 111 and the second bayonet 112.

[0053] The setting of the opening allows the first ear 21 and the second ear 22 to extend radially outward directly from the shell of the hip pitch joint module 2, which is convenient for production and processing. After assembly, the position of the opening is directly blocked by the shell, and the first ear 21 and the second ear 22 will not fall off and separate radially.

[0054] The connecting groove 15 can connect the two first ears 21 or the two second ears 22 at the same time during processing, so that the processing of the two ears can be completed in one feed, which improves the processing efficiency and has the same positioning reference between the two first ears 21 or the two second ears 22, so the positioning accuracy is higher.

[0055] The radial extension distance of the connecting groove 15 is smaller than the first bayonet 111 and the second bayonet 112 , so that the contact surface between the two first bayonet ears 21 or the two second bayonet ears 22 is not too small, and the connection strength at this position is guaranteed after installation.

[0056] In one embodiment, if Figure 6 and Fig. 9 As shown, on the same joint fixing part 11, the two first clamping holes 111 are symmetrically arranged with respect to the axis d1 of the joint fixing part and the second clamping holes 112 on the opposite side. This arrangement makes the clamping positions more evenly distributed in the radial direction and better balanced in force.

[0057] In one embodiment, on the same joint fixing site 11 , the two first bayonet holes 111 or the two second bayonet holes 112 are symmetrically arranged relative to a plane formed by the axis lines d1 of the two joint fixing sites.

[0058] In one embodiment, on the same joint fixing part 11 , the two first bayonet holes 111 are arranged symmetrically with respect to the axis d1 of the joint fixing part and the two second bayonet holes 112 .

[0059] In one embodiment, around the axis d1 of the relative joint fixing position, the first bayonet 111 is arranged in a plurality in an array and the second bayonet 112 is arranged in a plurality in an array and.

[0060] In one embodiment, see Fig.11 One or more internal threaded holes 16 are disposed in the first bayonet 111 and the second bayonet 112 , and the extending direction of the internal threaded holes 16 is parallel to the axis d1 of the joint fixing position.

[0061] After the above arrangement is completed, the clamping direction and the extension direction of the fastener remain perpendicular to each other, so that when subjected to a force, the fastener will not be subjected to a force in a shear direction, which has a good protective effect on the fastener.

[0062] In one embodiment, see Fig.12 One or more internal threaded holes 16 are disposed in the first bayonet 111 and the second bayonet 112 , and the extension direction of the internal threaded holes 16 is parallel to the horizontal plane.

[0063] In one embodiment, see Figure 4 , Figure 5 , Figure 7 and Fig.15The multiple top beams 12 of the hip structure 1 are connected end to end to form an upper structure layer b1, and a waist yaw joint installation position b11 is constructed in the middle of the upper structure layer b1. The waist yaw joint installation position b11 has an installation cavity with a circular inner wall and a docking seat b12 located outside the installation cavity. The docking seat b12 is used to be fastened to the waist yaw joint 3. The above-mentioned setting can realize the installation of the waist yaw joint 3, provide a basis for the waist movement of the humanoid robot, enable the robot to achieve more flexible steering and posture adjustment during movement, and improve the robot's movement performance.

[0064] In one embodiment, see Figures 4 to 7 The hip structure 1 also has an internal support beam 17, which includes a lower vertical beam 171 and two upper diagonal support beams 172. A first cavity c1 is constructed between the two diagonal support beams 172. The first cavity c1 is connected to the assembly cavity 113, and two first through holes c2 are opened on the two diagonal support beams 172, which are respectively located at the two joint fixing positions 11.

[0065] The first cavity c1 can be used for wiring. The wiring harness extended from the torso can pass through the first cavity c1 and enter the hip pitch joint from the first through hole c2 to achieve wiring.

[0066] In one embodiment, see Figures 4 to 7 A reinforcing beam 19 is further disposed between the two diagonal bracing beams 172 , and the extending direction of the reinforcing beam 19 is the horizontal first direction X. The reinforcing beam 19 is used to support the two diagonal bracing beams 172 , thereby improving the overall strength of the hip structure 1 .

[0067] In one embodiment, see Figure 7 The reinforcing beam 19 is located on the side of the two diagonal support beams 172 away from the docking seat b12.

[0068] In one embodiment, see Figure 6 and Figure 7 The bottom beam body 13 is configured with a second through hole 132, and the vertical beam body 171 is provided with a notch or opening aligned with the second through hole 132. The second through hole 132 can be connected to a visual or sensor component located at the lower side of the hip structure 1 through a harness, and the notch or opening aligned with the second through hole 132 is used to avoid the harness.

[0069] In one embodiment, see Figure 4 and Figure 7 A clearance notch 18 is provided in the middle of a top beam body 12 between the two first joint portions a1, and the clearance notch 18 is connected to the installation cavity in the horizontal direction. The setting of the clearance notch 18 facilitates the installation of the waist yaw joint 3, avoids interference between components, optimizes the assembly structure, and improves the compactness of the overall structure.

[0070] In one embodiment, see Fig.15 The axis line d2 of the mounting cavity of the waist yaw joint mounting position b11 is parallel to the axis line d1 of the two joint fixing positions in the horizontal projection of the side view and separated by a preset distance. The preset distance can be set according to the center of gravity of the upper body in a natural state, which is convenient for controlling various forms of the humanoid robot.

[0071] In one embodiment, see Figure 1 , the first bayonet 111 and the first bayonet ear 21 at least partially overlap in the vertical direction Z; and / or the second bayonet 112 and the second bayonet ear 22 at least partially overlap in the vertical direction Z. Such an arrangement facilitates the transmission of gravity, while also increasing the contact area between the bayonet ear and the bayonet, further improving the firmness of the connection and enhancing the stability of the assembly structure.

[0072] In one embodiment, see Figure 2 , Fig.13 and Fig.14 A contact section 23 is connected between the two first ears 21 on the same side, and / or a contact section 23 is connected between the two second ears 22 on the lower side; the radial extension distance of the contact section 23 is smaller than the radial extension distance of each first and second ear; each contact section 23 contacts with a connecting groove 15 of a matching shape on the hip structure 1.

[0073] In the above arrangement, first, the design of the abutting section 23 connects the two first ears 21 or the two second ears 22 and forms a mutual supporting relationship, so that the structural strength of the two first ears 21 or the two second ears 22 is increased.

[0074] Secondly, the abutting section 23 can also realize the connection with the hip structure 1, and cooperate with and abut against the connecting groove 15, which increases the connection stability between the ear and the hip structure 1, making the assembly structure more stable and reliable.

[0075] Third, similar to the structure of setting the connecting groove 15 with the two first bayonet holes 111 or the two second bayonet holes 112, the two first bayonet holes 21 or the two second bayonet holes 22 can be positioned simultaneously through the abutment section 23 during the processing of the bayonet, the position accuracy between the two is higher, and the structure after connection is more stable and reliable.

[0076] In one embodiment, each abutment section 23 is provided with a radially penetrating assembly hole, through which a fastener is passed to assemble the abutment section 23 and the two lugs connected thereto to the hip structure 1. In this way, the connection position between the housing of the hip pitch joint and the hip structure 1 is increased, the connection is more secure, and the stability and reliability of the assembly structure are ensured.

[0077] In one embodiment, see Fig.14 The first ear 21 and the second ear 22 have the same ear structure. Each ear includes an outer positioning surface e1, two radial positioning surfaces e2 and an inner assembly surface e3. The outer positioning surface e1 is an arc-shaped extension surface located on the outer side of each ear, and the inner assembly surface e3 is an arc-shaped extension surface located on the inner side of each ear. The two radial positioning surfaces e2 are respectively connected to the two ends of the outer positioning surface e1 and the two ends of the inner assembly surface e3.

[0078] In the above-mentioned setting, the outer positioning surface e1 can adapt to the extreme position of the snap-in, and the arc surface can withstand a large load to avoid failure of the connection strength. The radial positioning surfaces e2 of multiple ears effectively realize precise radial positioning, avoid the rotational freedom of the hip pitch joint, and can also bear the force through the multiple radial positioning surfaces e2 when subjected to torque. The inner assembly surface e3 can be the outer surface of the shell of the hip pitch joint, realizing the dominant surface of the positioning processing. The positioning and assembly of the matching ears and bayonet of multiple surfaces not only improves the assembly efficiency, but also ensures the accuracy and firmness of the connection.

[0079] In one embodiment, see Fig.15 The lumbar yaw joint mounting position b11 is used to mount the lumbar yaw joint 3. The lumbar yaw joint 3 includes a lumbar yaw joint module 31 and a transmission assembly 32. The axis d2 of the mounting cavity of the lumbar yaw joint mounting position b11 is coaxial with the output end of the transmission assembly 32, and both are located on the first axis d3. The motor and the reducer in the hip pitch joint module 2 are coaxially arranged on the second axis d4, and the motor and the reducer in the lumbar yaw joint module 31 are coaxially arranged on the third axis d5. In the horizontal projection of the side, the first axis d3, the second axis d4 and the third axis d5 are parallel and spaced by a preset distance, and the second axis d4 and the third axis d5 are respectively located on both sides of the first axis d3.

[0080] In the above-mentioned setting, the waist yaw joint module 31 is offset through the transmission assembly 32. Such a setting is in a different plane from the axis of the hip pitch joint module 2, thereby avoiding the joint modules being located in the same plane due to the intersection of the axes, while occupying a larger hip space, resulting in the hip position being too compact, but the volume is increased.

[0081] The axis of the transmission assembly 32, i.e., the first axis d3, keeps the yaw rotation axis of the upper body consistent with the axis center line d2 of the mounting cavity of the waist yaw joint mounting position b11, thereby ensuring that the rotation of the upper body relative to the hip structure 1 is accurate and reliable. The first axis d3 is located between the second axis d4 and the third axis d5, which places the upper body in the hip structure 1 in a relatively balanced position in the second horizontal direction Y, so as to facilitate the balance of the humanoid robot in the standing state.

[0082] In one embodiment, see Fig.15 In the horizontal projection of the side, the distance between the second axis d4 and the first axis d3 is smaller than the distance between the third axis d5 and the first axis d3.

[0083] In one embodiment, the mass of the two hip pitch joint modules 2 in the hip structure is larger than the mass of the waist yaw joint 3. In order to maintain the mass balance in the horizontal second direction Y, the weight of the upper body needs to be considered to be close to the hip pitch joint module 2 in the horizontal second direction Y. Therefore, the distance between the second axis d4 and the first axis d3 is set to be smaller than the distance between the third axis d5 and the first axis d3.

[0084] In one embodiment, see Fig.15 Since the lumbar yaw joint 3 is offset along the horizontal second direction Y, its outer side and bottom part are located on the outside of the hip structure 1. In this embodiment, a first reinforcement 41 and a second reinforcement 42 are provided by the two side beams to protect the lumbar yaw joint 3, wherein the second reinforcement 42 supports the bottom of the lumbar yaw joint 3, and the second reinforcement 42 protects the vicinity of the output end of the lumbar yaw joint 3. The cooperation of the two enables the lumbar yaw joint 3 to be fully positioned.

[0085] In one embodiment, see Fig.16 and Fig.17 , a humanoid robot is provided, which mainly includes an assembly structure of a hip pitch joint and a hip structure 1 of a humanoid robot as in any of the above embodiments, and a trunk assembly connected via a waist yaw joint mounting position b11. The beneficial effects of the assembly structure of the hip pitch joint and the hip structure 1 of the humanoid robot are detailed in the above embodiments and will not be repeated here.

[0086] In one embodiment, see Fig.16 and Fig.17 The torso assembly of the humanoid robot includes a head 51, a neck, a torso 52, a waist and an arm 53. The hip is connected to the torso assembly through a waist yaw joint mounting position b11. The hip pitch joint is connected to the leg. The leg also includes a leg roll joint 55, a leg yaw joint 56, a thigh structure 57, a calf structure 59, a knee joint 58, an ankle drive joint and an ankle joint 60.

[0087] The head 51, the neck and the trunk 52 are connected in sequence, the two arms 53 are connected to the opposite sides of the trunk 52, and the waist includes a waist omnidirectional joint 54 connected to the lower part of the trunk 52, and the lower part is connected to the waist yaw joint mounting position b11. The waist yaw joint 3 is connected to the connecting seat of the waist omnidirectional joint 54 through the transmission assembly 32 to realize the omnidirectional movement of the waist.

[0088] The output end of the hip pitch joint is connected to the leg roll joint 55 through a connecting piece, and the rotation axis of the hip pitch joint does not intersect with the rotation axis of the leg roll joint 55. The leg roll joint 55 is connected to the leg yaw joint 56 through a connecting piece, and the hip pitch joint, the leg roll joint 55 and the leg yaw joint 56 simultaneously drive the thigh structure 57 to realize the movement of the leg.

[0089] The thigh structure 57 of the leg is connected to the leg yaw joint 56. A knee joint 58 is set between the thigh structure 57 and the calf structure 59 to directly drive the movement of the calf structure 59. The calf structure 59 is provided with an ankle driving joint to realize the omnidirectional movement of the ankle joint 60 by driving the rocker arm, and drive the sole of the foot to operate to adapt to different bottom surface requirements. Such a multi-degree-of-freedom robot can imitate human-like walking, standing, bending and other movements. Combined with the arm 53, it can also realize complex behaviors such as carrying and climbing.

[0090] 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. An assembly structure of a hip pitch joint and a hip structure of a humanoid robot, characterized in that: include: The hip structure is constructed with two roughly hollow annular joint fixing positions, two first bayonet holes are respectively arranged on both sides of the upper edge of the joint fixing position, and two second bayonet holes are respectively arranged on both sides of the lower edge; Two hip pitch joint modules, two first ears and two second ears are respectively arranged on the outer sides of the shells of the two hip pitch joint modules; Among them, the two hip pitch joint modules are respectively embedded in the two joint fixing positions, and the two first ears of the two are respectively engaged with the two first bayonet ports, and the two second ears of the two are respectively engaged with the two second bayonet ports, and each ear and each bayonet port are fixedly connected by fasteners.

2. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 1, characterized in that: The hip structure is a frame structure composed of a plurality of structural beams, wherein the structural beams include a top beam, a bottom beam and side beams, wherein the side beams are arranged obliquely and connected to the top beam and the bottom beam; The two side beams located on the same side together with the top beam body and the bottom beam body constitute a joint fixing position, and the two joint fixing positions are symmetrically arranged on both sides of the hip structure, and the joint fixing position has an assembly cavity with a circular inner wall; the axis lines of the two joint fixing positions are inclined downward, and the angles between them and the horizontal plane are 45 degrees ± 10 degrees respectively; The connection points between the two side beams and the top beam body are defined as the first connection parts, and the connection points between the two side beams and the bottom beam body are defined as the second connection parts; the two first bayonet holes are respectively arranged at the two first connection parts, and the two second bayonet holes are respectively arranged at the two second connection parts.

3. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 1, characterized in that: The hip structure comprises an upper structure layer and two side structures extending downward; the upper edges of the two side structures are connected to the corresponding edges of the upper structure layer; the lower edges of the two side structures are connected directly or indirectly through a lower structure; The distance between the outer surfaces of the upper ends of the two side structures in the horizontal direction is a first distance, and the distance between the outer surfaces of the lower ends of the two side structures in the horizontal direction is a second distance, and the first distance is greater than the second distance; Two joint fixing positions are respectively constructed on the two side structures, and the joint fixing positions are roughly in the shape of a hollow circular ring. Each of the side structures includes two side edges located on both sides of the joint fixing position; the first bayonet is provided at the junction of each side edge and the upper structural layer, and the second bayonet is provided at the junction of each side edge and the lower structural layer; The bayonet and the bayonet port form a three-dimensional curved contact surface.

4. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 1, characterized in that: The first bayonet and the second bayonet both include an opening communicating with the mounting cavity inside the joint fixing position; The two first bayonet holes located at the same joint fixing position are connected by a connecting groove, and / or the two second bayonet holes located at the same joint fixing position are connected by a connecting groove; The communicating groove is communicated with the mounting cavity inside the joint fixing position, and the extending distance of the communicating groove in the radial direction is smaller than that of the first bayonet and the second bayonet.

5. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 1, characterized in that: On the same joint fixing position, the two first bayonet ports are symmetrically arranged with respect to the axis of the joint fixing position and the second bayonet ports on the opposite side.

6. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 1, characterized in that: One or more internal threaded holes are provided in the first bayonet and the second bayonet, and the extension direction of the internal threaded holes is parallel to the axis of the joint fixing position, or, The extending direction of the internal threaded hole is parallel to the horizontal plane.

7. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 2, characterized in that: The multiple top beams of the hip structure are connected end to end to form an upper structure layer, and a lumbar yaw joint mounting position is constructed in the middle of the upper structure layer. The lumbar yaw joint mounting position has a mounting cavity with a circular inner wall and a docking seat located outside the mounting cavity, and the docking seat is used to be fastened to the lumbar yaw joint.

8. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 7, characterized in that: The hip structure also has an internal supporting beam body, which includes a vertical beam body at the bottom and two diagonal supporting beam bodies at the top. A first cavity is constructed between the two diagonal supporting beam bodies, and the first cavity is connected to the assembly cavity. Two first through holes are opened on the two diagonal supporting beam bodies, which are respectively located at the two joint fixing positions.

9. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 8, characterized in that: The bottom beam body is constructed with a second through hole, and the vertical beam body is provided with a notch or an opening aligned with the second through hole.

10. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 7, characterized in that: A clearance gap is arranged in the middle of the top beam body between the two first joint parts, and the clearance gap is connected to the installation cavity of the waist yaw joint installation position in the horizontal direction.

11. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 7, characterized in that: The axis center line of the installation cavity of the waist yaw joint installation position is parallel to the axis center lines of the two joint fixing positions in the horizontal projection in side view and is separated by a preset distance.

12. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 1, characterized in that: The first bayonet and the first bayonet at least partially overlap in the vertical direction; and / or, The second bayonet at least partially overlaps with the second bayonet in a vertical direction.

13. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 4, characterized in that: An abutment section is connected between the two first lugs on the same side, and / or an abutment section is connected between the two second lugs on the lower side; the radial extension distance of the abutment section is smaller than the radial extension distance of each of the first and second lugs; Each of the abutting sections abuts against a connecting groove of matching shape on the hip structural member.

14. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 13, characterized in that: Each of the abutting sections is provided with a radially penetrating assembly hole, and a fastener is passed through the assembly hole to assemble the abutting section and the two clips connected thereto to the hip structural member.

15. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 1, characterized in that: The first ear and the second ear both have the same ear structure, and each ear includes an external positioning surface, two radial positioning surfaces and an internal assembly surface. The external positioning surface is an arc-shaped extension surface located on the outer side of each ear, and the internal assembly surface is an arc-shaped extension surface located on the inner side of each ear. The two radial positioning surfaces are respectively connected to the two ends of the external positioning surface and the two ends of the internal assembly surface.

16. The assembly structure of the hip pitch joint and hip structure of the humanoid robot according to claim 7, characterized in that: The waist yaw joint installation position is used to install the waist yaw joint, and the waist yaw joint includes a waist yaw joint module and a transmission assembly. The axis of the installation cavity of the waist yaw joint installation position is coaxial with the output end of the transmission assembly and both are located on the first axis. The motor and the reducer in the hip pitch joint module are coaxially arranged on the second axis. The motor and the reducer in the waist yaw joint module are coaxially arranged on the third axis. In a horizontal projection of the side surface, the first axis, the second axis, and the third axis are parallel and spaced apart by a preset distance, and the second axis and the third axis are respectively located on both sides of the first axis.

17. The assembly structure of the hip pitch joint and the hip structure of the humanoid robot according to claim 16, characterized in that: In a horizontal projection of the side surface, a distance between the second axis and the first axis is smaller than a distance between the third axis and the first axis.

18. A humanoid robot, characterized in that: It comprises an assembly structure of a hip pitch joint and a hip structure of a humanoid robot as claimed in any one of claims 1 to 17, and a torso component connected via a waist yaw joint mounting position.

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