Assembly structure of hip pitch joint and hip structural member of humanoid robot and humanoid robot

Abstract

The present application relates to the field of robot technology, and discloses an assembly structure of a hip pitch joint and a hip structural member of a humanoid robot, and a humanoid robot. Among them, the assembly structure of the hip pitch joint and the hip structural member of the humanoid robot mainly includes a hip structural member and two hip pitch joint modules. The hip structural member is configured with a substantially annular joint fixing position, and the hip pitch joint modules are embedded within the joint fixing position. Two first lugs of each hip pitch joint module are respectively engaged with two first bayonet slots on both sides of the upper edge of the joint fixing position, and two second lugs are respectively engaged with two second bayonet slots on both sides of the lower edge of the joint fixing position. The position of the first bayonet slot does not exceed the upper edge of the joint fixing position, and the position of the second bayonet slot does 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 member due to the setting of the bayonet slots, reducing the space occupied by the hip structure and making the structure more compact.

Description

Technical Field

[0001] This application relates to the technical field of robotics, and relates to an assembly structure of a hip pitch joint and a hip structural member of a humanoid robot and a humanoid robot. Background Art

[0002] In the technical field of humanoid robots, the connection and assembly structure between the hip pitch joint module and the hip structural member is equivalent to the connection part between the leg structure and the body of the robot. Moreover, the hip pitch joint module also needs to be configured as a joint module with relatively high power to drive the thigh structure to swing forward or backward relative to the body. Therefore, this connection part not only has to bear the reaction force caused by relatively large joint torsion, but also bears relatively large dynamic and static loads between the leg and the body, which has always been a technical difficulty in humanoid robot technology.

[0003] Currently, a connecting piece is still needed to connect between the hip pitch joint module and the hip structural member. For example, in the Chinese patent application with the patent application number 202411954577.6, the hip pitch joint module is embedded in the first end of the leg connecting piece, the diameter of the first end is larger than the diameter of the outer shell of the hip pitch joint module, the hip structural member is clamped with the second end of the leg connecting piece, the leg connecting piece needs to accommodate multiple clamping blocks, and multiple groups of screws are required for fastening connection. The radial dimension of the second end is larger than that of the first end, and the position structure where the hip pitch joint module connects to the hip structural member is complex, significantly occupying too much space and being bulky and unaesthetic. Summary of the Invention

[0004] This 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 that the hip part of the existing humanoid robot occupies too much space and has a bulky and unaesthetic structure.

[0005] In one technical solution, an assembly structure of a hip pitch joint and a hip structural member of a humanoid robot is provided, which mainly includes: a hip structural member and two hip pitch joint modules. The hip structural member is configured with two substantially hollow annular joint fixing positions. On both sides of the upper edge of the joint fixing position, two first clamping openings are respectively provided, and on both sides of the lower edge, two second clamping openings are respectively provided. On the outer sides of the shells of the two hip pitch joint modules, two first clamping lugs and two second clamping lugs are respectively provided. Among them, the two hip pitch joint modules are respectively embedded within the two joint fixing positions, and the two first clamping lugs of the two hip pitch joint modules are respectively clamped with the two first clamping openings, and the two second clamping lugs of the two hip pitch joint modules are respectively clamped with the two second clamping openings, and each clamping lug and each clamping opening are fixedly connected through a fastener.

[0006] In one technical solution, the hip structural member is a frame structure composed of multiple structural beam bodies. The structural beam bodies include a top beam body, a bottom beam body, and side beams. The side beams are inclined and connected to the top beam body and the bottom beam body;

[0007] Two side beams located on the same side, together with the top beam body and the bottom beam body, form a joint fixing position. The two joint fixing positions are symmetrically arranged on both sides of the hip structure member respectively, and the joint fixing position has an assembly cavity with an annular inner wall; the axis lines of the two joint fixing positions incline downward and the included angles with the horizontal plane are 45 degrees ± 10 degrees respectively;

[0008] Define the joints between the two side beams and the top beam body respectively as the first joint parts, and define the joints between the two side beams and the bottom beam body respectively as the second joint parts; two first bayonets are respectively arranged at the two first joint parts, and two second bayonets are respectively arranged at the two second joint parts.

[0009] In a technical solution, the hip structure member includes an upper structure layer and two side structure bodies extending downward; the upper edges of the two side structure bodies are joined with the corresponding edges of the upper structure layer; the lower edges of the two side structure bodies are directly or indirectly connected through a lower structure member;

[0010] The horizontal distance between the outer surfaces of the two side structure bodies at the upper ends is the first distance, and the horizontal distance between the outer surfaces of the two side structure bodies at the lower ends is the second distance, and the first distance is greater than the second distance;

[0011] Two joint fixing positions are respectively constructed on the two side structure bodies. The joint fixing positions are roughly in a hollow circular ring shape. Each side structure body includes two side edges located on both sides of the joint fixing position; first bayonets are arranged at the joints of each side edge and the upper structure layer, and second bayonets are arranged at the joints of each side edge and the lower structure layer;

[0012] The lug and the bayonet form a three-dimensional curved surface contact surface.

[0013] In a technical solution, both the first bayonet and the second bayonet include openings communicating with the installation cavity inside the joint fixing position;

[0014] And the two first bayonets located at the same joint fixing position are communicated by a connecting groove, and / or the two second bayonets located at the same joint fixing position are communicated by a connecting groove;

[0015] The connecting groove communicates with the installation cavity inside the joint fixing position, and the extending distance of the connecting groove in the radial direction is less than that of the first bayonet and the second bayonet.

[0016] In a technical solution, on the same joint fixing position, the two first bayonets are symmetrically arranged with respect to the axis line of the joint fixing position and the second bayonets on the opposite side.

[0017] In a technical solution, one or more internal threaded holes are provided in both the first bayonet and the second bayonet. The extending direction of the internal threaded hole is parallel to the axis line of the joint fixed position, or the extending direction of the internal threaded hole is parallel to the horizontal plane.

[0018] In a technical solution, a plurality of top beams of the hip structural member are connected end to end to form an upper structural layer. A waist yaw joint mounting position is formed in the middle of the upper structural layer. The waist yaw joint mounting position has a mounting cavity with an annular inner wall and a docking seat located outside the mounting cavity. The docking seat is used for firmly connecting with the waist yaw joint.

[0019] In a technical solution, the hip structural member further has an internal support beam. The support beam includes a vertical beam at the lower part and two diagonal support beams at the upper side. A first cavity is formed between the two diagonal support beams. The first cavity communicates with the assembly cavity, and two first through holes respectively aligned with the two joint fixed positions are provided on the two diagonal support beams.

[0020] In a technical solution, a second through hole is formed in the bottom beam, and a notch or an opening aligned with the second through hole is provided on the vertical beam.

[0021] In a technical solution, a relief notch is provided in the middle of a top beam located between two first joint portions. The relief notch is horizontally connected to the mounting cavity.

[0022] In a technical solution, the axis line of the mounting cavity of the waist yaw joint mounting position is parallel and spaced apart by a preset distance from the axis lines of the two joint fixed positions in the horizontal projection of the side view.

[0023] In a technical solution,

[0024] The first bayonet and the first lug are at least partially overlapped in the vertical direction; and / or,

[0025] The second bayonet and the second lug are at least partially overlapped in the vertical direction.

[0026] In a technical solution,

[0027] A butt joint section is connected between two first lugs on the same side, and / or a butt joint section is connected between two second lugs on the lower side; the radial extension distance of the butt joint section is less than the radial extension distances of each of the first and second lugs;

[0028] Each butt joint section abuts against a communicating groove with a matching shape on the hip structural member.

[0029] In a technical solution, each butt joint section is provided with a radially penetrating assembly hole, and a fastener passes through this assembly hole to assemble the butt joint section and the two lugs connected thereto on the hip structural member.

[0030] In a technical solution, the first ear and the second ear both have the same ear structure. Each ear includes an outer positioning surface, two radial positioning surfaces, and an inner assembly surface. The outer positioning surface is an arc-shaped extended surface located on the outer side surface of each ear, the inner assembly surface is an arc-shaped extended surface located on the inner side of each ear, and the two radial positioning surfaces are respectively connected to both ends of the outer positioning surface and both ends of the inner assembly surface.

[0031] In a 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 component. The axis line of the installation cavity of the waist yaw joint installation position is coaxial with the output end of the transmission component, 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;

[0032] In the horizontal direction projection on the side, 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.

[0033] In a technical solution, in the horizontal direction projection on the side, the distance between the second axis and the first axis is less than the distance between the third axis and the first axis.

[0034] In a technical solution, a humanoid robot is provided, which mainly includes the assembly structure of the hip pitch joint and the hip structural member of the humanoid robot as described above, and a torso component connected through the waist yaw joint installation position.

[0035] In the embodiment of the present application, an assembly structure of the hip pitch joint and the hip structural member of a humanoid robot and a humanoid robot are proposed. Among them, the assembly structure of the hip pitch joint and the hip structural member of the humanoid robot mainly includes a hip structural member and two hip pitch joint modules. The housing of the hip pitch joint module is provided with two first ears and two second ears. Corresponding to the hip structural member, two first bayonet openings are respectively provided on both sides of the upper edge of its joint fixing position, and two second bayonet openings are respectively provided on both sides of the lower edge. The hip pitch joint module is embedded within the joint fixing position. The two first ears are respectively engaged with the two first bayonet openings, and the two second ears are respectively engaged with the two second bayonet openings. In the above setting, the position of the first bayonet opening does not exceed the upper edge of the joint fixing position, and the position of the second bayonet opening does 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 member due to the bayonet opening, 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 opening can avoid complex assembly steps. Description of the Drawings

[0036] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a schematic perspective view of the assembly structure of the hip pitch joint and the hip structural member of a humanoid robot in an embodiment of the present application;

[0038] Figure 2 It is a schematic bottom view of the hip pitch joint and the hip structural member after assembly, viewed from the perspective of the output flange of the hip pitch joint;

[0039] Figure 3 It is a schematic assembly view of the hip pitch joint and the hip structural member in the front view perspective in an embodiment of the present application;

[0040] Figure 4 It is a schematic assembly view of the hip pitch joint and the hip structural member in the three-dimensional perspective in an embodiment of the present application;

[0041] Figure 5 It is a schematic assembly view of the hip pitch joint and the hip structural member in another three-dimensional perspective in an embodiment of the present application;

[0042] Figure 6 It is a schematic view of the hip structural member in the perspective of facing the joint fixing position in an embodiment of the present application;

[0043] Figure 7 It is a schematic perspective view of the hip structural member in an embodiment of the present application;

[0044] Figure 8 It is a schematic sectional view of the hip structural member in an embodiment of the present application;

[0045] Figure 9 is Figure 8 A front view schematic of the side structure of the hip structural member;

[0046] Figure 10 It is a schematic sectional view of the hip structural member in another embodiment of the present application;

[0047] Figure 11 It is a schematic enlarged partial view of the hip structural member at the first bayonet in the sectional state in an embodiment of the present application;

[0048] Figure 12 It is a schematic enlarged partial view of the hip structural member at the first bayonet in the sectional state in another embodiment of the present application;

[0049] Figure 13 It is a schematic three - dimensional structure diagram of a hip pitch joint module in an embodiment of the present application;

[0050] Figure 14 It is a front - view schematic diagram of a hip pitch joint module in an embodiment of the present application;

[0051] Figure 15 It is a schematic three - dimensional structure diagram of the waist - hip structure of a humanoid robot provided in an embodiment of the present application;

[0052] Figure 16 It is a schematic three - dimensional structure diagram of a humanoid robot in an embodiment of the present application;

[0053] Figure 17 It is a schematic diagram of the waist - hip structure of a humanoid robot from a rear - view perspective in an embodiment of the present application.

[0054] Each reference numeral in the figure:

[0055] 1. Hip structural member; 11. Joint fixing position; 111. First bayonet; 112. Second bayonet; 113. Assembly cavity;

[0056] 12. Top beam body; 13. Bottom beam body; 132. Second through - hole; 14. Side beam; 15. Connecting groove; 16. Internal thread hole;

[0057] 17. Internal support beam body; 171. Vertical beam body; 172. Diagonal support beam body; 18. Relief notch; 19. Reinforcing beam body;

[0058] a1. First joint part; a2. Second joint part;

[0059] b1. Upper structure layer; b11. Waist yaw joint installation position; b12. Docking seat;

[0060] b2. Side structure body;

[0061] c1. First cavity; c2. First through - hole;

[0062] e1. Outer positioning surface; e2. Two radial positioning surfaces; e3. Inner assembly surface;

[0063] 2. Hip pitch joint module; 21. First ear; 22. Second ear;

[0064] 23. Abutting section;

[0065] 3. Waist yaw joint; 31. Waist yaw joint module; 32. Transmission component;

[0066] 41. First reinforcing member; 42. Second reinforcing member;

[0067] 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;

[0068] d1. Axis line of the joint fixed position; d2. Axis line of the installation cavity;

[0069] d3. First axis; d4. Second axis; d5. Third axis;

[0070] θ1. Angle between the axis line of the joint fixed position and the horizontal plane;

[0071] L1. First distance; L2. Second distance;

[0072] X is the first horizontal direction; Y is the second horizontal direction; Z is the vertical direction. Detailed implementation mode

[0073] The following combines the accompanying drawings and embodiments to further describe the specific embodiments of the present application in detail. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application. Similarly, the following embodiments are only part of the embodiments of the present application rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0074] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0075] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0076] In the present invention, unless otherwise clearly specified or limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely means that the first feature has a lower horizontal height than the second feature.

[0078] In the present invention, terms such as "an embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0079] In the present invention, the concept of "substantially in the shape of" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall characteristics, so it can be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object, it is described as "substantially circular", meaning that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, it is described as "substantially cubic", meaning that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0080] In the embodiments of the present application, the assembly structure of the hip pitch joint of the humanoid robot and the hip structural member 1 and the humanoid robot are described in detail.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] In one embodiment, see Figure 3 , Figure 6 and Figure 7, the hip structure member 1 is a frame structure composed of multiple structural beams. The structural beams include a top beam 12, a bottom beam 13, and side beams 14. The side beams 14 are inclined and connected to the top beam 12 and the bottom beam 13. 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 member 1 respectively. The joint fixing position 11 has an assembly cavity 113 with an annular inner wall; 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. Define the joints between the two side beams 14 and the top beam 12 respectively as the first joint parts a1, and define the joints between the two side beams 14 and the bottom beam 13 respectively as the second joint parts a2; two first bayonets 111 are respectively arranged at the two first joint parts a1, and two second bayonets 112 are respectively arranged at the two second joint parts a2.

[0086] The setting of the frame structure can form multiple installation positions, and the mutual support between multiple beams makes the structure more stable and reliable. When stressed, the combined action of different beams can resist the acting force and avoid structural damage, which is applicable to complex hip positions.

[0087] The assembly cavity 113 with an annular inner wall can be adapted to the generally cylindrical outer shell of the hip pitch joint module 2, and the two can form mutual limitation and support, increasing the contact area and making the connection more stable.

[0088] As Figure 3 shown, the axis line d1 of the joint fixing position is inclined, so that the hip pitch joint module 2 can also be arranged obliquely, which makes the distance between the output flange ends of the hip pitch joint module 2 smaller, and the legs of the humanoid robot can be retracted inward to avoid the hip of the humanoid robot being too wide and affecting the distance between the two upper arms.

[0089] In addition, such an arrangement makes the hip pitch joint module 2 connecting the legs can support the hip structure member 1 obliquely. The two hip pitch joint modules 2 on both sides are symmetrically arranged, reducing the bias pressure on the output flange generated by gravity, which is beneficial to protecting the hip pitch joint module 2.

[0090] In one embodiment, as Figure 3 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.

[0091] 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 specifically 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., and no special limitation is made here.

[0092] In one embodiment, as Figure 8 and Figure 9 shown, the hip structure member 1 includes an upper structure layer b1 and two downwardly extending side structure bodies b2; the upper edges of the two side structure bodies b2 are joined to the corresponding edges of the upper structure layer b1 in a coplanar manner. The lower edges of the two side structure bodies b2 are indirectly connected by a lower structure member. The horizontal distance between the outer surfaces of the two side structure bodies b2 at the upper ends is a first distance L1, and the horizontal distance between the outer surfaces of the two side structure bodies b2 at the lower ends is a second distance L2, and the first distance L1 is greater than the second distance L2. Two joint fixing positions 11 are respectively formed on the two side structure bodies b2, and the joint fixing positions 11 are generally in a hollow circular ring shape. Each side structure body b2 includes two side edges located on both sides of the joint fixing position 11; a first bayonet 111 is provided at the joint of each side edge and the upper structure layer b1, and a second bayonet 112 is provided at the joint of each side edge and the lower structure layer. The lug and the bayonet form a three-dimensional curved surface contact surface.

[0093] The relatively wide setting of the upper structure layer b1 is used to meet the connection of the waist structure, and the relatively wide position is more convenient and stable for assembly. The distance between the lower ends of the side structure bodies b2 does not need to be equipped with other components or only needs to be equipped with visual or sensing components, which occupies less space and can be connected by a connecting member. Therefore, the distance between the lower ends of the two side structure bodies b2 can be smaller than the distance between the upper ends of the two side structure bodies b2, which not only saves the space occupied by the hip, is beneficial to aesthetics, but also can be lightweight and reduce the weight of the humanoid robot.

[0094] A first bayonet 111 is provided at the joint of each side edge and the upper structure layer b1, and a second bayonet 112 is provided at the joint of each side edge and the lower structure layer. The advantages of providing the first bayonet 111 and the second bayonet 112 at the joint are the same as those of providing the first bayonet 111 and the second bayonet 112 at the first joint portion a1 and the second joint portion a2, and will not be elaborated here.

[0095] The lug and the bayonet form a three-dimensional curved surface contact surface. Such a connection method has good adaptability, high assembly accuracy, is convenient for positioning, and at the same time the contact area is maximized, which is beneficial to the transmission and dispersion of the force and plays a protective role.

[0096] In one embodiment, as Figure 10As shown, the lower edges of the two side structures b2 are directly connected. The horizontal distance between the outer surfaces of the two side structures b2 at the upper ends is the first distance L1, and the horizontal distance between the outer surfaces of the two side structures b2 at the lower ends is the second distance L2. 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. The joint fixing positions 11 are generally in a hollow circular ring shape. Each side structure b2 includes two side edges located on both sides of the joint fixing position 11; a first bayonet 111 is provided at the junction of each side edge and the upper structure layer b1, and a second bayonet 112 is provided at the junction of the two side structures b2. The lug and the bayonet form a three-dimensional curved contact surface.

[0097] Compared with the above Figure 8 and with Figure 9 embodiment, Figure 10 In the embodiment, the lower ends of the two side structures b2 are directly combined, and second bayonets 112 are respectively provided on both sides of the combination. Such a setting 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 member 1 itself.

[0098] In one embodiment, as Figure 5 and Figure 6 shown, both the first bayonet 111 and the second bayonet 112 include openings communicating with the installation cavity inside the joint fixing position 11. And the two first bayonets 111 located at the same joint fixing position 11 are connected by a communication groove 15, and / or the two second bayonets 112 located at the same joint fixing position 11 are connected by a communication groove 15. The communication groove 15 communicates with the installation cavity inside the joint fixing position 11, and the radial extension distance of the communication groove 15 is less than that of the first bayonet 111 and the second bayonet 112.

[0099] The setting of the opening enables the first lug 21 and the second lug 22 to directly extend radially outward from the housing of the hip pitch joint module 2. This is convenient for production and processing, and after assembly, the position of the opening is directly blocked by the housing, and the first lug 21 and the second lug 22 will not fall off and separate radially.

[0100] The setting of the communication groove 15 can connect the two first lugs 21 or the two second lugs 22 simultaneously during processing. In this way, the processing of the two lugs can be completed with one feed. First, the processing efficiency is improved. Second, there is the same positioning reference between the two first lugs 21 or the two second lugs 22, and the position accuracy is higher.

[0101] The radial extension distance of the connecting groove 15 is less than that of the first bayonet 111 and the second bayonet 112, which can ensure that the abutting surface between the two first lugs 21 or the two second lugs 22 is not too small, and the connection strength at this position is guaranteed after installation.

[0102] In one embodiment, as Figure 6 and Figure 9 shown, on the same joint fixing position 11, the two first bayonets 111 are symmetrically arranged with respect to the axis d1 of the joint fixing position and the second bayonets 112 on the opposite side. Such an arrangement makes the distribution of the clamping positions more uniform in the radial direction and the balance of the force better.

[0103] In one embodiment, on the same joint fixing position 11, the two first bayonets 111 or the two second bayonets 112 are symmetrically arranged with respect to the plane formed by the axis d1 of the two joint fixing positions.

[0104] In one embodiment, on the same joint fixing position 11, the two first bayonets 111 are centrosymmetrically arranged with respect to the axis d1 of the joint fixing position and the centers of the two second bayonets 112.

[0105] In one embodiment, around the axis d1 of the relative joint fixing position, the first bayonets 111 are arranged in a plurality of circumferential and arrayed manners, and the second bayonets 112 are arranged in a plurality of circumferential and arrayed manners.

[0106] In one embodiment, please refer to Figure 11 , one or more internal threaded holes 16 are provided in both the first bayonet 111 and the second bayonet 112, and the extending direction of the internal threaded hole 16 is parallel to the axis d1 of the joint fixing position.

[0107] After the above setting method is tightened, the clamping direction is perpendicular to the extending direction of the fastener. In this way, when a force is applied, the fastener will not be subjected to a shearing force, which has a good protective effect on the fastener.

[0108] In one embodiment, please refer to Figure 12 , one or more internal threaded holes 16 are provided in both the first bayonet 111 and the second bayonet 112, and the extending direction of the internal threaded hole 16 is parallel to the horizontal plane.

[0109] In one embodiment, please refer to Figure 4 , Figure 5 , Figure 7 and Figure 15, a plurality of top beams 12 of the hip structural member 1 are connected end to end to form an upper structural layer b1. A waist yaw joint installation position b11 is formed in the middle of the upper structural layer b1. The waist yaw joint installation position b11 has an installation cavity with an annular inner wall and a docking seat b12 located outside the installation cavity. The docking seat b12 is used for firmly connecting with the waist yaw joint 3. The above setting can realize the installation of the waist yaw joint 3, providing a basis for the waist movement of the humanoid robot, enabling the robot to achieve more flexible turning and posture adjustment during movement, and improving the movement performance of the robot.

[0110] In one embodiment, please refer to Figures 4 to 7 , the hip structural member 1 further has an internal support beam 17. The internal support beam 17 includes a lower vertical beam 171 and two upper diagonal support beams 172. A first cavity c1 is formed between the two diagonal support beams 172. The first cavity c1 communicates with the assembly cavity 113, and two first through holes c2 are formed in the two diagonal support beams 172 respectively and are aligned with the two joint fixing positions 11.

[0111] The first cavity c1 can be used for wire passing. The wire harness extended from the torso can enter the hip pitch joint through the first cavity c1 and the first through hole c2 to realize wiring.

[0112] In one embodiment, please refer to Figures 4 to 7 , a reinforcing beam 19 is further arranged between the two diagonal support beams 172. The extending direction of the reinforcing beam 19 is the horizontal first direction X. It is used to form support for the two diagonal support beams 172, improving the overall strength of the hip structural member 1.

[0113] In one embodiment, please refer to Figure 7 , the reinforcing beam 19 is located on the side of the two diagonal support beams 172 away from the docking seat b12.

[0114] In one embodiment, please refer to Figure 6 and Figure 7 , a second through hole 132 is formed in the bottom beam 13. The vertical beam 171 is provided with a notch or opening aligned with the second through hole 132. The setting of the second through hole 132 can connect a vision or sensing component located below the hip structural member 1 through a wire harness, and the notch or opening aligned with the second through hole 132 is used for avoiding the wire harness.

[0115] In one embodiment, please refer to Figure 4 and Figure 7 , a relief notch 18 is formed in the middle of a top beam 12 located between the two first joints a1. The relief notch 18 is connected to the installation cavity in the horizontal direction. The setting of the relief 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.

[0116] In one embodiment, please refer to Figure 15 , the axis line d2 of the installation cavity of the waist yaw joint installation position b11 is parallel to the axis line d1 of the two joint fixing positions and spaced apart by a preset distance in the horizontal projection of the side view. The setting of the preset distance can be offset according to the center of gravity of the upper body in the natural state, which is convenient for controlling the various postures of the humanoid robot.

[0117] In one embodiment, please refer to Figure 1 , the first bayonet 111 and the first lug 21 overlap at least partially in the vertical direction Z; and / or, the second bayonet 112 and the second lug 22 overlap at least partially in the vertical direction Z. Such a setting facilitates the transfer of gravity, and at the same time increases the contact area between the lug and the bayonet, further improving the firmness of the connection and enhancing the stability of the assembly structure.

[0118] In one embodiment, please refer to Figure 2 , Figure 13 and Figure 14 , a contact section 23 is connected between two first lugs 21 on the same side, and / or a contact section 23 is connected between two second lugs 22 on the lower side; the radial extension distance of the contact section 23 is less than the radial extension distances of each of the first and second lugs; each contact section 23 abuts against a matching-shaped communication groove 15 on the hip structural member 1.

[0119] In the above setting, first, the design of the contact section 23 connects two first lugs 21 or two second lugs 22 and forms a mutual support relationship, so that the structural strength of the two first lugs 21 or two second lugs 22 is increased.

[0120] Second, the contact section 23 can also realize the connection with the hip structural member 1, cooperate with and abut against the communication groove 15, which increases the connection stability between the lug and the hip structural member 1 and makes the assembly structure more stable and reliable.

[0121] Third, similar to the structure of the communication groove 15 provided for the two first bayonets 111 or two second bayonets 112, when processing the lugs, the two first lugs 21 or two second lugs 22 can be positioned simultaneously through the contact section 23, and the position accuracy between them is higher, and the structure after connection is more stable and reliable.

[0122] In one embodiment, each contact section 23 is provided with an assembly hole penetrating radially, and a fastener passes through this assembly hole to assemble the contact section 23 and the two lugs connected thereto to the hip structural member 1. In this way, the connection positions between the housing of the hip pitch joint and the hip structural member 1 are increased, the connection is more firm, and the stability and reliability of the assembly structure are ensured.

[0123] In one embodiment, please refer to Figure 14 , the first lug 21 and the second lug 22 both have the same lug structure. Each lug includes an outer positioning surface e1, two radial positioning surfaces e2, and an inner fitting surface e3. The outer positioning surface e1 is an arc-shaped extension surface located on the outer side of each lug, and the inner fitting surface e3 is an arc-shaped extension surface located on the inner side of each lug. The two radial positioning surfaces e2 are respectively connected to both ends of the outer positioning surface e1 and both ends of the inner fitting surface e3.

[0124] In the above setting, the outer positioning surface e1 can adapt to the limit position of the snap connection, and the arc surface can withstand a large load to avoid the failure of the connection strength. The radial positioning surfaces e2 of multiple lugs effectively achieve precise radial positioning, avoid the rotational freedom of the hip pitch joint, and can also bear the force through multiple radial positioning surfaces e2 when subjected to torsion. The inner fitting surface e3 can be the outer surface of the housing of the hip pitch joint to achieve the leading surface for positioning and machining. The cooperation of multiple surfaces of the lugs and the bayonet for positioning and assembly not only improves the assembly efficiency but also ensures the accuracy and firmness of the connection.

[0125] In one embodiment, please refer to Figure 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 component 32. The axis line d2 of the installation cavity of the lumbar yaw joint mounting position b11 is coaxial with the output end of the transmission component 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 on the side, the first axis d3, the second axis d4, and the third axis d5 are parallel and spaced at a preset distance, and the second axis d4 and the third axis d5 are respectively located on both sides of the first axis d3.

[0126] In the above setting, the lumbar yaw joint module 31 realizes offset through the transmission component 32. Such a setting is in a different plane from the axis of the hip pitch joint module 2, which can avoid the joint modules being in the same plane due to the intersection of the axes, and at the same time occupy a large hip space, resulting in an overly compact hip position but an increased volume.

[0127] The axis of the transmission component 32, that is, the first axis d3, keeps the yaw rotation axis of the upper body consistent with the axis line d2 of the installation cavity of the lumbar yaw joint mounting position b11, thus ensuring that the rotation of the upper body relative to the hip structural member 1 is accurate and reliable. And the first axis d3 is located between the second axis d4 and the third axis d5, which places the upper body in a relatively balanced position in the hip structural member 1 in the second horizontal direction Y, facilitating the maintenance of the balance of the humanoid robot in the standing state.

[0128] In one embodiment, please refer toFigure 15 In the horizontal projection on the side, the distance between the second axis d4 and the first axis d3 is less than the distance between the third axis d5 and the first axis d3.

[0129] In one embodiment, the combined mass of the two hip pitch joint modules 2 in the hip structure is relatively large compared to the mass of the waist yaw joint 3. To maintain mass balance in the horizontal second direction Y, the weight of the upper body needs to be considered close to the hip pitch joint modules 2 in the horizontal second direction Y. Therefore, the distance between the second axis d4 and the first axis d3 is set to be less than the distance between the third axis d5 and the first axis d3.

[0130] In one embodiment, please refer to Figure 15 , since the waist yaw joint 3 is offset along the horizontal second direction Y, and its outer side and bottom part are located outside the hip structure member 1. In this embodiment, the first reinforcing member 41 and the second reinforcing member 42 are provided on both side beams to protect the waist yaw joint 3. The second reinforcing member 42 supports the bottom of the waist yaw joint 3, and the second reinforcing member 42 protects the vicinity of the output end of the waist yaw joint 3. The cooperation of the two enables the waist yaw joint 3 to be fully positioned.

[0131] In one embodiment, please refer to Figure 16 and Figure 17 , a humanoid robot is provided, which mainly includes the assembly structure of the hip pitch joint of the humanoid robot and the hip structure member 1 in any of the above embodiments, and a torso assembly connected through the waist yaw joint mounting position b11. The beneficial effects of the assembly structure of the hip pitch joint of the humanoid robot and the hip structure member 1 are described in detail in the above embodiments and will not be elaborated here.

[0132] In one embodiment, please refer to Figure 16 and Figure 17 , the torso assembly of the humanoid robot includes a head 51, a neck, a torso 52, a waist, and arms 53. The hip is connected to the torso assembly through the waist yaw joint mounting position b11. The hip pitch joint is connected to the legs, and the legs further include 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.

[0133] Among them, the head 51, the neck, and the torso 52 are connected in sequence. The two arms 53 are connected to opposite sides of the torso 52. The waist includes a waist omnidirectional joint 54 connected below the torso 52, and its 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 a transmission component 32 to achieve omnidirectional movement of the waist.

[0134] The output end of the hip pitch joint is connected to the leg roll joint 55 through a connecting member, and the axis of rotation of the hip pitch joint does not intersect with the axis of rotation of the leg roll joint 55. The leg roll joint 55 is connected to the leg yaw joint 56 through a connecting member, and the hip pitch joint, the leg roll joint 55, and the leg yaw joint 56 simultaneously drive the thigh structure 57 to achieve the movement of the leg.

[0135] The thigh structure 57 of the leg is connected to the leg yaw joint 56. A knee joint 58 is provided between the thigh structure 57 and the calf structure 59 for directly driving the movement of the calf structure 59. An ankle drive joint is provided on the calf structure 59 to achieve the omnidirectional movement of the ankle joint 60 by driving a rocker arm, and drive the sole to rotate to adapt to different bottom surface requirements. Such a multi-degree-of-freedom robot can achieve actions such as mimicking human walking, standing, and bending. Combined with the arm 53, it can also achieve complex behavioral actions such as carrying and climbing over.

[0136] 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 principle of the present application shall be included within 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 should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. An assembly structure of a hip pitch joint and a hip structural member of a humanoid robot, characterized in that, Comprising: A hip structural member configured with two substantially hollow annular joint fixing positions. On both sides of the upper edge of each joint fixing position, two first bayonets are respectively provided, and on both sides of the lower edge of each joint fixing position, two second bayonets are respectively provided; the hip structural member is a frame structure composed of multiple structural beam bodies, and the structural beam bodies include a top beam body, a bottom beam body, and side beams. The side beams are inclined and connected to the top beam body and the bottom beam body; Two side beams on the same side, together with the top beam body and the bottom beam body, constitute one of the joint fixing positions. The two joint fixing positions are symmetrically arranged on both sides of the hip structural member respectively, and the joint fixing positions have an assembly cavity with an annular inner wall; Define the connection parts between the two side beams and the top beam body respectively as the first joint parts, and define the connection parts between the two side beams and the bottom beam body respectively as the second joint parts; the two first bayonets are respectively arranged at the two first joint parts, and the two second bayonets are respectively arranged at the two second joint parts; Two hip pitch joint modules, on the outer sides of the housings of the two hip pitch joint modules, two first lugs and two second lugs are respectively provided; Wherein, the two hip pitch joint modules are respectively embedded in the two joint fixing positions, and the two first lugs of the two hip pitch joint modules are respectively engaged with the two first bayonets, and the two second lugs of the two hip pitch joint modules are respectively engaged with the two second bayonets, and each lug and each bayonet are fixedly connected by fasteners.

2. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 1, characterized in that, The axis lines of the two joint fixing positions are inclined downward and the included angles with the horizontal plane are respectively 45 degrees ± 10 degrees.

3. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 1, characterized in that, Both the first bayonet and the second bayonet include openings communicating with the installation cavity inside the joint fixing position; And between the two first bayonets in the same joint fixing position, they are communicated by a communication groove, and / or between the two second bayonets in the same joint fixing position, they are communicated by a communication groove; The communication groove communicates with the installation cavity inside the joint fixing position, and the radial extension distance of the communication groove is less than that of the first bayonet and the second bayonet.

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

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

6. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 1, characterized in that, A plurality of the top beam bodies of the hip structural member are connected end to end to form an upper structural layer, and a waist yaw joint mounting position is formed in the middle of the upper structural layer. The waist yaw joint mounting position has a mounting cavity with an annular inner wall and a docking seat located outside the mounting cavity. The docking seat is used for firmly connecting with the waist yaw joint.

7. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 6, wherein The hip structural member further has an internal support beam body. The support beam body includes a lower vertical beam body and two upper diagonal brace beam bodies. A first cavity is formed between the two diagonal brace beam bodies. The first cavity communicates with the assembly cavity, and two first through holes are formed in the two diagonal brace beam bodies respectively corresponding to the two joint fixing positions.

8. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 7, wherein A second through hole is formed in the bottom beam body, and the vertical beam body is provided with a notch or an opening corresponding to the second through hole.

9. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 6, wherein A relief notch is provided in the middle of one of the top beam bodies between the two first joint portions. The relief notch is horizontally connected to the mounting cavity of the waist yaw joint mounting position.

10. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 6, wherein The axis line of the mounting cavity of the waist yaw joint mounting position is parallel to and spaced apart by a preset distance from the axis lines of the two joint fixing positions in the side view horizontal direction projection.

11. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 1, wherein The first bayonet and the first lug overlap at least partially in the vertical direction; and / or The second bayonet and the second lug overlap at least partially in the vertical direction.

12. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 3, wherein An abutting section is connected between the two first lugs on the same side, and / or an abutting section is connected between the two second lugs on the lower side; the radial extension distance of the abutting section is less than the radial extension distances of each of the first and second lugs; Each of the abutting sections abuts against a matching-shaped communication groove on the hip structural member.

13. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 12, wherein Each of the abutting sections is provided with a radially penetrating assembly hole, and a fastener passes through this assembly hole to assemble the abutting section and the two lugs connected thereto to the hip structural member.

14. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 1, wherein The first lug and the second lug both have the same lug structure. Each lug includes an outer positioning surface, two radial positioning surfaces, and an inner assembly surface. The outer positioning surface is an arc-shaped extended surface located on the outer side surface of each lug. The inner assembly surface is an arc-shaped extended surface located on the inner side of each lug. The two radial positioning surfaces are respectively connected to the two ends of the outer positioning surface and the two ends of the inner assembly surface.

15. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 6, wherein 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 component. The axis of the installation cavity of the waist yaw joint installation position is coaxial with the output end of the transmission component, 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 the horizontal direction projection on the side, 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.

16. The assembly structure of the hip pitch joint and the hip structural member of the humanoid robot according to claim 15, wherein In the horizontal direction projection on the side, the distance between the second axis and the first axis is less than the distance between the third axis and the first axis.

17. An assembly structure of a hip pitch joint and a hip structural member of a humanoid robot, characterized in that, Comprising: A hip structural member, which is constructed with two substantially hollow annular joint fixing positions. On both sides of the upper edge of the joint fixing position, two first bayonet openings are respectively provided. On both sides of the lower edge, two second bayonet openings are respectively provided. The hip structural member includes an upper structural layer and two side structural bodies extending downward. The upper edges of the two side structural bodies are joined to the corresponding edges of the upper structural layer. The lower edges of the two side structural bodies are directly or indirectly connected through a lower structural member. The horizontal distance between the outer side surfaces of the two side structural bodies at the upper end is a first distance, and the horizontal distance between the outer side surfaces of the two side structural bodies at the lower end is a second distance. The first distance is greater than the second distance. Two of the joint fixing positions are respectively constructed on the two side structural bodies. The joint fixing positions are substantially hollow circular rings. Each side structural body includes two side edges located on both sides of the joint fixing position. At the junction of each side edge and the upper structural layer, the first bayonet opening is provided. At the junction of each side edge and the lower structural layer, the second bayonet opening is provided. Two hip pitch joint modules, and two first lugs and two second lugs are respectively provided on the outer sides of the shells of the two hip pitch joint modules. Wherein, the two hip pitch joint modules are respectively embedded in the two joint fixing positions. The two first lugs of the two hip pitch joint modules are respectively engaged with the two first bayonet openings, and the two second lugs of the two hip pitch joint modules are respectively engaged with the two second bayonet openings. And each lug and each bayonet opening are fixedly connected through a fastener. The lug and the bayonet opening form a three-dimensional curved surface contact surface.

18. A humanoid robot, characterized in that, An assembly structure of a hip pitch joint and a hip structural member of a humanoid robot according to any one of claims 1 to 17, and a torso assembly connected through a waist yaw joint mounting position.

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