Humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, discloses a humanoid robot and solves the problem that the leg distance is too large due to existing coaxial joint layout. In a standing posture, an output flange of the hip pitching joint is obliquely arranged downwards and is fixedly connected with a shell of the leg rolling joint through a rigid connecting piece; the rotating axis of the leg rolling joint is parallel to the advancing direction of the robot; the hip pitching joints and the leg rolling joints are arranged in a staggered manner on a vertical projection plane; on a horizontal projection plane, the projection area of the hip pitching joint at least partially covers the projection area of the leg rolling joint. The positions of the two leg rolling joints are changed, the two leg rolling joints are shifted towards the inner side and the lower side of the body, and the positions, located on the rotating axes of the hip pitching joints, of the rotating shafts of the original leg rolling joints are moved out and moved to the area between the rotating axes of the two hip pitching joints, so that the distance between the two thighs is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to a humanoid robot. Background Art

[0002] In the joint configuration scheme of a humanoid robot, one design is to install the hip pitch joint obliquely on the hip, and set the leg roll joint of the thigh on the rotation axis of the hip pitch joint. Specifically, the rotation axis of the leg roll joint and the rotation axis of the hip pitch joint are arranged coplanarly on an inclined plane, and the rotation axis of the hip pitch joint roughly passes through the center of the rotation axis of the leg roll joint on this inclined plane. For the convenience of description, this structure is temporarily referred to as a coaxial structure. This design is mainly based on two considerations: first, the coaxial structure conforms to the symmetrical aesthetics of mechanical design; second, it is generally believed in the field that the coincidence of the rotation axis and the center of gravity is conducive to the coordinated movement of the hip pitch joint and the leg roll joint, and at the same time facilitates the balanced transfer of loads.

[0003] However, after analysis of actual application, it was found that the above configuration scheme did not achieve the expected optimization effect. After actual research on the coaxial design, it was found that this would cause a significant increase in the distance between the two legs, which in turn caused a series of structural problems: First, in order to avoid movement interference with the legs, the robot's arms also need to move outward in the vertical direction to avoid the leg joints, further expanding the overall horizontal width of the robot; secondly, the increase in the distance between the thighs further increases the strength requirements of the hip structure connected to the middle of the two thighs. The size expansion of the robot not only affects the compactness of the robot, but may also limit its passing performance during movement. Therefore, there is an urgent need for a better joint configuration scheme in the prior art.

[0004] like Figure 1 As shown, in an existing humanoid robot structure, the output flange of the hip pitch joint module 191 is coaxially arranged with the shell of the leg roll joint module 193, the rotation axis dA2 of the hip pitch joint module intersects with the rotation axis dA1 of the leg roll joint module, and the center of the rotation axis dA1 of the leg roll joint module is approximately located on the rotation axis dA2 of the hip pitch joint module, forming a coaxial structure. Figure 1 It can be seen that the distance between the two thighs has increased significantly.

[0005] like Figure 2 The figure further shows the simplified structure of the coaxial design: the rotation axis dA1 of the leg roll joint module is coplanar with the rotation axis dA2 of the hip pitch joint module, and the two have an overlapping area on the horizontal projection plane. Although this layout conforms to the symmetrical aesthetics, there are the following problems in practical applications: the coaxial design forces the distance between the two legs to increase, and the outward movement of the arms increases the overall width, reducing compactness. Summary of the invention

[0006] The present application provides a humanoid robot, aiming to solve the problem of excessive overall horizontal width in existing robots.

[0007] In one embodiment, a humanoid robot is provided, in which, when in a standing posture, the output flange of the hip pitch joint is tilted downward and fixedly connected to the shell of the leg roll joint through a rigid connector; the rotation axis of the leg roll joint is parallel to the forward direction of the robot; the hip pitch joint and the leg roll joint are staggered on the vertical projection plane; and on the horizontal projection plane, the projection area of ​​the hip pitch joint at least partially covers the projection area of ​​the leg roll joint.

[0008] In one embodiment, a hip structure is further included, wherein the hip structure is provided with a hip pitch joint fixing position inclined downward, and the hip structure does not include a supporting structure for directly mounting a leg roll joint; wherein the hip pitch joint assembly is arranged at the hip pitch joint fixing position.

[0009] In one embodiment, the angle θ between the rotation axis of the hip pitch joint and the horizontal plane satisfies: 15 degrees <θ < 35 degrees, or 20 degrees <θ < 30 degrees, or θ≈25 degrees.

[0010] In one embodiment, the angle θ≈0 between the rotation axis of the leg roll joint and the horizontal plane.

[0011] In one aspect, the downward projection of the hip pitch joint in the vertical direction at least partially covers the leg roll joint.

[0012] In one embodiment, on the sagittal plane passing through the rotation axis of the hip pitch joint, the vertical or downward projection coverage ratio η of the hip pitch joint over the leg roll joint satisfies: η≥30%, or η≥50%, or η≥70%.

[0013] In one embodiment, the rigid connector is provided with a first connecting end and a second connecting end; the first connecting end is fixedly connected to the output flange of the hip pitch joint by a fastener, and the second connecting end is fixedly connected to the shell of the leg roll joint by a fastener; on the horizontal projection plane, the overlapping area of ​​the projections of the two connecting ends is ≥50% or =100%.

[0014] In one embodiment, the rigid connector has a cavity between the first connecting end and the second connecting end, and the cavity is used for passing the wire; the hip pitch joint is a hollow joint with a hollow passing hole.

[0015] In one embodiment, the end face of the second connecting end is roughly arc-shaped, and is provided with a plurality of symmetrically distributed trapezoidal convex ribs, and the outer shell of the leg roll joint is provided with a plurality of trapezoidal grooves matching the trapezoidal convex ribs.

[0016] In one scheme, it also includes a leg yaw joint, which is arranged below the leg roll joint; the leg yaw joint is fixedly connected to the output flange of the leg roll joint, and the rotation axis of the leg yaw joint and the rotation axis of the leg roll joint are perpendicular to each other; the output flange of the leg yaw joint is arranged upward in the vertical direction, and the shell of the leg yaw joint is connected to the thigh structure.

[0017] Beneficial effects of this application: This application breaks through the paradigm of traditional coaxial design and reconstructs the spatial layout of the leg roll joint. By offsetting the rotation axis of the leg roll joint to the inside and bottom of the body, it is separated from the original hip pitch joint rotation axis position and positioned in the area between the two hip pitch joint axes. On the one hand, this layout compresses the thigh distance through axis misalignment, significantly improving the compactness of the lower limb structure; on the other hand, it releases the space on the inside of the hip, allowing the two arms to be adducted and close to the torso, while simultaneously reducing the distance between the two arms. This dual optimization effectively reduces the overall horizontal width of the robot and enhances its spatial passability during movement. At the same time, it reconstructs the joint torque transmission path through axis offset, reduces the risk of motion interference, and provides basic support for high-dynamic motion performance in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 is a front view structural diagram of the crotch portion of a humanoid robot in an embodiment of the prior art; Figure 2 It is a simplified structural diagram of components on one side of the crotch of a humanoid robot in one embodiment of the prior art; Figure 3a This is a simplified schematic diagram of the hip structure of a humanoid robot in one embodiment of the present application. Figure 1 ; Figure 3b This is a simplified schematic diagram of the hip structure of a humanoid robot in one embodiment of the present application. Figure 2 ; Figure 3c Schematic diagram 3 of the simplified structure of the crotch of the humanoid robot in one embodiment of the present application; Figure 4 is a schematic diagram of the three-dimensional structure of the crotch of a humanoid robot in an exemplary embodiment of the present application; Figure 5 is a schematic diagram of the front view structure of the crotch of a humanoid robot in an exemplary specific embodiment of the present application; Figure 6 is a schematic diagram of a unilateral top view of the crotch portion of a humanoid robot in an exemplary embodiment of the present application; Figure 7 is a schematic diagram of a cross-sectional structure of a hip portion of a humanoid robot in an exemplary embodiment of the present application; Figure 8 is a schematic diagram of a one-side exploded structure of a humanoid robot's crotch in a three-dimensional state in an exemplary embodiment of the present application; Fig. 9 is a schematic diagram of a one-side exploded structure of a humanoid robot in a frontal view of a crotch portion in an exemplary specific embodiment of the present application; Fig.10 is a schematic diagram of the front view structure of the rigid connecting member of a humanoid robot in an exemplary specific embodiment of the present application; Fig.11 is a schematic diagram of a three-dimensional structure of a rigid connecting member of a humanoid robot in an exemplary specific embodiment of the present application; Fig.12 is a schematic diagram of the output end surface structure of the hip pitch joint of a humanoid robot in an exemplary specific embodiment of the present application; Fig.13 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0020] Fig.14 It is a schematic diagram of the three-dimensional structure of the lower body of a humanoid robot in one embodiment of the present application.

[0021] Reference numerals in the figures: Reference numerals: 1. Hip pitch joint; 11. Output flange; 111. Snap-in groove; 112. Second assembly hole; 12. Bearing; 13. Joint housing; 131. Clip-in ear; 2. Rigid connector; 21. First connecting end; 211. Connecting flange; 212. Shaft clamp; 213. Block; 22, second connecting end; 221, arc-shaped piece; 222, trapezoidal convex rib; 23. Cavity; 24. First assembly hole; 3. Leg roll joint; 31. Outer shell; 311. Trapezoidal slot; 4. Hip structural parts; 41. Hip pitch joint fixing position; 42. Internal support frame; 43. Waist yaw connection position; 5. Leg yaw joint; 51. Shell; 6. Waist yaw joint; 7. Waist connector; 8. Lumbar full-direction joint; 91. Thigh structure; 92. Knee joint; 93. Calf; 94. Ankle joint.

[0022] X is the horizontal first direction; Y is the horizontal second direction; Z is the vertical direction; H is the horizontal plane; d1, rotation axis of the leg roll joint; d2, rotation axis of the hip pitch joint; θ, the angle between the rotation axis of the hip pitch joint and the horizontal plane; S1, lateral overlap area; 191, hip pitch joint module; 193, leg roll joint module; dA1, the rotation axis of the leg roll joint module; dA2, the rotation axis of the hip pitch joint module. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] See also Figures 3a to 4As shown, in one embodiment of the present application, the humanoid robot mainly includes two hip pitch joints 1, two rigid connectors 2, two leg roll joints 3 and a hip structure 4.

[0031] Among them, when in a natural standing posture, that is, the humanoid robot's legs are on the ground and the humanoid robot's torso is roughly distributed in a plane, the output flange 11 of the hip pitch joint 1 of the humanoid robot is tilted downward and fixedly connected to the outer shell 31 of the leg roll joint 3 through a rigid connector 2, wherein the rigid connector 2 has a high hardness and will not deform under normal working conditions.

[0032] The rotation axis d1 of the leg roll joint is parallel to the robot's forward direction, or parallel to the horizontal second direction Y (see Fig.13 , Fig.14 ), the direction of travel is directly facing the direction, or the direction of going straight ahead.

[0033] The hip pitch joint 1 and the leg roll joint 3 are staggered on the vertical projection plane, which means that the hip pitch joint 1 and the leg roll joint 3 are staggered in the horizontal first direction X (see Fig.13 , Fig.14 ) do not overlap in projection, so that the leg roll joint 3 can be moved to the inside between the thighs, which can make the leg roll joints 3 of the two legs closer together, thereby reducing the distance between the two legs.

[0034] On the horizontal projection plane, the projection area of ​​the hip pitch joint 1 at least partially covers the projection area of ​​the leg roll joint 3. This layout is beneficial to optimizing the structural space. Due to the vertical overlap, the vertical static load and the force arm of the dynamic load on the rigid connector 2 can be shortened, thereby improving the overall rigidity and the height of the robot's hips, making the robot taller and more bionic, and the center of gravity is increased, which is beneficial to motion control.

[0035] In one embodiment, referring to Figure 4 as well as Figure 5 As shown, two downwardly inclined hip pitch joint fixing positions 41 are symmetrically arranged on both sides of the hip structure 4 of the humanoid robot for installing the hip pitch joint 1. The hip pitch joint 1 is assembled and connected to the hip pitch joint fixing position 41 with one end away from the output flange.

[0036] In one embodiment, referring to Figure 4 as well as Figure 5As shown, the hip structural member 4 does not include a support structure for directly mounting the leg roll joint 3. That is, the leg roll joint 3 does not need to be connected to the hip structural member 4, and the hip pitch joint 1 is assembled and arranged on the hip pitch joint fixing position 41. Thus, the distal output end of the hip pitch joint 1 can be used to connect and install the leg roll joint 3, so that the hip pitch joint 1 and the leg roll joint 3 can be stacked in sequence along the extension line of the thigh, without the need to assemble multiple joints on the hip structural member 4, so as to avoid the bloated structure of the hip.

[0037] In one embodiment, referring to Figure 5 as well as Figure 6 As shown, the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane satisfies: 15 degrees < θ < 35 degrees. For example, the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane can be 16 degrees, 17 degrees, 19 degrees, 21 degrees, 23 degrees, 25 degrees, 27 degrees, 29 degrees or 30 degrees. This angle allows the hip pitch joint 1 to be fixed to a fixed position on the higher hip structure 4, and can also be connected to the lower leg structure.

[0038] In one embodiment, the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane satisfies: 20 degrees <θ <30 degrees, for example: the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane can be 21 degrees, 22 degrees, 22.5 degrees, 23 degrees, 25 degrees, 27 degrees or 29 degrees. The angle range is further narrowed, mainly considering that when this inclination angle is less than 30 degrees and greater than 20 degrees, on the one hand, it can moderately reduce the horizontal width occupied by the two opposing hip pitch joints, and on the other hand, it can provide a suitable rolling inclination angle for the thigh rotation action, which is closer to the height and range of the thigh swing out in a natural state.

[0039] In one embodiment, the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane satisfies: the angle θ is approximately equal to 25 degrees. This angle design allows the output flange 11 of the hip pitch joint 1 to extend downward at a certain inclination angle, forming a staggered layout with the leg roll joint 3, thereby reducing the horizontal width of the overall structure. From the perspective of bionic design, the aesthetics are better.

[0040] See also Figure 4 As shown, in one embodiment, the rotation axis d1 of the leg roll joint is parallel to the forward direction of the robot, that is, parallel to the horizontal second direction Y (see Fig.13 , Fig.14 ), and its angle with the horizontal plane is ≈0 degrees. This design makes the rotation axis of the leg roll joint 3 basically parallel to the ground, which is conducive to the lateral movement of the lower limbs, and at the same time complements the tilted hip pitch joint 1 to jointly optimize the robot's motion performance.

[0041] See also Figure 5As shown, in one embodiment, the angle θ between the rotation axis d2 of the hip pitch joint and the horizontal plane H is ≈25 degrees, so that the output flange 11 of the hip pitch joint 1 is tilted and roughly points in the direction of the leg roll joint 3. When the tilt angle θ≈25 degrees, the direction of the joint output torque is approximately perpendicular to the direction of the leg gravity, reducing the joint load, and the tilt angle optimizes the arm length of the rigid connector.

[0042] See also Figure 3a As shown, in one embodiment, on the vertical projection plane (YZ plane), the hip pitch joint 1 and the leg roll joint 3 are arranged in a staggered manner. Figure 3a As shown in the figure, on the horizontal projection plane (XY plane), the lateral overlap area S1 is about 30%, the projection area of ​​the hip pitch joint 1 covers 30% of the leg roll joint 3, and the projection coverage rate η satisfies: η≥30%. For example, the projection coverage rate η is 30%, 35%, 40%, 45%, 50%, 55%, 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95% or 100%.

[0043] The output flange 11 of the hip pitch joint 1 is tilted downward and fixedly connected to the shell of the leg roll joint 3 through the rigid connector 2. The projections of the two joints in the two horizontal directions (X, Y) are staggered, and the projection in the vertical direction Z is partially covered. The staggered layout allows the leg roll joint to shift inward and reduce the lateral distance between the two legs. The vertical projection coverage (≥30%) ensures that the load between the joints is transmitted vertically through the rigid connector to avoid torque dispersion. According to the torque formula: T=F×L, the shortening of the lever arm L will directly reduce the torque on the rigid connector 2, thereby reducing the bending stress of the rigid connector 2.

[0044] In one embodiment, if Figure 3b As shown, on the horizontal projection plane (XY plane), the projection area of ​​the hip pitch joint 1 covers 50% of the leg roll joint 3, wherein the lateral overlap area S1' is approximately 50%, and the projection coverage rate η satisfies: η≥50%. For example, the projection coverage rate η is 50%, 55%, 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95% or 100%.

[0045] In one embodiment, if Figure 3c As shown, on the horizontal projection plane (XY plane), the projection area of ​​the hip pitch joint 1 covers 70% of the leg roll joint 3, of which the lateral overlap area S1'' is about 70%, and the projection coverage rate η satisfies: η ≥ 70%. The distance between the two legs is significantly reduced. For example, the projection coverage rate η is 70%, 75%, 80%, 85%, 90%, 95% or 100%.

[0046] See also Figure 4 , Figure 5 and Fig.12 As shown, in one embodiment, the hip structural member 4 is a frame-type structural member, and the outer contour shape of the hip structural member 4 can be roughly an inverted trapezoid as a whole. The hip structural member 4 is provided with downwardly inclined hip pitch joint fixing positions 41 on both sides, and the hip structural member 4 can be provided with a waist yaw connection position 43 between the two hip pitch joint fixing positions 41, and an approximately Y-shaped inner support frame 42 is provided in the hollow interior of the hip structural member 4.

[0047] The inclination angle θ of the hip pitch joint fixing position 41 is 25 degrees, and the joint housing 13 of the hip pitch joint 1 is provided with four substantially X-shaped cross-arranged clamping ears 131, which can be clamped by the clamping ears 131 (see Fig.12 ) is locked with the corresponding slots on the four corners of the hip pitch joint fixing position 41. The hip structure 4 is not directly mounted with the leg roll joint 3, but is indirectly connected through the rigid connector 2. The rotation axis d1 of the leg roll joint moves out from the rotation axis d2 of the hip pitch joint and deviates to the inside of the robot body to between the rotation axes d2 of the two hip pitch joints ( Figure 4 ), or in other words, the rotation axis d1 of the leg roll joint is moved to the angle range of less than 180 degrees between the rotation axes d2 of the two hip pitch joints, so that the distance between the two legs is effectively reduced.

[0048] In one embodiment, if Figure 4 , Fig.10 and Fig.11 As shown, the rigid connector 2 includes a first connector end 21 and a second connector end 22. The first connector end 21 is disposed at one end of the rigid connector 2. The first connector end 21 is roughly in the shape of a circular flange and is tilted to one side. The second connector end 22 is disposed at the other end of the rigid connector 2, and the shape of the second connector end 22 is roughly adapted to the shape of the shell of the leg roll joint 3. The first connector end 21 is fixed to the output flange 11 of the hip pitch joint 1 by bolts. In the natural standing state after assembly, the second connector end 22 completely overlaps with the first connector end 21 in vertical projection (projection overlap area 100%), which can be referred to Figure 3b as well as Figure 3c Understand and ensure the force transmission path is vertical and efficient.

[0049] In one embodiment, the vertical projection of the second connection end 22 of the rigid connector 2 partially overlaps with the first connection end 21, that is, the overlapping area of ​​the projection is less than 100% and greater than or equal to 50%, which can be referred to Figure 3a It is understood that the hip pitch joint 1 and the leg roll joint 3 can be appropriately spaced apart to give the thigh a greater range of motion.

[0050] The embodiment of the present application indirectly connects the leg roll joint 3 and the hip structure 4 through the rigid connector 2, breaking the coaxial constraint between the hip pitch joint 1 and the leg roll joint 3, allowing the leg roll joint 3 to deviate inward and downward, releasing the space for thigh adduction.

[0051] See also Figures 7 to 9 As shown, in one embodiment, the middle section of the rigid connector 2 is configured with an inner cavity 23, which is connected to the hollow wire hole of the hip pitch joint 1 to achieve the built-in wiring of the motor cable ( Figure 7 The inner wall of the cavity 23 can also be covered with an insulating layer to prevent cable wear. The end face of the output flange 11 of the hip pitch joint 1 is provided with an annular snap-fit ​​groove 111, which is snap-fitted with the block 213 of the rigid connector 2 ( Fig.11 Combination Fig.12 As shown), at the same time, the outer wall surface of the pressing ring 212 is abutted against the inner wall of the inner ring of the bearing 12 at the end surface of the output flange 11 (see Fig.12 ), so as to provide axial and radial support for the rigid connector 2 during rotation. The connecting flange 211 of the first connecting end 21 is provided with a plurality of first assembly holes 24 in an annular array, which are fixed to the second assembly holes 112 of the output flange 11 of the hip pitch joint 1 by bolts to ensure the connection strength.

[0052] See also Figure 8 and Fig.10 As shown, in one embodiment, the end surface of the second connection end 22 of the rigid connector 2 includes an arc-shaped arc piece 221, and a plurality of assembly holes are provided on the arc piece 221. Each arc piece 221 can have two sets of symmetrically distributed trapezoidal convex ribs 222. The trapezoidal shape here means that the trapezoidal convex ribs 222 are closer to the arc piece 221 and have a larger width relative to the convex end due to the rounded corners or chamfers. The trapezoidal slot 311 provided on the outer shell 31 of the leg roll joint 3 is plugged and locked with the trapezoidal convex ribs 222 of the second connection end 22 of the rigid connector 2 (see Figure 8 ), which can enhance the torsional rigidity after the second connecting end 22 is connected to the outer shell 31.

[0053] During assembly, the trapezoidal rib 222 slides into the trapezoidal slot 311 and is locked by radial screws to form a self-locking anti-torsion structure ( Figure 7 ).

[0054] See also Fig.13 , 14As shown, in one embodiment, the humanoid robot adopts a symmetrical layout as a whole, and the waist is connected to the trunk and hip through the waist yaw joint 6, the waist connecting member 7 and the waist omnidirectional joint 8. The thigh structure 91 is sequentially connected to the leg roll joint 3, the leg yaw joint 5, the knee joint 92, the calf 93 and the ankle joint 94. Since the vertical projections of the hip pitch joint 1 and the leg roll joint 3 partially overlap, the distance between the two legs is greatly reduced, and at the same time, the inner space of the thigh structure 91 is released, so that the thigh can be adducted close to the trunk (not shown), reducing the overall width of the robot and adapting to movement in narrow passages.

[0055] See also Fig.14 As shown, in one embodiment, a leg yaw joint 5 is connected to the lower side of the leg roll joint 3 along the vertical axis, and its housing 51 is connected to the thigh structure 91 through a flange. The rotation axis of the leg yaw joint 5 is perpendicular to the rotation axis d1 of the leg roll joint, and the output flange is arranged upward to form a hip-roll-yaw three-degree-of-freedom drive chain.

[0056] The sagittal plane S of the humanoid robot refers to a cross section that cuts the robot longitudinally into two left and right parts along the front-to-back direction of the humanoid robot. It is used to describe the movement of the robot in the front-to-back direction, the structural layout, and the positional relationship between the components. The above implementation method shows the technical solution in the claims in detail in combination with the drawings. Through the definition of specific structural parameters, assembly relationships, and projection layout, it solves the problems of excessive leg spacing and exposed wiring in the prior art, while ensuring the full realization of the technical effect.

[0057] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A humanoid robot, characterized in that: In standing posture, The output flange of the hip pitch joint is arranged obliquely downward and is fixedly connected to the housing of the leg roll joint through a rigid connector; The rotation axis of the leg roll joint is parallel to the forward direction of the robot; The hip pitch joint and the leg roll joint are arranged in a staggered manner on the vertical projection plane; On the horizontal projection plane, the projection area of ​​the hip pitch joint at least partially covers the projection area of ​​the leg roll joint.

2. The humanoid robot according to claim 1, characterized in that: Also includes: A hip structural member, the hip structural member being provided with a hip pitch joint fixing position tilted downward, the hip structural member not comprising a support structure for directly mounting the leg roll joint; Wherein, the hip pitch joint assembly is arranged at the hip pitch joint fixing position.

3. The humanoid robot according to claim 1, characterized in that: The angle θ between the rotation axis of the hip pitch joint and the horizontal plane satisfies: 15 degrees <θ <35 degrees, or 20 degrees <θ <30 degrees, Or θ ≈ 25 degrees.

4. The humanoid robot according to claim 1, characterized in that: The angle θ between the rotation axis of the leg roll joint and the horizontal plane is ≈0 degrees.

5. The humanoid robot according to claim 1, characterized in that: A downward projection of the hip pitch joint in the vertical direction at least partially covers the leg roll joint.

6. The humanoid robot according to claim 1, characterized in that: On the sagittal plane passing through the rotation axis of the hip pitch joint, the projection coverage ratio η of the hip pitch joint to the leg roll joint in the vertical direction or downward satisfies: η≥30%, or η≥50%, Or η≥70%.

7. The humanoid robot according to claim 1, characterized in that: Also includes: The rigid connecting member is provided with a first connecting end and a second connecting end; The first connection end is fixedly connected to the output flange of the hip pitch joint via a fastener, and the second connection end is fixedly connected to the housing of the leg roll joint via a fastener; On the horizontal projection plane, the overlapping area of ​​the projections of the two connection ends is ≥50% or =100%.

8. The humanoid robot according to claim 7, characterized in that: The rigid connector has a cavity between the first connection end and the second connection end, and the cavity is used for passing the wire; The hip pitch joint is a hollow joint with a hollow wire-passing hole.

9. The humanoid robot according to claim 7, characterized in that: The end face of the second connecting end is roughly arc-shaped, and is provided with a plurality of symmetrically distributed trapezoidal convex ribs. The outer shell of the leg roll joint is provided with a plurality of trapezoidal grooves matching the trapezoidal convex ribs.

10. The humanoid robot according to claim 1, characterized in that: Also includes A leg yaw joint, the leg yaw joint being arranged below the leg roll joint; The leg yaw joint is fixedly connected to the output flange of the leg roll joint, and the rotation axis of the leg yaw joint is perpendicular to the rotation axis of the leg roll joint; The output flange of the leg yaw joint is arranged upward in the vertical direction, and the shell of the leg yaw joint is used to be connected to the thigh structure.

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