Assembly structure of waist omni-directional joint module of humanoid robot, waist omni-directional assembly of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses an assembly structure of a waist omni-directional joint module of a humanoid robot, a waist omni-directional assembly of the humanoid robot and the humanoid robot, and the assembly structure of the waist omni-directional joint module of the humanoid robot comprises the waist omni-directional joint module, a first connecting piece and a second connecting piece. When the waist omni-directional joint module needs to be disassembled, the assembly constraint on the waist omni-directional joint module can be relieved by separating the first connecting part of the second connecting piece from the fastening piece of the first section of the waist omni-directional joint module and separating the second connecting part from the fastening piece of the first connecting piece; in this way, the upper end and the lower end of the first connecting piece do not need to be detached, and maintainability is high.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and relates to an assembly structure of a waist omnidirectional joint module of a humanoid robot, a waist omnidirectional component of a humanoid robot, and a humanoid robot. Background Art

[0002] The existing waist omnidirectional component is assembled between the upper body and the lower body to maintain the posture of the upper body relative to the lower body. During the startup time of the robot, the waist omnidirectional joint module needs to continuously output torque to maintain the posture of the upper body. At the same time, the commutation between the forward rotation and the reverse rotation of the waist omnidirectional joint module is also relatively frequent, resulting in a high disassembly and repair rate of the existing waist omnidirectional joint module.

[0003] The existing two waist omnidirectional joint modules are respectively assembled on the inner sides of two connecting pieces by bolts driven from the outside to the inside. When the waist omnidirectional joint module needs to be disassembled, due to the blocking edges on the outer sides of the two connecting pieces and the blocking of the upper and lower parts of the two connecting pieces, the waist omnidirectional joint module can only be disassembled inward to be separated from the connecting piece. And because there is not enough space between the two waist omnidirectional joint modules, and there are also cables connecting the upper body to the lower body between the two waist omnidirectional joint modules, the existing structure can only disassemble one of the waist omnidirectional joint modules after completely disassembling the two connecting pieces from the lower body and the upper body.

[0004] In summary, the existing assembly structure of the waist joint is not convenient for disassembly and has low maintainability. Summary of the Invention

[0005] The present application provides an assembly structure of a waist omnidirectional joint module of a humanoid robot, a waist omnidirectional component of a humanoid robot, and a humanoid robot to solve the technical problem that the waist omnidirectional joint module is not convenient for disassembly and has low maintainability.

[0006] In one technical solution, an assembly structure of a waist omnidirectional joint module of a humanoid robot is provided, which mainly includes: a waist omnidirectional joint module, a first connecting piece, and a second connecting piece; the waist omnidirectional joint module is defined to be divided into a first section and a second section in the axial direction; the first connecting piece includes an installation part with a hollow cavity, and the inner diameter of the cavity defined by the installation part is greater than the outer diameter of the first section; the second connecting piece includes a first connecting part and a second connecting part; wherein, the first section is fixedly connected to the first connecting part by a first fastening piece, the second connecting part is fastened to the first connecting piece by a second fastening piece, and at least part of the first section is located in the cavity defined by the installation part and abuts against its inner wall.

[0007] In one technical solution, the first connecting part is generally in a hollow ring shape, the second connecting part is generally in a hollow ring shape, and the outer wall surface of the first connecting part is fixedly connected to the inner wall surface of the second connecting part.

[0008] In a technical solution, the end face of the installation part is provided with a clamping block extending outward, and the second connecting part is configured with a clamping groove arranged along its axis direction, and the clamping block is in clamping fit with the clamping groove.

[0009] In a technical solution, the second connecting part is further configured with a plurality of extending parts protruding from the first connecting part, and the interval area between two of the extending parts is defined as the clamping groove. The first connecting part is provided with an arc-shaped abutting part extending outward on one end face of the installation part, and the arc-shaped surface of the arc-shaped abutting part is adapted to the outer wall surface of the extending part.

[0010] In a technical solution, at least one clamping block is connected to the inner wall of the arc-shaped abutting part, and the thickness of the clamping block, the thickness of the arc-shaped abutting part, and the thickness of the extending part are substantially equal.

[0011] In a technical solution, the installation part is configured with an abutting part that is generally annular. The outer wall surface of the abutting part is located inside the cavity defined by the installation part, and the inner wall surface of the abutting part abuts against the first section.

[0012] In a technical solution, the ratio of the axial length of the abutting part to the axial length of the cavity defined by the installation part is between 0.20 and 0.42, or the ratio of the axial length of the abutting part to the length of the first section along its axis direction is between 0.1 and 0.3.

[0013] In a technical solution, the axes of the first connecting part and the second connecting part are defined as the first axis. The first connecting part is provided with a plurality of first assembly holes extending along the first axis, and the second connecting part is provided with a plurality of second assembly holes extending along the first axis. The axes of any one of the first assembly holes, any one of the second assembly holes, and the first axis are not coplanar.

[0014] In a technical solution, the vertical direction in the standing state of the humanoid robot is defined as the first direction. At least two clamping blocks are respectively arranged at relatively opposite positions in the radial direction of the installation part along the first direction; the second connecting part is correspondingly configured with at least two clamping grooves, and the two clamping grooves are respectively arranged at relatively opposite positions in the radial direction of the second connecting part along the first direction.

[0015] In a technical solution, a waist omnidirectional component of a humanoid robot is provided, which mainly includes: two assembly structures of the waist omnidirectional joint module of the humanoid robot as described above. The axes of the two waist omnidirectional joint modules are arranged coaxially, and the ends of the two first sections far from the second sections are arranged adjacent to each other. The distance between the two waist omnidirectional joint modules is less than the length of any one of the waist omnidirectional joint modules along its axis direction.

[0016] In a technical solution, a humanoid robot is provided, which mainly includes the waist omnidirectional component of the humanoid robot as described above.

[0017] Advantages of the present application: There is provided an assembly structure of a waist omnidirectional joint module of a humanoid robot, a waist omnidirectional component of a humanoid robot, and a humanoid robot. When it is necessary to disassemble the waist omnidirectional joint module, the fastening members connecting the first connecting portion and the first section can be separated, and the fastening members connecting the second connecting portion and the first connecting member can be separated, so as to release the assembly constraint on the waist omnidirectional joint module, and the waist omnidirectional joint module can be taken out from the cavity defined by the first connecting member. Such a setting does not require disassembling the upper and lower ends of the first connecting member, and has strong maintainability. 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 in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a schematic three-dimensional structure diagram of the assembly of the waist and hip of a humanoid robot in an embodiment of the present application;

[0020] Figure 2 is an exploded schematic diagram of the assembly structure of a waist omnidirectional joint module in an embodiment of the present application;

[0021] Figure 3 is a schematic three-dimensional structure diagram of the assembly structure of a waist omnidirectional joint module in a sectional state in an embodiment of the present application;

[0022] Figure 4 is Figure 3 an enlarged schematic diagram of the assembly structure of the waist omnidirectional joint module at A;

[0023] Figure 5 is a schematic sectional view of the assembly structure of a waist omnidirectional joint module in a front view in an embodiment of the present application;

[0024] Figure 6 is Figure 5 an enlarged schematic diagram of the assembly structure of the waist omnidirectional joint module at B;

[0025] Figure 7 is Figure 5 a sectional view of the assembly structure of the waist omnidirectional joint module along the C-C direction;

[0026] Figure 8 is a schematic sectional view of the first connecting member of the assembly structure of a waist omnidirectional joint module in a front view in an embodiment of the present application;

[0027] Figure 9It is a schematic perspective view of the second connecting member of the assembly structure of the waist omnidirectional joint module in an embodiment of the present application;

[0028] Figure 10 It is a schematic perspective view of a humanoid robot in an embodiment of the present application.

[0029] Reference numerals in the figure:

[0030] 1. Waist omnidirectional joint module; 11. First section; 111. Third assembly hole; 12. Second section;

[0031] 2. First connecting member;

[0032] 21. Mounting part; 211. Abutting part; 212. Fourth assembly hole;

[0033] 22. Clamping block; 23. Arc-shaped abutting part;

[0034] 3. Second connecting member;

[0035] 31. First connecting part; 311. First assembly hole;

[0036] 32. Second connecting part; 321. Clamping groove; 322. Extension part; 323. Second assembly hole;

[0037] 41. First fastener; 42. Second fastener;

[0038] 51. Head; 52. Torso; 53. Arm; 54. Driven assembly; 55. Hip cross structure; 56. Waist yaw joint;

[0039] 57. Hip pitch joint; 58. Leg roll joint; 59. Leg yaw joint; 60. Thigh structure; 61. Knee joint; 62. Calf structure; 63. Ankle drive joint; 64. Foot ankle universal structure.

[0040] X is the second direction; Y is the third direction; Z is the first direction. Detailed implementation manners

[0041] The following combines the accompanying drawings and embodiments to further describe in detail the specific embodiments of the present application. 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 partial 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.

[0042] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by 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. is based on the orientation or positional relationship shown in the 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 to the present invention.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed 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, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0044] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "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 capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. 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.

[0045] In the present invention, unless otherwise clearly specified and defined, 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 indicates 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 indicates that the first feature has a lower horizontal height than the second feature.

[0046] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", 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 representations 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.

[0047] 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 features, 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.

[0048] The embodiments of the present application mainly relate to the assembly structure of the waist omnidirectional joint module of a humanoid robot, the waist omnidirectional component of a humanoid robot, and related technical improvements of a humanoid robot. The following will exemplarily elaborate on the related technical solutions of the present application with reference to the accompanying drawings.

[0049] In one embodiment, please refer to Figures 1 to 3 As shown, there is provided an assembly structure of a waist omnidirectional joint module of a humanoid robot, which mainly includes: a waist omnidirectional joint module 1, a first connecting member 2, and a second connecting member 3. It is defined that the waist omnidirectional joint module 1 is divided into a first section 11 and a second section 12 in the axial direction; the first connecting member 2 includes an installation portion 21 having a hollow cavity, and the inner diameter of the cavity defined by the installation portion 21 is greater than the outer diameter of the first section 11; the second connecting member 3 includes a first connecting portion 31 and a second connecting portion 32; wherein, the first section 11 is fixedly connected to the first connecting portion 31 through a first fastener 41, the second connecting portion 32 is fastened to the first connecting member 2 through a second fastener 42, and at least a part of the first section 11 is located in the cavity defined by the installation portion 21 and abuts against its inner wall.

[0050] When applying the above technical solution, the upper and lower ends of the first connecting member 2 are respectively connected to the torso and the hip of the humanoid robot. When it is necessary to disassemble the waist omnidirectional joint module 1, only the fasteners between the first connecting portion 31 and the first section 11, and between the second connecting portion 32 and the first connecting member 2 need to be loosened in sequence, and then the waist omnidirectional joint module 1 can be completely separated from the first connecting member 2. This design does not require disassembling the connection parts between the first connecting member 2 and the torso and the hip, significantly improving the maintainability of the device.

[0051] The assembly structure of the waist omnidirectional joint module of the above humanoid robot has two advantages: First, it effectively avoids the disassembly operation of the torso and the hip. Due to the high integration of the torso and the hip, the disassembly process not only requires disassembling a large number of parts but also requires delicate protection of each component. In contrast, only disassembling the waist omnidirectional joint module 1 is more convenient and efficient. Second, considering the strict requirements of the humanoid robot for assembly accuracy, frequent disassembly may lead to a decrease in the assembly accuracy of the upper and lower ends of the first connecting member. However, the disassembly process of this solution will not affect the position accuracy of the upper and lower ends of the first connecting member, thus ensuring the stability and reliability of the overall structure of the robot.

[0052] In one embodiment, please refer to Figure 2 and Figure 5 , the waist omnidirectional joint module 1 is divided into a first section 11 and a second section 12 in the axial direction, where the first section 11 is roughly the motor section of the joint module, and the second section 12 is roughly the reducer section of the joint module.

[0053] In one embodiment, please refer to Figure 2 and Figure 9 , the first connecting portion 31 is roughly in a hollow ring shape, the second connecting portion 32 is roughly in a hollow ring shape, and the outer wall surface of the first connecting portion 31 is fixedly connected to the inner wall surface of the second connecting portion 32. Such a setting can adapt to the cavity defined by the cylindrical waist omnidirectional joint module 1 and the corresponding installation portion 21. The assembly surface is annular, which is convenient for achieving precise positioning, effectively reducing the risk of offset during the assembly process, and at the same time simplifying the installation steps, improving the assembly efficiency and stability.

[0054] In one embodiment, please refer to Figure 9 , the second connecting member 3 is an integral structural member.

[0055] In one embodiment, please refer to Figure 2 and Figure 7 , the end face of the installation portion 21 is provided with a clamping block 22 extending outward, and the second connecting portion 32 is configured with a clamping groove 321 arranged along its axial direction. The clamping block 22 and the clamping groove 321 are in clamping cooperation. The setting of the clamping block 22 and the clamping groove 321 can achieve a reliable clamping effect. The two cooperate with each other to form a limiting structure, effectively preventing the second connecting member 3 from rotating around the axis relative to the first connecting member 2.

[0056] In actual operation, the lumbar omnidirectional joint module 1 will apply a certain torque to the second connecting member 3, and the second connecting member 3 will transfer the torque to the first connecting member 2. In this case, the second fastener 42 between the first connecting member 2 and the second connecting member 3 will be subjected to the shear force, and this stress condition will easily cause damage to the second fastener 42, and may even cause the problem of being unable to be disassembled. However, when the second connecting member 3 is prevented from rotating around the axis relative to the first connecting member 2 by the cooperation between the clamping block 22 and the clamping groove 321, the clamping part will bear the corresponding force, thereby successfully preventing the force from being transferred to the second fastener 42, thereby playing a good protective role for the second fastener 42.

[0057] In addition, the positioning groove 321 on the second connecting portion 32 not only has the above functions, but also plays an important positioning role in the assembly process, making the assembly between the second connecting member 3 and the first connecting member 2 more accurate and efficient.

[0058] In one embodiment, see Figure 7 The engaging block 22 and the engaging groove 321 respectively have one or two pairs of axially extending surfaces engaging with each other.

[0059] In one embodiment, see Figure 7 The radial inner wall of the clamping block 22 is adapted to the radial inner wall of the clamping groove 321. When subjected to force in the vertical direction, they can contact and bear the load to share the force.

[0060] In one embodiment, see Figure 2 and Figure 9 The second connecting portion 32 is also constructed with a plurality of extension portions 322 protruding from the first connecting portion 31, wherein the interval area between two extension portions 322 is defined as a positioning groove 321, and the first connecting member 2 is provided with an outwardly extending arc-shaped abutting portion 23 on one end face of the mounting portion 21, and the arc-shaped surface of the arc-shaped abutting portion 23 is adapted to the shape of the outer wall surface of the extension portion 322.

[0061] Such a configuration meets the requirements of the clamping, and the clamping and positioning of the clamping block 22 can be achieved between the extension parts 322, that is, the extension parts 322 can partially extend into the two sides of the clamping block 22 on the installation part 21. Such a structure is compact and has a high degree of fit.

[0062] The arc-shaped abutment portion 23 is configured to fit the outer wall of the extension portion 322 , and plays a role in positioning and supporting. When subjected to a force in the first direction Z, the force can be shared through the contact between the arc-shaped abutment portion 23 and the extension portion 322 , thereby preventing the second connecting member 3 from generating bias on the lumbar omnidirectional joint module 1 .

[0063] In one embodiment, see Figure 7, the arc-shaped abutting portion 23 is located in the first direction Z of the clamping block 22.

[0064] In one embodiment, please refer to Figure 2 and Figure 9 , the clamping groove 321 penetrates through the second connecting portion 32 from the end face of the extending portion 322. Such a setting makes the area of the second connecting portion 32 corresponding to the clamping groove 321 vacant. The open processing space significantly reduces the processing difficulty of milling, stamping, etc. of the clamping groove, can effectively improve production efficiency and reduce process complexity; secondly, by removing redundant materials, local weight reduction of the second connecting portion 32 is achieved, meeting the lightweight design requirements of the humanoid robot, and helping to reduce operating energy consumption, improve joint movement flexibility and endurance performance.

[0065] In one embodiment, please refer to Figure 7 and Figure 9 , the isolation area between the two extending portions 322 where the clamping groove 321 is not formed penetrates through the second connecting portion 32, and the central angle corresponding to the isolation area is greater than the central angle corresponding to the clamping groove 321. The isolation area plays a role in weight reduction for the lightweight of the humanoid robot. When the structural strength meets the requirements, it can save costs and improve the endurance of the humanoid robot.

[0066] In one embodiment, please refer to Figure 7 , in the projection along the first direction Z, the arc-shaped abutting portion 23 coincides with the outer wall surfaces of the plurality of extending portions 322.

[0067] In one embodiment, please refer to Figure 2 and Figure 7 , at least one clamping block 22 is connected to the inner wall of the arc-shaped abutting portion 23, and the thickness of the clamping block 22, the thickness of the arc-shaped abutting portion 23, and the thickness of the extending portion 322 are substantially equal. Such a setting makes the clamping block 22, the arc-shaped abutting portion 23, and the extending portion 322 located in the same vertical direction, that is, the first direction Z, after assembly. When a force in the first direction Z is applied, they can be closely combined and abutted, just like a solid whole, greatly improving the bearing capacity and ensuring the stability and reliability of the structure under force.

[0068] In addition, from the third direction Y, this setting with equal thickness makes the clamping block 22, the arc-shaped abutting portion 23, and the extending portion 322 fit perfectly, without any protruding or recessed parts affecting the overall aesthetics and assembly space.

[0069] In one embodiment, please refer to Figures 4 to 6 , the mounting portion 21 is configured with an abutting portion 211 that is generally annular. The outer wall surface of the abutting portion 211 is located inside the cavity defined by the mounting portion 21, and the inner wall surface of the abutting portion 211 abuts against the first section 11.

[0070] The provision of the abutting portion 211 is for achieving a tight fit with the first section 11. On the one hand, it precisely serves as the radial positioning of the first section 11. During the assembly process, this positioning function can ensure a high degree of coaxiality between the first section 11 and the cavity defined by the mounting portion 21. Ensuring coaxiality is beneficial to the stability and performance of the entire structure, and can effectively avoid problems such as poor operation and increased wear caused by eccentricity and other issues.

[0071] On the other hand, the abutting portion 211 can exert a static friction force on the first section 11 along its axial direction. After the disassembly of the first fastener 41 and the second fastener 42, this static friction force can prevent the waist omnidirectional joint module 1 from directly sliding out of the cavity defined by the mounting portion 21, thereby avoiding damage to the waist omnidirectional joint module 1 caused by accidental situations such as dropping, improving the safety and reliability of the structure, and reducing the maintenance cost and downtime.

[0072] In one embodiment, the ratio of the axial length L1 of the abutting portion 211 to the axial length L2 of the cavity defined by the mounting portion 21 is between 0.20 and 0.42. When the ratio of L1 / L2 is controlled within the range of 0.20 to 0.42, it can not only ensure that the abutting portion 211 provides sufficient radial positioning accuracy and axial friction force for the first section 11, avoiding positioning failure or insufficient friction force caused by too short a length; but also prevent increasing material costs and assembly difficulties due to too large a ratio, effectively balancing the structural stability, manufacturing cost, and process feasibility.

[0073] In one embodiment, the ratio of the axial length L1 of the abutting portion 211 to the axial length L2 of the cavity defined by the mounting portion 21 can be 0.215, 0.228, 0.256, 0.285, 0.325, 0.368, 0.385, 0.395, 0.405, or 0.418.

[0074] Please refer to Figure 6 , which shows an embodiment where the ratio of the axial length L1 of the abutting portion 211 to the axial length L2 of the cavity defined by the mounting portion 21 is 0.311.

[0075] In one embodiment, the ratio of the axial length L1 of the abutting portion 211 to the length L3 of the first section 11 along its axial direction is between 0.1 and 0.3. When the ratio of L1 / L3 is within the range of 0.1 to 0.3, it can not only ensure that the abutting portion 211 provides stable radial positioning and reliable axial friction force for the first section 11, ensuring a tight fit between the two; but also avoid increasing material consumption and processing complexity due to too large a length ratio, or insufficient positioning accuracy and reduced load-bearing capacity due to too small a ratio, thereby balancing multiple factors such as structural strength, assembly efficiency, and cost control.

[0076] In one embodiment, the ratio of the axial length L1 of the abutting portion 211 to the axial length L2 of the cavity defined by the mounting portion 21 may be 0.115, 0.128, 0.136, 0.155, 0.186, 0.220, 0.255, 0.286 or 0.295.

[0077] Please refer to Figure 6 , which shows an embodiment in which the ratio of the axial length L1 of the abutting portion 211 to the length L3 of the first section 11 along its axis is 0.144.

[0078] In one embodiment, please refer to Figure 3 and Figure 4 , the position of the abutting portion 211 is adjacent to the second section 12 of the first section 11, and is generally located in the middle section of the waist omnidirectional joint module 1. After such assembly, the waist omnidirectional joint module 1 has a certain axial accuracy relative to the first connecting member 2.

[0079] In one embodiment, please refer to Figure 9 , define the axis of the first connecting portion 31 and the second connecting portion 32 as the first axis. The first connecting portion 31 is provided with a plurality of first assembly holes 311 extending along the first axis, and the second connecting portion 32 is provided with a plurality of second assembly holes 323 extending along the first axis. The axes of any first assembly hole 311, any second assembly hole 323 and the first axis are not coplanar.

[0080] Such a setting makes the first assembly holes 311 and the second assembly holes 323 staggeredly arranged in the radial direction relative to the first axis. The hole positions are avoided in the same radial direction, the openings are not too dense, and the structural strength is higher.

[0081] In one embodiment, the waist omnidirectional joint module 1 is provided with a plurality of third assembly holes 111 corresponding to the first assembly holes 311 one by one. Among them, at least one group of the first assembly holes 311 and the corresponding third assembly holes 111 are pin holes for assembling positioning pins. The other third assembly holes 111 are all threaded holes, and the first assembly holes 311 corresponding to the threaded holes can be through holes, countersunk holes or threaded holes.

[0082] In one embodiment, the mounting portion 21 is provided with a plurality of fourth assembly holes 212 corresponding to the second assembly holes 323 one by one. Among them, the fourth assembly holes 212 are all threaded holes, and the second assembly holes 323 can be through holes, countersunk holes or threaded holes.

[0083] In one embodiment, the second assembly hole 323 can be a through hole, and the diameter of the second assembly hole 323 that can be a through hole is larger than that of the fourth assembly hole 212, for facilitating the positioning and installation of fasteners.

[0084] In one embodiment, please refer to Figure 3 andFigure 4 , the second assembly hole 323 is located on the extension portion 322 and penetrates through the second connecting portion 32. Such a setting makes the axial length of the second assembly hole 323 longer, and longer fasteners can be arranged to facilitate providing fasteners with higher connection strength.

[0085] In one embodiment, please refer to Figure 7 , define the vertical direction in the standing state of the humanoid robot as the first direction. At least two clamping blocks 22 are respectively arranged at relatively opposite positions in the radial direction of the mounting portion 21 along the first direction; the second connecting portion 32 is correspondingly configured with at least two clamping grooves 321, and the two clamping grooves 321 are respectively arranged at relatively opposite positions in the radial direction of the second connecting portion 32 along the first direction.

[0086] In the above setting, the two clamping blocks 22 and the two clamping grooves 321 can realize the rapid positioning of the first connecting member 2 and the second connecting member 3 in the first direction Z, and at the same time can increase the clamping position to enhance the connection strength and the anti-shearing effect.

[0087] In one embodiment, please refer to Figure 1 and Figure 10 , a waist omnidirectional component of a humanoid robot is provided, which mainly includes two sets of assembly structures of the waist omnidirectional joint module of the humanoid robot as mentioned in any of the above embodiments. Among them, the axes of the waist omnidirectional joint modules 1 of the two sets of assembly structures are arranged to coincide, and the ends of the two first segments 11 away from the second segments 12 are arranged adjacent to each other. The distance between the two waist omnidirectional joint modules 1 is less than the length of any waist omnidirectional joint module 1 along its axis direction.

[0088] In the above setting, the cooperation of the two waist omnidirectional joint modules 1 of the waist is compact, the space occupied by the waist is small, and the output ends of the two waist omnidirectional joint modules 1 are arranged back to back, which is beneficial to increasing the occupied width of the driven component 54, and the operation structure of the waist is more stable and reliable.

[0089] For the specific structure and beneficial effects of the assembly structure of the waist omnidirectional joint module of the humanoid robot, please refer to the above embodiments, and will not be elaborated here.

[0090] In one embodiment, please refer to Figure 1 and Figure 10 , a humanoid robot is provided, which mainly includes the waist omnidirectional component of the humanoid robot as mentioned in the above embodiments. For the specific structure and beneficial effects of the waist omnidirectional component of the humanoid robot, please refer to the above embodiments, and will not be elaborated here.

[0091] In some embodiments, please refer to Figure 1 and Figure 10, the humanoid robot includes a head 51, a neck, a torso 52, a waist, hips, arms 53 and legs. 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 module 1 connected below the torso 52, and its lower part is connected to the hips. The hips include a hip structural member 55. The waist yaw joint 56 is located on the dorsal side of the humanoid robot and is connected to the connecting seat below the first connecting member 2 through a transmission structure to achieve the omnidirectional movement of the waist.

[0092] On opposite sides of the hip structural member 55, there are obliquely arranged hip pitch joints 57. The output ends of the hip pitch joints 57 are connected to the leg roll joints 58 through a connecting member, and the axis of rotation of the hip pitch joints 57 does not intersect with the axis of rotation of the leg roll joints 58. The leg roll joints 58 are connected to the leg yaw joints 59 through a connecting member. The hip pitch joints 57, the leg roll joints 58 and the leg yaw joints 59 drive the thigh structural member 60 at the same time to achieve the movement of the legs.

[0093] The thigh structural member 60 of the legs is connected to the leg yaw joint 59. A knee joint 61 is provided between the thigh structural member 60 and the calf structural member 62 to directly drive the movement of the calf structural member 62. An ankle drive joint 63 is provided on the calf structural member 62 to drive the omnidirectional movement of the foot ankle universal structure 64 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, bending, etc. Combining with the arms, it can also achieve complex behavioral actions such as carrying and climbing over.

[0094] 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. The assembly structure of the waist omnidirectional joint module of the humanoid robot is characterized by: include: A lumbar omnidirectional joint module, wherein the lumbar omnidirectional joint module is divided into a first section and a second section in the axial direction; A first connecting member, comprising a mounting portion having a hollow cavity, wherein the inner diameter of the cavity defined by the mounting portion is greater than the outer diameter of the first section; and A second connecting member, the second connecting member comprising a first connecting portion and a second connecting portion; The first section is fixedly connected to the first connecting portion via a first fastener, the second connecting portion is fixedly connected to the first connecting member via a second fastener, and the first section is at least partially located in the cavity defined by the mounting portion and abuts against its inner wall.

2. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 1, characterized in that: The first connection portion is substantially in the shape of a hollow ring, the second connection portion is substantially in the shape of a hollow ring, and the outer wall surface of the first connection portion is fixedly connected to the inner wall surface of the second connection portion.

3. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 1, characterized in that: The end surface of the mounting portion is provided with a clamping block extending outward, and the second connecting portion is structured with a clamping groove arranged along the axial direction thereof, and the clamping block is clamped and matched with the clamping groove.

4. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 3, characterized in that: The second connecting portion is further configured with a plurality of extension portions protruding from the first connecting portion, wherein the interval area between two of the extension portions is defined as the locking groove. The first connecting member is provided with an arc-shaped abutting portion extending outward on one end surface of the mounting portion, and the arc-shaped surface of the arc-shaped abutting portion is adapted to the shape of the outer wall surface of the extending portion.

5. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 4, characterized in that: At least one of the clamping blocks is connected to the inner wall of the arc-shaped abutting portion, and the thickness of the clamping block, the thickness of the arc-shaped abutting portion and the thickness of the extending portion are substantially equal.

6. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 2, characterized in that: The mounting portion is configured with a substantially annular abutting portion, an outer wall surface of the abutting portion is located inside a cavity defined by the mounting portion, and an inner wall surface of the abutting portion abuts against the first section.

7. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 6, characterized in that: The ratio of the axial length of the abutment portion to the axial length of the cavity defined by the mounting portion is 0.20 to 0.42, or the ratio of the axial length of the abutment portion to the length of the first section along its axial direction is 0.1 to 0.

3.

8. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 1, characterized in that: The axis of the first connecting part and the second connecting part is defined as a first axis. The first connecting part is provided with a plurality of first assembly holes extending along the first axis. The second connecting part is provided with a plurality of second assembly holes extending along the first axis. The axis of any first assembly hole, the axis of any second assembly hole and the first axis are not coplanar.

9. The assembly structure of the waist omnidirectional joint module of the humanoid robot according to claim 3, characterized in that: The vertical direction of the humanoid robot in a standing state is defined as a first direction, and at least two of the clamping blocks are respectively arranged at relatively divergent positions in the radial direction of the mounting portion along the first direction; the second connecting portion is correspondingly constructed with at least two of the clamping grooves, and the two clamping grooves are respectively arranged at relatively divergent positions in the radial direction of the second connecting portion along the first direction.

10. A waist omnidirectional component of a humanoid robot, characterized in that: include: The assembly structure of two groups of waist omnidirectional joint modules of a humanoid robot as described in any one of claims 1 to 9, wherein the axes of the two waist omnidirectional joint modules are arranged to overlap, and the two first sections are arranged adjacent to one end away from the second section, and the spacing between the two waist omnidirectional joint modules is smaller than the length of any of the waist omnidirectional joint modules along its axis direction.

11. A humanoid robot, characterized in that: include: The waist omnidirectional assembly of a humanoid robot as claimed in claim 10.

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