Humanoid robot shoulder connecting structure, robot and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot shoulder connecting structure, a robot and the humanoid robot to solve the problem that an existing shoulder connecting piece cannot achieve balance between assembly convenience and machining cost. The humanoid robot shoulder connecting structure comprises a first joint module, a second joint module and a connecting assembly, wherein the first joint module and the second joint module are arranged perpendicular to an output flange rotating shaft. The connecting assembly comprises a flange adapter, a first connecting wing and a second connecting wing. The shoulder connecting structure of the humanoid robot is balanced between the assembly convenience and the processing cost.

Description

Technical Field

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

[0002] Typically, the rotation axes of the shoulder pitch joint module and the shoulder roll joint module of the humanoid robot are arranged perpendicular to each other, and a connecting piece is arranged between the two to connect them.

[0003] In one prior art, such as the Chinese patent application with publication number CN118990605A, the shoulder pitch joint is connected to the output flange of the shoulder yaw joint through a connecting piece, and the connecting piece includes a first connecting end and a second connecting part. The shoulder roll joint is rotatably connected to the first connecting end, and the second connecting part is rotatably connected to the other end of the joint. The second connecting part and the side wing of the connecting piece are fixedly connected by multiple bolts. This arrangement provides double-end support for the shoulder roll joint, but it has the problem of poor bonding strength between the second connecting part and the side wing of the connecting piece. When affected by long-term torque, the bolts will be deformed and broken, and the connecting piece is large in size and has high processing cost.

[0004] For example, in the Chinese patent application with publication number CN111376305A, the connector between the shoulder pitch joint and the shoulder roll joint is designed as a U-shaped integrated component to ensure the structural strength of the connector, and a flange plate that can be detachably assembled with one end of the shoulder roll joint module is required to assemble and fix the end of the connector away from the output end with the connector. This type of structural connector is large in size and has high processing costs, and the added flange plate not only increases the manufacturing cost, but also increases the processing difficulty.

[0005] For example, in the Chinese patent application with publication number CN119526471A, the connecting assembly between the shoulder pitch joint and the shoulder roll joint has two fasteners at one end connected to the shoulder pitch joint, which is connected to the output flange of the shoulder pitch joint through multiple fasteners, and then connected to the shoulder roll joint by an annular bracket and flange and the outer wall of the shoulder roll joint, and at the same time, two fasteners are assembled at each end of the shoulder roll joint to connect to the next joint. This technical solution is difficult to process the connector and has complicated assembly steps.

[0006] Existing shoulder connectors cannot strike a balance between assembly convenience and processing cost. Summary of the invention

[0007] The present application provides a humanoid robot shoulder connection structure, a robot and a humanoid robot, aiming to solve the problem that the shoulder connection parts in existing robots cannot strike a balance between assembly convenience and processing cost.

[0008] In one technical solution, the shoulder connection structure of a humanoid robot includes a first joint module and a second joint module which are arranged perpendicular to the output flange rotation axis, and a connection component; the connection component includes a flange adapter, a first connecting wing and a second connecting wing; the flange adapter is constructed with a flange connection part and a connecting wing connection part, the first connecting wing is constructed with a first connection part and a first joint connection part, and the second connecting wing is constructed with a second connection part and a second joint connection part; the flange connection part is fixedly connected to the output flange of the first joint module, the connecting wing connection part is fixedly connected to the first connection part and the second connection part respectively, the second joint connection part and the first joint connection part are rotatably connected to the output flange of the second joint module and an end of the second joint module away from its output flange respectively, and the second joint module is clamped between the first connecting wing and the second connecting wing.

[0009] In one technical solution, the axis direction of the rotation axis of the first joint module is defined as the first direction, and the axis direction of the rotation axis of the second joint module is defined as the second direction; the first connecting part and the second connecting part are respectively provided with a plurality of pairs of first assembly holes arranged along the second direction, and the first connecting wing and the second connecting wing are fixedly connected by fasteners passing through the first assembly holes.

[0010] In one technical solution, the first connection part and the second connection part are respectively configured with a block protruding in the second direction, and the connecting wing connection part is configured with two slots opening in the second direction, and the two blocks are respectively embedded in the two slots.

[0011] In one technical solution, an inwardly recessed slot is constructed at the connecting wing connecting portion adjacent to the flange connecting portion; a first clamping portion extending inwardly is constructed at an inner edge of one end of the first connecting portion away from the first joint connecting portion; a second clamping portion extending inwardly is constructed at an inner edge of one end of the second connecting portion away from the second joint connecting portion; and the first clamping portion and the second clamping portion are respectively embedded in corresponding slots.

[0012] In one technical solution, the flange adapter is constructed with a plurality of through second assembly holes arranged along the first direction, and the flange adapter is fixedly connected to the output flange of the first joint module by fasteners passing through the second assembly holes.

[0013] In one technical solution, the second joint connection part is constructed with a plurality of third assembly holes arranged along the second direction, and the second joint connection part is fixedly connected to the output flange of the second joint module by fasteners passing through the third assembly holes.

[0014] In one technical solution, the shoulder connection structure also includes a bearing; the first joint connection portion is constructed with a first annular boss arranged along the second direction; the second joint module is constructed with a second annular boss protruding along the second direction at one end away from its output flange; the first annular boss and the second annular boss are respectively abutted against the inner ring or outer ring of the bearing.

[0015] In one technical solution, a first shoulder is provided on the inner edge of the first annular boss, and a second shoulder is provided on the outer extension of the second annular boss, the first shoulder abuts against one end of the outer ring of the bearing, and the second shoulder abuts against the other end of the inner ring of the bearing; or a roughly annular first shoulder is provided on the outer extension of the first annular boss, and a roughly annular second shoulder is provided on the inner edge of the second annular boss, the first shoulder abuts against one end of the inner ring of the bearing, and the second shoulder abuts against the other end of the inner ring of the bearing.

[0016] In one technical solution, the first joint module and the second joint module are hollow joints; a first wire passing hole is constructed at the axis of the flange adapter; the second connecting portion is constructed with an opening for passing the wire; and / or the second joint connecting portion is constructed with an opening for passing the wire.

[0017] In one technical solution, a first extending portion extending along the second direction is further provided between the first connecting portion and the first joint connecting portion; and a second extending portion extending along the second direction is further provided between the second connecting portion and the second joint connecting portion.

[0018] In one technical solution, a robot includes the above-mentioned humanoid robot shoulder connection structure.

[0019] In one technical solution, a humanoid robot includes the above-mentioned humanoid robot shoulder connection structure. The beneficial effects of this application compared with the prior art are:

[0020] In the embodiment of the present application, the connection assembly is composed of a flange adapter, a first connection wing and a second connection wing. The flange connection portion of the flange adapter is fixedly connected to the output flange of the first joint module, the connection wing connection portion of the flange adapter is fixedly connected to the first connection portion and the second connection portion respectively, and the second joint connection portion and the first joint connection portion are rotatably connected to the output flange of the second joint module and one end thereof away from the output flange. The second joint module is sandwiched between the first connection wing and the second connection wing, and the two connection wing connection portions can be assembled and fixedly connected with the connection wing connection portion of the flange adapter. On the one hand, the second joint module can be easily assembled, and on the other hand, the flange connection portion of the flange adapter can be connected to the first joint module.

[0021] Compared with the prior art, the present invention has the technical effects of convenient assembly, easy processing and high strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for use in the embodiments or the description of the prior art. Obviously, the accompanying 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 accompanying drawings can also be obtained based on these drawings.

[0023] Figure 1 Schematic diagram of the assembled state of the shoulder connection structure of a humanoid robot in an embodiment.

[0024] Figure 2 Schematic diagram of the disassembled state of the shoulder connection structure of a humanoid robot in an embodiment.

[0025] Figure 3 Schematic diagram of the disassembled state of the shoulder connection structure of a humanoid robot from another perspective in an embodiment.

[0026] Figure 4 Schematic diagram of the flange adapter in the shoulder connection structure of a humanoid robot in an embodiment.

[0027] Figure 5 Schematic diagram of the first connection wing in the shoulder connection structure of a humanoid robot in an embodiment.

[0028] Figure 6 Schematic diagram of the second connection wing in the shoulder connection structure of a humanoid robot in an embodiment.

[0029] Figure 7 Schematic diagram of the cross-sectional structure of the assembled state of the connection component in the shoulder connection structure of a humanoid robot in an embodiment.

[0030] Figure 8 Schematic diagram of the cross-sectional structure of the disassembled state of the connection component in the shoulder connection structure of a humanoid robot in an embodiment.

[0031] Figure 9 Schematic diagram of the turning cross-sectional structure of the assembled state of the shoulder connection structure of a humanoid robot in an embodiment.

[0032] Figure 10 Schematic diagram of a humanoid robot in an embodiment.

[0033] Description of reference numerals:

[0034] 1. First joint module; 11. First output flange;

[0035] 2. Second joint module; 21. Second output flange; 22. Second annular boss; 22a. Second shoulder;

[0036] 3. Connecting component; 3a. First assembly hole; 3b. Clamping block; 3c. Slot hole; 3d. Card slot; 3e. Second assembly hole; 3f. Third assembly hole; 3g. Opening

[0037] 31. Flange adapter; 311. Flange connection part; 312. Connecting wing connection part; 313. First wire passing hole

[0038] 32. First connecting wing; 321. First connection part; 321b. First clamping part; 322. First joint connection part; 322a. First annular boss; 322b. First shoulder; 323. First extension part

[0039] 33. Second connecting wing; 331. Second connection part; 331b. Second clamping part; 332. Second joint connection part; 333. Second extension part

[0040] 4. Bearing

[0041] 51. First fastener; 52. Second fastener

[0042] 6. Wiring structure member; 61. Inner wiring channel

[0043] 71. Head; 72. Trunk; 73. Arm; 74. Driven component; 75. Hip and crotch structure member; 76. Hip pitch joint; 77. Leg roll joint; 78. Thigh structure member; 79. Knee joint; 80. Calf structure member; 81. Ankle drive joint; 82. Ankle universal structure

[0044] X is the first direction; Y is the second direction; Z is the vertical direction Specific embodiments

[0045] The following combines the 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 not 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

[0046] 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. are based on the orientation or positional relationship shown in the drawings, and are 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.

[0047] 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, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0048] 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 communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside 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.

[0049] 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.

[0050] 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 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.

[0051] In the present invention, the general 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 and can thus be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object as "substantially circular", it means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube as "substantially cubic", it means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0052] In one embodiment, please refer to Figure 1 As shown, the shoulder connection structure of the humanoid robot mainly includes a first joint module 1 and a second joint module 2 that are perpendicularly arranged to the output flange rotation axis, and a connection component 3. The rotation axis of the first joint module 1 extends along the first direction X, and the rotation axis of the second joint module 2 extends along the second direction Y. In an exemplary embodiment, the first joint module 1 can be a shoulder pitch joint module, mainly driving the overall arm structure connected to its output flange to move forward or backward (in the second direction Y), while the second joint module 2 can be a shoulder roll joint module, mainly driving the overall arm structure connected to its output flange to move away from or close to the body (in the first direction X).

[0053] In one embodiment, please refer to Figure 2 、 Figure 3As shown, the connection assembly 3 mainly includes a flange adapter 31, a first connection wing 32 and a second connection wing 33. The flange adapter 31 is constructed with a flange connection portion 311 and a connection wing connection portion 312, the first connection wing 32 is constructed with a first connection portion 321 and a first joint connection portion 322, and the second connection wing 33 is constructed with a second connection portion 331 and a second joint connection portion 332. The flange connection portion 311 is fixedly connected to the first output flange 11 of the first joint module 1, the connection wing connection portion 312 is fixedly connected to the first connection portion 321 and the second connection portion 331 respectively, the second joint connection portion 332 and the first joint connection portion 322 are rotatably connected to the second output flange 21 of the second joint module 2 and the end of the second joint module 2 away from the second output flange 21 respectively, and the second joint module 2 is sandwiched between the first connection wing 32 and the second connection wing 33.

[0054] The aforementioned embodiment states that "the connecting wing connecting portion 312 is fixedly connected to the first connecting portion 321 and the second connecting portion 331 respectively". It can be understood by those skilled in the art that there are multiple feasible ways for such fixed connection, including screw connection and clamp connection. Screw connection is to tightly fix the connecting wing connecting portion 312 with the first connecting portion 321 and the second connecting portion 331 together through connecting parts such as bolts and nuts. This method is convenient for disassembly and assembly, and can adjust the position of components according to actual needs. It can also maintain reliable connection when subjected to certain vibrations and impacts. Clamp connection is to achieve a quick and stable connection through the cooperation of specific clamping blocks and clamping groove structures on the connecting wing connecting portion 312, the first connecting portion 321 and the second connecting portion 331. The clamping method is easy to operate and can improve assembly efficiency. Regardless of which fixed connection method is adopted, the purpose is to form a connecting body that can be transmitted and structurally supported with the first connecting wing 32 and the second connecting wing 33 and the flange adapter 31, so as to ensure that the shoulder connection structure can stably transmit power during the operation of the robot.

[0055] In the above-mentioned embodiment, the flange adapter 31 is fixedly docked to the first output flange 11 of the first joint module 1. Through this fixed docking, when the first joint module 1 starts to operate, the rotation of the first output flange 11 can be transmitted to the flange adapter 31, and then the first output flange 11 drives the second joint module 2 connected thereto to rotate. The first connecting wing 32 and the second connecting wing 33 are symmetrically fixed on both radial sides of the flange adapter 31. This symmetrical layout not only ensures the stability of the structure, but also makes the transmission of force more uniform. The rear ends of the first connecting wing 32 and the second connecting wing 33 are fixedly connected to the two ends of the second joint module 2. In this way, the second joint module 2 can be stacked behind the first joint module 1, and the second joint module 2 can be effectively driven by the first output flange 11 of the first joint module 1.

[0056] In one embodiment, please refer toFigure 2 and Figure 3 , the first connection part 321 and the second connection part 331 are respectively provided with a plurality of first assembly holes 3a arranged in pairs along the second direction Y, and the first connection wing 32 and the second connection wing 33 are fixedly connected by the first fastener 51 through the two first assembly holes 3a. Here, the first connection wing 32 and the second connection wing 33 are directly fixedly connected through the first connection part 321 and the second connection part 331. Thus, the two first connection wings 32 and the second connection wings 33 with the center of the flange adapter 31 as the dividing point are directly assembled, and after assembly, the first connection wing 32 and the second connection wing 33 can form a complete cylindrical (can be a cylinder or a square cylinder) connection part that can cover the flange adapter 31. It can be understood that the first connection part 321 or the second connection part 331 is just a cylindrical body cut from the center, so that it can be docked with the flange adapter 31 from one side, and the two connection parts form a complete closed shape after docking, so that the flange adapter 31 is closed between the two connection parts.

[0057] In one embodiment, please refer to Figure 2 , Figure 3 as well as Figure 5 , Figure 6 As shown, the first connection part 321 and the second connection part 331 are respectively configured with a square block 3b protruding inward in the second direction Y, and the connecting wing connection part 312 is configured with two slots 3c opening in the second direction Y (or extending radially along the connecting wing connection part 312), and the two blocks 3b can be respectively inserted into the two slots 3c. The block 3b cooperates with the slots 3c to form a clamping fixation, so that the flange adapter 31 and the two connecting wings can form a transmission connection that can transmit torque. And in cooperation with the action of the first fastener 51, the stability of this transmission connection can be maintained.

[0058] In one embodiment, please refer to Figure 2 , Figure 3 as well as Figure 5 , Figure 6 As shown, the connecting wing connecting portion 312 is also configured with an inwardly recessed annular groove 3d near the flange connecting portion 311; the inner edge of the end of the first connecting portion 321 away from the first joint connecting portion 322 is configured with a first clamping portion 321b extending inward; the inner edge of the end of the second connecting portion 331 away from the second joint connecting portion 332 is configured with a second clamping portion 331b extending inward; during assembly, the first clamping portion 321b and the second clamping portion 331b are respectively embedded in the corresponding groove 3d. This clamping structure cooperates with the aforementioned clamping block 3b and slot 3c to limit the flange adapter 31 and the two connecting wings in both axial and radial directions.

[0059] In one embodiment, please refer to Figure 4As shown, the flange adapter 31 is constructed with a plurality of through second assembly holes 3e arranged along the first direction X, and the flange adapter 31 is fixedly connected to the first output flange 11 of the first joint module 1 through a plurality of second fasteners 52 passing through the second assembly holes 3e.

[0060] In one embodiment, please refer to Figure 2 or Figure 3 As shown, the second joint connection part 332 is configured with a plurality of third assembly holes 3f arranged along the second direction Y, and the second joint connection part 332 is fixedly connected to the second output flange 21 of the second joint module 2 through the third assembly holes 3f by fasteners. The third assembly holes 3f realize the stable connection between the second joint connection part 332 and the output flange of the second joint module 2.

[0061] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 5 As shown, the shoulder connection structure also includes a bearing 4. The first joint connection portion 322 is configured with a first annular boss 322a arranged along the second direction Y; the end of the second joint module 2 away from its output flange is configured with a second annular boss 22 protruding along the second direction Y; the first annular boss 322a and the second annular boss 22 are respectively abutted against the inner ring or outer ring of the bearing 4. The configuration of the bearing 4 allows the end of the second joint module 2 away from the output flange to form a rotatable support.

[0062] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 5 , Figure 9 As shown, there are two implementation methods for the specific installation of the bearing 4: one (not shown in the figure) is that the first shoulder 322b is provided on the inner edge of the first annular boss 322a, and the second shoulder 22a is provided on the extension of the second annular boss 22, the first shoulder 322b is abutted against one end of the outer ring of the bearing 4, and the second shoulder 22a is abutted against the other end of the inner ring of the bearing 4; the other is (example in the figure) the first annular boss 322a is provided with a roughly annular first shoulder 322b on the extension, and the second annular boss 22 is provided with a roughly annular second shoulder 22a on the inner edge, the first shoulder 322b is abutted against one end of the inner ring of the bearing 4, and the second shoulder 22a is abutted against the other end of the inner ring of the bearing 4. Both methods realize the reliable positioning of the bearing 4 through the cooperation of the shoulder and the bearing 4, and ensure the rotation stability of the second joint module 2.

[0063] In one embodiment, please refer to Figure 9, considering the requirements of the internal wiring layout of the robot, the first joint module 1 and the second joint module 2 are hollow joints; a first wire passing hole 313 is formed at the axis of the flange adapter 31; an opening 3g for wire passing is formed at the second connecting portion 331 (refer to Figure 6 ); and an opening for wire passing (a hole is formed at the axis) is formed at the second joint connecting portion 332. As shown by the dotted line with an arrow in Figure 9 , the cable enters the inner side of the connecting assembly through the hollow shaft of the first joint module 1, then passes through the opening 3g to the outer side, passes through the inner wire passing channel 61 in the wire passing structural member 6, and then is sent to the opening of the second joint connecting portion 332 and penetrates into the hollow shaft of the second joint module 2, and a wire passing port communicating with the shoulder yaw joint is provided at the other end of the hollow shaft of the second joint module 2. These wire passing structures provide a convenient channel for the internal wiring of the robot, avoid the safety hazards caused by the exposed wiring, and are also convenient for the installation and maintenance of the wiring.

[0064] In an embodiment, please refer to Figure 1 , a first extension portion 323 extending along the second direction Y is further provided between the first connecting portion 321 and the first joint connecting portion 322; a second extension portion 333 extending along the second direction Y is further provided between the second connecting portion 331 and the second joint connecting portion 332. The settings of the first extension portion 323 and the second extension portion 333 increase the structural strength of the first connecting wing 32 and the second connecting wing 33.

[0065] In the specific implementation manner, the embodiment of the present application effectively solves the problem that it is difficult to balance the assembly convenience and the processing cost of the existing shoulder connecting member. From the perspective of assembly convenience, the structural design of each component of the connecting assembly is simple and easy to process. For example, the first connecting wing 32 and the second connecting wing 33 are fixedly connected by a pair of first assembly holes 3a arranged along the second direction Y and using a first fastener 51. This design makes the assembly of the two connecting wings simple and direct. The installer only needs to pass the fastener through the corresponding assembly hole and tighten it to complete the connection, without complex positioning or calibration operations. Moreover, the clamping blocks 3b on the first connecting portion 321 and the second connecting portion 331 cooperate with the slot holes 3c of the connecting wing connecting portion 312, playing an accurate positioning role during assembly, further improving the assembly convenience, reducing the assembly time and the probability of errors.

[0066] In terms of processing costs, the structures of the various components in this embodiment are relatively simple. Components such as the flange adapter 31, the first connecting wing 32, and the second connecting wing 33 have shapes and structures that are suitable for conventional machining processes. For example, through ordinary milling and drilling processes, structures such as the flange connecting portion 311, the connecting wing connecting portion 312, and the second assembly hole 3e of the flange adapter 31 can be machined; parts such as the first connecting portion 321, the second connecting portion 331, the first joint connecting portion 322, and the second joint connecting portion 332 on the first connecting wing 32 and the second connecting wing 33 can also be manufactured by common processing methods. This avoids the situation where some complex connectors in the prior art require special processing techniques or customized molds, greatly reducing the processing costs. At the same time, due to the simple structures of the components, the scrap rate during the processing can be effectively controlled, further saving costs. In summary, through optimizing the connection structure and component design, the embodiment of this application successfully solves the problem that it is difficult to balance the assembly convenience and processing costs of the existing shoulder connectors.

[0067] In addition, this application also relates to a robot and a humanoid robot, both of which include the above-mentioned shoulder connection structure of the humanoid robot.

[0068] In one embodiment, please refer to Figure 10 , the structures of the various parts of the humanoid robot cooperate with the shoulder connection structure of the humanoid robot to jointly realize the motion function of the robot. Among them, the head 71 is located at the top of the robot, and the torso 72 serves as the main support structure of the robot. It not only provides an installation basis for the shoulder connection structure but also houses important components such as the core control unit and the energy device of the robot. The first joint module 1 in the shoulder connection structure is connected to the torso 72.

[0069] The driven component 74 is located at the waist. The hip and crotch structure member 75, as a key component connecting the torso 72 and the legs, realizes the posture adjustment of the legs during actions such as walking and turning of the robot through the coordinated movement of joints such as the waist yaw joint and the hip pitch joint.

[0070] In terms of the leg structure, the knee joint 79 connects the thigh structure member 78 and the calf structure member 80. The ankle drive joint 81 and the ankle universal structure 82 are respectively rotatably connected to and drive the sole of the foot, playing a key role in flexion and extension during actions such as walking and squatting of the robot.

[0071] Combined with Figure 10 it can be seen that the overall structure of the humanoid robot is closely connected. As a key part connecting the arm and the torso, the shoulder connection structure cooperates with the structures of other parts to jointly ensure that the robot can complete various complex actions and meet the requirements of diverse work and life scenarios.

[0072] 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 cannot 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. A humanoid robot shoulder connection structure, characterized in that: include: A first joint module and a second joint module whose output flange rotation axis is vertically arranged; as well as A connecting assembly, the connecting assembly comprising a flange adapter, a first connecting wing and a second connecting wing, the flange adapter having a flange connecting portion and a connecting wing connecting portion, the first connecting wing having a first connecting portion and a first joint connecting portion, and the second connecting wing having a second connecting portion and a second joint connecting portion; Among them, the flange connecting part is fixedly connected to the output flange of the first joint module, the connecting wing connecting part is respectively fixedly connected to the first connecting part and the second connecting part, the second joint connecting part and the first joint connecting part are respectively rotatably connected to the output flange of the second joint module and the end of the second joint module away from its output flange, and the second joint module is clamped between the first connecting wing and the second connecting wing.

2. The humanoid robot shoulder connection structure according to claim 1, characterized in that: Limiting the axis direction of the rotation axis of the first joint module to be a first direction; Limiting the axis direction of the rotation axis of the second joint module to be a second direction; The first connecting portion and the second connecting portion are respectively provided with a plurality of pairs of first assembly holes arranged along the second direction, and the first connecting wing and the second connecting wing are fixedly connected by fasteners passing through the first assembly holes.

3. The humanoid robot shoulder connection structure according to claim 2, characterized in that: The first connection part and the second connection part are respectively configured with a block protruding in the second direction, and the connection wing connection part is configured with two slots opening in the second direction, and the two blocks are respectively embedded in the two slots.

4. The humanoid robot shoulder connection structure according to claim 2, characterized in that: The connecting wing connecting portion is also configured with an inwardly recessed slot adjacent to the flange connecting portion; An inner edge of one end of the first connection portion away from the first joint connection portion is configured with a first clamping portion extending inwardly; The inner edge of one end of the second connection portion away from the second joint connection portion is configured with a second clamping portion extending inwardly; The first clamping portion and the second clamping portion are respectively embedded in the corresponding clamping slots.

5. The humanoid robot shoulder connection structure according to claim 2, characterized in that: The flange adapter is configured with a plurality of through second assembly holes arranged along a first direction, and the flange adapter is fixedly connected to the output flange of the first joint module via fasteners passing through the second assembly holes.

6. The humanoid robot shoulder connection structure according to claim 2, characterized in that: The second joint connection part is configured with a plurality of third assembly holes arranged along the second direction, and the second joint connection part is fixedly connected to the output flange of the second joint module by fasteners passing through the third assembly holes.

7. The humanoid robot shoulder connection structure according to claim 2, characterized in that: Also includes bearings; The first joint connection portion is configured with a first annular boss arranged along the second direction; A second annular boss protruding along a second direction is configured on one end of the second joint module away from the output flange thereof; The first annular boss and the second annular boss are respectively disposed in contact with the inner ring or the outer ring of the bearing.

8. The humanoid robot shoulder connection structure according to claim 7, characterized in that: A first shaft shoulder is provided on the inner edge of the first annular boss; A second shoulder is arranged on the extension of the second annular boss; The first shaft shoulder abuts against one end of the outer ring of the bearing, and the second shaft shoulder abuts against the other end of the inner ring of the bearing; or The first annular boss is provided with a substantially annular first shoulder on its outer extension; The inner edge of the second annular boss is provided with a second shaft shoulder which is substantially annular; The first shaft shoulder abuts against one end of the inner ring of the bearing, and the second shaft shoulder abuts against the other end of the inner ring of the bearing.

9. The humanoid robot shoulder connection structure according to claim 1, characterized in that: The first joint module and the second joint module are hollow joints; A first wire passing hole is configured at the axis of the flange adapter; The second connecting portion is configured with an opening for passing the wire; and / or, The second joint connection portion is configured with an opening for passing the wire.

10. The humanoid robot shoulder connection structure according to claim 2, characterized in that: A first extending portion extending along a second direction is further provided between the first connecting portion and the first joint connecting portion; A second extending portion extending along a second direction is further disposed between the second connecting portion and the second joint connecting portion.

11. A robot, characterized in that: The invention comprises a humanoid robot shoulder connection structure as claimed in any one of claims 1 to 10.

12. A humanoid robot, characterized in that: The invention comprises a humanoid robot shoulder connection structure as claimed in any one of claims 1 to 10.

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