Humanoid robot shoulder connecting structure, robot and humanoid robot

Abstract

The application relates to the technical field of humanoid robots, and discloses a humanoid robot shoulder connecting structure, a robot and a humanoid robot, so as to solve the problem that the existing shoulder connecting piece cannot balance between assembly convenience and processing cost. The humanoid robot shoulder connecting structure comprises a first joint module and a second joint module which are arranged perpendicularly to an output flange rotating shaft, and a connecting assembly; the connecting assembly comprises a flange adapter, a first connecting wing and a second connecting wing. The humanoid robot shoulder connecting structure balances between assembly convenience and processing cost.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a shoulder connection structure for a humanoid robot, a robot, and a humanoid robot. Background Technology

[0002] Typically, the shoulder pitch joint module and the shoulder roll joint module of a humanoid robot have their rotation axes perpendicular to each other, and a connector is used to connect the two.

[0003] In one prior art, such as Chinese patent application publication number CN118990605A, the shoulder pitch joint is connected to the output flange of the shoulder yaw joint via a connector. The connector 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 is fixedly connected to the side flange of the connector by multiple bolts. This configuration 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 flange of the connector. Under long-term torque, the bolts may deform or break. In addition, the connector is large in size and has high processing cost.

[0004] For example, in Chinese patent application CN111376305A, the connector between the shoulder pitch joint and the shoulder roll joint is designed as a U-shaped, one-piece component to ensure structural strength. This requires a flange that can be detachably assembled to one end of the shoulder roll joint module to secure the end of the connector away from the output end. This type of connector is bulky, has high processing costs, and the added flange not only increases manufacturing costs but also raises the processing difficulty.

[0005] For example, in Chinese patent application CN119526471A, the connecting component between the shoulder pitch joint and the shoulder roll joint has two fasteners at the end connected to the shoulder pitch joint, which are connected to the output flange of the shoulder pitch joint via multiple fasteners. At the end connected to the shoulder roll joint, a ring bracket and flange are assembled and connected to the outer wall of the shoulder roll joint. Simultaneously, two fasteners are assembled at each end of the shoulder roll joint to connect to the next joint. This technical solution presents significant challenges in manufacturing the connecting components and involves complex assembly steps.

[0006] Existing shoulder connectors cannot strike a balance between ease of assembly and processing costs. Summary of the Invention

[0007] This application provides a shoulder connection structure for a humanoid robot, a robot, and a humanoid robot, aiming to solve the problem that existing shoulder connectors in robots cannot achieve 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 with their output flange rotation axes perpendicularly arranged, and a connection assembly; the connection assembly includes a flange adapter, a first connecting wing, and a second connecting wing; the flange adapter has a flange connecting portion and a connecting wing connecting portion, the first connecting wing has a first connecting portion and a first joint connecting portion, and the second connecting wing has a second connecting portion and a second joint connecting portion; the flange connecting portion is fixedly connected to the output flange of the first joint module, the connecting wing connecting portion is fixedly connected to the first connecting portion and the second connecting portion respectively, the second joint connecting portion and the first joint connecting portion are rotatably connected to the output flange of the second joint module and the end of the second joint module opposite to its output flange respectively, and the second joint module is sandwiched between the first connecting wing and the second connecting wing.

[0009] In one technical solution, the rotation axis direction of the first joint module is defined as the first direction, and the rotation axis direction 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 mounting 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 mounting holes.

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

[0011] In one technical solution, the connecting wing connecting part near the flange connecting part is also provided with an inwardly recessed groove; the inner edge of the end of the first connecting part away from the first joint connecting part is provided with an inwardly extending first snap-fit ​​part; the inner edge of the end of the second connecting part away from the second joint connecting part is provided with an inwardly extending second snap-fit ​​part; the first snap-fit ​​part and the second snap-fit ​​part are respectively embedded in the corresponding groove.

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

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

[0014] In one technical solution, the shoulder connection structure further includes a bearing; the first joint connection portion is configured with a first annular boss arranged along a second direction; the end of the second joint module opposite to its output flange is configured with a second annular boss protruding along the second direction; 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 edge 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 the outer edge of the first annular boss is provided with a generally annular first shoulder, and the inner edge of the second annular boss is provided with a generally annular second shoulder. 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 part is constructed with an opening for wire passing; and / or, the second joint connecting part is constructed with an opening for wire passing.

[0017] In one technical solution, a first extension portion extending along a second direction is further provided between the first connecting portion and the first joint connecting portion; a second extension portion extending along a 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 aforementioned humanoid robot shoulder connection structure.

[0019] In one technical solution, a humanoid robot includes the aforementioned shoulder connection structure. The advantages of this application compared to the prior art are:

[0020] In this embodiment, the connecting assembly comprises a flange adapter, a first connecting wing, and a second connecting wing. The flange connecting portion of the flange adapter is fixedly connected to the output flange of the first joint module. The connecting wing connecting portions of the flange adapter are fixedly connected to both the first and second connecting portions. The second joint connecting portion and the first joint connecting portion are rotatably connected to the output flange of the second joint module and its end facing away from the output flange, respectively. The second joint module is sandwiched between the first and second connecting wings, and the connecting portions of the two connecting wings can be assembled and fixedly connected to the connecting wing connecting portions of the flange adapter. This facilitates the assembly of the second joint module and allows for connection between the flange connecting portion of the flange adapter and the first joint module.

[0021] Compared with the prior art, this application has the advantages of convenient assembly, easy processing, and high strength. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 An example is provided: a schematic diagram of the assembly state of the shoulder connection structure of a humanoid robot in one embodiment.

[0024] Figure 2 An example is provided: a schematic diagram of the exploded state of the shoulder connection structure of a humanoid robot in one embodiment.

[0025] Figure 3 An example is shown as a structural schematic diagram of the shoulder connection structure of a humanoid robot in an exploded state from another perspective in one embodiment.

[0026] Figure 4 A schematic diagram of the flange adapter in the shoulder connection structure of a humanoid robot is shown in one embodiment.

[0027] Figure 5 A schematic diagram of the first connecting wing in the shoulder connection structure of a humanoid robot is shown in one embodiment.

[0028] Figure 6 A schematic diagram of the second connecting wing in the shoulder connection structure of a humanoid robot is shown in one embodiment.

[0029] Figure 7 A cross-sectional structural diagram of the assembly state of the connecting components in the shoulder connection structure of a humanoid robot is provided as an example.

[0030] Figure 8 A cross-sectional structural diagram of the disassembled state of the connecting components in the shoulder connection structure of a humanoid robot is provided as an example.

[0031] Figure 9 An example is provided: a schematic diagram of the transition section structure of the shoulder connection structure of a humanoid robot in an assembly state.

[0032] Figure 10 A schematic diagram of a humanoid robot structure is shown in one embodiment.

[0033] Explanation of reference numerals in the attached figures:

[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 components; 3a. First mounting hole; 3b. Locking block; 3c. Slot; 3d. Slot; 3e. Second mounting hole; 3f. Third mounting hole; 3g. Opening;

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

[0038] 32. First connecting wing; 321. First connecting portion; 321b. First snap-fit ​​portion; 322. First joint connecting portion; 322a. First annular boss; 322b. First shoulder; 323. First extension portion;

[0039] 33. Second connecting wing; 331. Second connecting part; 331b. Second snap-fit ​​part; 332. Second joint connecting part; 333. Second extension part;

[0040] 4. Bearings;

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

[0042] 6. Cable routing structural components; 61. Internal cable routing channels;

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

[0044] X is the first direction; Y is the second direction; Z is the vertical direction. Detailed Implementation

[0045] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] In this invention, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cubic" 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, whose output flange rotation axes are perpendicularly arranged, and a connecting component 3. The rotation axis of the first joint module 1 extends along a first direction X, and the rotation axis of the second joint module 2 extends along a second direction Y. In an exemplary embodiment, the first joint module 1 may be a shoulder pitch joint module, which mainly drives 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 may be a shoulder roll joint module, which mainly drives the overall arm structure connected to its output flange to move away from or towards the body (in the first direction X).

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

[0054] As described in the foregoing embodiment, "the connecting wing connecting part 312 is fixedly connected to the first connecting part 321 and the second connecting part 331 respectively." Those skilled in the art will understand that such a fixed connection can be achieved in various ways, including screwing and snap-fitting. Screwing uses bolts, nuts, or other fasteners to tightly fix the connecting wing connecting part 312 to the first connecting part 321 and the second connecting part 331. This method facilitates disassembly and assembly, allows adjustment of component positions according to actual needs, and maintains a reliable connection even under certain vibration and impact. Snap-fitting utilizes specific locking blocks and slot structures on the connecting wing connecting part 312, the first connecting part 321, and the second connecting part 331 to achieve a quick and stable connection. Snap-fitting is simple to operate and improves assembly efficiency. Regardless of the fixed connection method used, the goal is to form a connecting body with the flange adapter 31 that can transmit power and provide structural support, ensuring that the shoulder connecting structure can stably transmit power during robot operation.

[0055] In the aforementioned embodiment, the flange adapter 31 is fixedly connected to the first output flange 11 of the first joint module 1. Through this fixed connection, when the first joint module 1 starts operating, the rotation of the first output flange 11 can be transmitted to the flange adapter 31, thereby driving the subsequent rotation of the second joint module 2 connected to it. The first connecting wing 32 and the second connecting wing 33 are symmetrically fixed to the radial sides of the flange adapter 31. This symmetrical layout not only ensures structural stability but also makes the force transmission more uniform. Furthermore, the rear ends of the first connecting wing 32 and the second connecting wing 33 are fixedly connected to both ends of the second joint module 2. In this way, the second joint module 2 can be stacked after 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 to Figure 2 and Figure 3 The first connecting part 321 and the second connecting part 331 are respectively provided with a plurality of paired first mounting holes 3a arranged along the second direction Y. The first connecting wing 32 and the second connecting wing 33 are securely connected by a first fastener 51 passing through the two first mounting holes 3a. Here, the first connecting wing 32 and the second connecting wing 33 are directly fixedly connected through the first connecting part 321 and the second connecting part 331. Thus, the two first connecting wings 32 and the second connecting wing 33, with the center of the flange adapter 31 as the dividing point, can be directly assembled. After assembly, the first connecting wing 32 and the second connecting wing 33 can form a complete cylindrical (can be cylindrical or square) connecting piece that can cover the flange adapter 31. It can be understood that the first connecting part 321 or the second connecting part 331 is exactly a cylindrical body cut from the center, so that it can be mated with the flange adapter 31 from one side. After the two connecting parts are mated, they form a complete closed shape, thereby closing the flange adapter 31 between the two connecting parts.

[0057] In one embodiment, please refer to Figure 2 , Figure 3 as well as Figure 5 , Figure 6 As shown, the first connecting part 321 and the second connecting part 331 are each equipped with a square-section locking block 3b that protrudes inward in the second direction Y. The connecting wing connecting part 312 is equipped with two slots 3c that open in the second direction Y (or extend radially along the connecting wing connecting part 312). The two locking blocks 3b can be respectively inserted into the two slots 3c. The engagement of the locking blocks 3b and the slots 3c forms a locking and fixing connection, which can form a torque-transmitting transmission connection between the flange adapter 31 and the two connecting wings. The action of the first fastener 51 can maintain the stability of this transmission connection.

[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 near the flange connecting portion 311 also has an inwardly recessed annular groove 3d; the inner edge of the first connecting portion 321 opposite to the end of the first joint connecting portion 322 has an inwardly extending first engaging portion 321b; the inner edge of the second connecting portion 331 opposite to the end of the second joint connecting portion 332 has an inwardly extending second engaging portion 331b; during assembly, the first engaging portion 321b and the second engaging portion 331b are respectively embedded in the corresponding groove 3d. This engaging structure, in conjunction with the aforementioned locking block 3b and slot 3c, can 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 multiple through second mounting holes 3e arranged along the first direction X. The flange adapter 31 is fixedly connected to the first output flange 11 of the first joint module 1 through multiple second fasteners 52 passing through the second mounting holes 3e.

[0060] In one embodiment, please refer to Figure 2 or Figure 3 As shown, the second joint connecting part 332 is constructed with a plurality of third mounting holes 3f arranged along the second direction Y. The second joint connecting part 332 is fixedly connected to the second output flange 21 of the second joint module 2 by fasteners passing through the third mounting holes 3f. The third mounting holes 3f realize a stable connection between the second joint connecting 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 has a first annular boss 322a arranged along the second direction Y; the end of the second joint module 2 opposite to its output flange has a second annular boss 22 protruding along the second direction Y; the first annular boss 322a and the second annular boss 22 respectively abut against the inner ring or outer ring of the bearing 4. The bearing 4 provides a rotatable support for the end of the second joint module 2 opposite to the output flange.

[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 bearing 4: One method (not shown in the figure) involves a first shoulder 322b along the inner edge of the first annular boss 322a and a second shoulder 22a along the outer edge of the second annular boss 22. The first shoulder 322b abuts against one end of the outer ring of bearing 4, and the second shoulder 22a abuts against the other end of the inner ring of bearing 4. The other method (example shown in the figure) involves a roughly annular first shoulder 322b along the outer edge of the first annular boss 322a and a roughly annular second shoulder 22a along the inner edge of the second annular boss 22. The first shoulder 322b abuts against one end of the inner ring of bearing 4, and the second shoulder 22a abuts against the other end of the inner ring of bearing 4. Both methods achieve reliable positioning of bearing 4 through the cooperation between the shoulder and bearing 4, ensuring the rotational stability of the second joint module 2.

[0063] In one embodiment, please refer to Figure 9Considering the requirements of the robot's internal wiring layout, the first joint module 1 and the second joint module 2 are hollow joints; a first wire-passing hole 313 is constructed at the axis of the flange adapter 31; the second connecting part 331 is constructed with an opening 3g for wire passage (refer to...). Figure 6 Furthermore, the second joint connecting part 332 is constructed with an opening (a hole at the axis) for passing a wire. See Figure 9 As indicated by the dotted arrow, 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 outside, through the inner wiring channel 61 within the wiring structure 6, and then to the opening of the second joint connecting part 332, where it passes through the hollow shaft of the second joint module 2. At the other end of the hollow shaft of the second joint module 2, there is a cable passage connecting to the shoulder yaw joint. These cable passage structures provide convenient channels for the robot's internal wiring, avoiding the safety hazards caused by exposed wiring, and also facilitating wiring installation and maintenance.

[0064] In one embodiment, please refer to Figure 1 A first extension 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 333 extending along the second direction Y is further provided between the second connecting portion 331 and the second joint connecting portion 332. The provision of the first extension 323 and the second extension 333 increases the structural strength of the first connecting wing 32 and the second connecting wing 33.

[0065] In specific embodiments, the present application effectively solves the problem of balancing assembly convenience and processing cost in existing shoulder connectors. 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 mounting holes 3a arranged along the second direction Y using a first fastener 51. This design makes the assembly of the two connecting wings simple and direct; installers only need to pass the fasteners through the corresponding mounting holes and tighten them to complete the connection, without the need for complex positioning or calibration operations. Moreover, the locking blocks 3b on the first connecting part 321 and the second connecting part 331 cooperate with the slots 3c of the connecting wing connecting part 312, playing a precise positioning role during assembly, further improving assembly convenience and reducing 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 suitable for conventional machining processes. For example, the flange connection portion 311, the connecting wing connection portion 312, and the second assembly hole 3e of the flange adapter 31 can be machined using ordinary milling and drilling processes; 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 using common processing methods. This avoids the need for special processing techniques or customized molds for some complex connectors in the prior art, greatly reducing processing costs. At the same time, due to the simple structure of each component, the scrap rate during processing can be effectively controlled, further saving costs. In summary, this embodiment of the application successfully solves the problem of balancing assembly convenience and processing costs in existing shoulder connectors by optimizing the connection structure and component design.

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

[0068] In one embodiment, please refer to Figure 10 The various structural components of the humanoid robot work in concert with the shoulder connection structure to achieve the robot's movement functions. The head 71 is located at the top of the robot, while the torso 72 serves as the main support structure, providing not only the mounting base for the shoulder connection structure but also housing important components such as the robot's core control unit and power source. 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, and the hip strut structure 75 is a key component connecting the torso 72 and the legs. Through the coordinated movement of joints such as the lumbar yaw joint and the hip pitch joint, the robot can adjust the posture of its legs when walking, turning and other actions.

[0070] In terms of the leg structure, the knee joint 79 connects the thigh structure 78 and the lower leg structure 80, and the ankle drive joint 81 and the foot and ankle universal structure 82 are rotatably connected to and drive the foot, playing a key flexion and extension role in the robot's walking, squatting and other actions.

[0071] Combination Figure 10 As can be seen, the overall structure of the humanoid robot is closely connected. The shoulder connection structure, as the key part connecting the arm and the torso, works together with other parts to ensure that the robot can complete various complex actions and adapt to diverse work and life scenarios.

[0072] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A shoulder connection structure for a humanoid robot, characterized in that, include: The first joint module and the second joint module are arranged perpendicularly to the rotating shaft of the output flange; as well as A connecting assembly, comprising a flange adapter, a first connecting wing, and a second connecting wing, wherein the flange adapter is configured with a flange connecting portion and a connecting wing connecting portion, the first connecting wing is configured with a first connecting portion and a first joint connecting portion, and the second connecting wing is configured with a second connecting portion and a second joint connecting portion. Wherein, the flange connecting part is fixedly connected to the output flange of the first joint module, the connecting wing connecting part is fixedly connected to the first connecting part and the second connecting part respectively, the second joint connecting part and the first joint connecting part are rotatably connected to the output flange of the second joint module and the end of the second joint module opposite to its output flange respectively, and the second joint module is sandwiched between the first connecting wing and the second connecting wing; The direction of the rotation axis of the first joint module is defined as the first direction; The 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 paired first mounting 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 mounting holes; The first connecting part and the second connecting part are each provided with a locking block protruding in a second direction, and the connecting wing connecting part is provided with two slots that open in a second direction, and the two locking blocks are respectively embedded in the two slots.

2. The humanoid robot shoulder connection structure according to claim 1, characterized in that, The connecting wing connecting part is also provided with an inwardly recessed groove near the flange connecting part; The inner edge of the first connecting portion opposite to the end of the first joint connecting portion has an inwardly extending first snap-fit ​​portion. The inner edge of the second connecting part opposite to the end of the second joint connecting part is provided with an inwardly extending second snap-fit ​​part. The first and second card-connecting parts are respectively embedded in the corresponding card slots.

3. The humanoid robot shoulder connection structure according to claim 1, characterized in that, The flange adapter has multiple through second mounting holes arranged along the first direction. The flange adapter is fixedly connected to the output flange of the first joint module by fasteners passing through the second mounting holes.

4. The humanoid robot shoulder connection structure according to claim 1, characterized in that, The second joint connecting part is constructed with a plurality of third mounting holes arranged along the second direction, and the second joint connecting part is fixedly connected to the output flange of the second joint module by fasteners passing through the third mounting holes.

5. The humanoid robot shoulder connection structure according to claim 1, characterized in that, Also includes Bearings; The first joint connecting portion is configured with a first annular boss arranged along the second direction; The second joint module has a second annular boss protruding in a second direction at the end opposite to its output flange. The first annular boss and the second annular boss are respectively abutted against the inner ring or the outer ring of the bearing.

6. The humanoid robot shoulder connection structure according to claim 5, characterized in that, The inner edge of the first annular boss is provided with a first shoulder; The outer edge of the second annular boss is provided with a second shoulder; 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 The outer edge of the first annular boss is provided with a first shoulder that is approximately annular; The inner edge of the second annular boss is provided with a second shoulder that is approximately annular; 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.

7. 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; The flange adapter has a first wire-passing hole at its shaft center; The second connecting portion is configured with an opening for a wire to pass through; and / or, The second joint connection has an opening for the passage of a wire.

8. The humanoid robot shoulder connection structure according to claim 1, characterized in that, A first extension portion extending in a second direction is further provided between the first connecting portion and the first joint connecting portion; A second extension portion extending in a second direction is also provided between the second connecting portion and the second joint connecting portion.

9. A robot, characterized in that, Includes the shoulder connection structure for a humanoid robot as described in any one of claims 1 to 8.

10. A humanoid robot, characterized in that, Includes the shoulder connection structure for a humanoid robot as described in any one of claims 1 to 8.

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