Waist structure of humanoid robot and humanoid robot

Abstract

According to the waist structure of the humanoid robot and the humanoid robot, the universal joint structure is adopted in the waist structure, so that no matter how the robot tilts back and forth, swings left and right, rotates and the like, the three central axes of the pitching motion, the rolling motion and the side navigation motion intersect at one point all the time; due to the compact waist structure, when the waist of the robot moves, the sweeping space of the movement is small, and the working space occupied by the movement of the waist of the robot can be reduced; furthermore, two-degree-of-freedom movement (pitching movement and rolling movement) of the robot is achieved under the combined action of the two crank and rocker structures and the constraint of a waist universal joint, the waist universal joint is a constraint branch chain, the two crank and rocker structures are main transmission branch chains, and the movement of the branch chains is mutually constrained. The motion errors of all the branch chains are mutually constrained, so that the accumulated error of the motion of all the branch chains is low, and the motion precision of the thoracic cavity bottom plate can be improved.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and in particular to a waist structure for a humanoid robot and the humanoid robot itself. Background Technology

[0002] In recent years, the robotics industry has developed rapidly, especially humanoid robots, which have become one of the focal points of the domestic and international robotics technology field. The waist structure of humanoid robots is a key design element. The waist structure not only bears the weight of the entire upper body of the robot, but also coordinates with the arms or head to adjust the upper body through rotation, tilting forward and backward to achieve a better posture and a wider field of vision when the robot picks up objects with its hands or moves its head, thus enabling various complex movements. Summary of the Invention

[0003] One object of this application is to provide a waist structure for a humanoid robot and the humanoid robot itself.

[0004] According to one aspect of this application, a waist structure for a humanoid robot is provided, the waist structure comprising a first crank-rocker structure 101, a second crank-rocker structure 102, a first fixed base 103, a third joint motor, a waist base, and a waist universal joint.

[0005] Wherein, one end of the first crank rocker structure 101 is connected to the thoracic cavity floor plate 4 of the humanoid robot, and the other end is connected to the first fixed seat 103; one end of the second crank rocker structure 102 is connected to the thoracic cavity floor plate 4, and the other end is connected to the first fixed seat 103.

[0006] The rotor of the third joint motor 1 is fixedly connected to the waist base 2, the stator of the third joint motor 1 is fixedly connected to the hip structure of the humanoid robot, the first fixed seat 103 is fixedly connected to the waist base 2, and the third joint motor 1 is used to drive the upper body of the humanoid robot to make lateral movement around the third axis, the third axis being the rotation reference axis of the rotor of the third joint motor 1.

[0007] The waist universal joint 3 includes a first universal joint shaft 5 and a second universal joint shaft 6 along a first axis, a third universal joint shaft 7 and a fourth universal joint shaft 8 along a second axis. The first axis and the second axis intersect perpendicularly. The first universal joint shaft 5 is connected to the first crank rocker structure 101, the second universal joint shaft 6 is connected to the second crank rocker structure 102, and the third universal joint shaft 7 and the fourth universal joint shaft 8 are respectively connected to the waist base 2.

[0008] The first crank-rocker structure 101 and the second crank-rocker structure 102 are used to drive the upper body of the humanoid robot to pitch around the first axis when moving synchronously in the same direction, and to drive the upper body of the humanoid robot to roll around the second axis when moving synchronously in opposite directions. The first axis, the second axis and the third axis intersect at a point.

[0009] According to one aspect of this application, a humanoid robot is provided, the humanoid robot comprising the waist structure of the humanoid robot described above.

[0010] Compared with existing technologies, the waist structure of the humanoid robot provided in this application adopts a universal joint structure, which ensures that no matter how the robot pitches, rolls, or rotates, the three central axes of pitch, roll, and lateral movement always intersect at a single point. This compact waist structure reduces the space swept by the robot's waist movement, thus reducing the workspace occupied by the robot's waist movement. Furthermore, the robot achieves two degrees of freedom (pitch and roll) under the combined action of two sets of crank-rocker structures and the constraint of the waist universal joint. The waist universal joint is the constraint branch, and the two sets of crank-rocker structures are the main transmission branches. The movements of each branch are mutually constrained, so the movement errors of each branch are mutually constrained. Therefore, the cumulative error of each branch's movement is low, which can improve the movement accuracy of the thoracic floor plate. Attached Figure Description

[0011] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0012] Figure 1 A schematic diagram showing the waist structure of a humanoid robot according to an embodiment of this application;

[0013] Figure 2 A schematic diagram of the waist structure of a humanoid robot according to an embodiment of this application is shown at an angle;

[0014] Figure 3 Show Figure 2 A schematic diagram of the waist structure shown from another angle;

[0015] Figure 4 Show Figure 2 Exploded view of the waist structure shown;

[0016] Figure 5a A schematic diagram of the first state of the waist structure of a humanoid robot according to an embodiment of this application is shown;

[0017] Figure 5b Showing according to Figure 5aA schematic diagram of the second state of the lumbar structure after a forward bending motion;

[0018] Figure 6 A schematic diagram showing the third state of the waist structure of a humanoid robot after a backward tilting motion according to an embodiment of this application is provided.

[0019] Figure 7a A schematic diagram of the fourth state of the waist structure of a humanoid robot according to an embodiment of this application is shown;

[0020] Figure 7b Showing according to Figure 7a A schematic diagram of the fifth state of the waist structure after its tumbling motion;

[0021] Figure 8a A schematic diagram of the sixth state of the waist structure of a humanoid robot according to an embodiment of this application is shown.

[0022] Figure 8b Showing according to Figure 8a The diagram shows the seventh state of the waist structure after lateral movement.

[0023] Figure 9 A partial schematic diagram of the connector of the waist structure of a humanoid robot according to an embodiment of this application is shown;

[0024] Figure 10 A partial schematic diagram of the joint motor mount of the waist structure of a humanoid robot according to an embodiment of this application is shown;

[0025] Figure 11 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application;

[0026] Figure 12 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application;

[0027] Figure 13 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application;

[0028] Figure 14 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application;

[0029] Figure 15 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application;

[0030] Figure 16 A schematic diagram of the structure of the first short axis of a humanoid robot according to an embodiment of this application is shown.

[0031] Figure 17 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application is provided.

[0032] Figure label:

[0033] 101-First crank-rocker structure, 102-Second crank-rocker structure, 103-First fixed seat, 1-Third joint motor, 2-Waist base, 3-Waist universal joint, 4-Chest base plate, 5-First universal joint shaft, 6-Second universal joint shaft, 7-Third universal joint shaft, 8-Fourth universal joint shaft, 9-First connecting rod, 10-Second connecting rod, 11-Connecting rod fixed seat, 12-First joint motor, 13-First joint motor mounting seat, 14-First connector, 15-First short shaft, 16-Third fisheye bearing, 17-Second joint motor, 18-Second joint motor mounting seat, 19-Second Connector, 20-Second short shaft, 21-Fifth fisheye bearing, 22-Fourth fisheye bearing, 23-Sixth fisheye bearing, 24-First fisheye bearing, 25-Second fisheye bearing, 26-First angular contact bearing, 27-Second angular contact bearing, 28-First fixed flange, 29-Second fixed flange, 30-Hip upper support, 31-Hip mounting base, 32-Stator of the first joint motor, 33-Zero position indicator, 34-Stator of the third joint motor, 35-Rotor of the third joint motor, 36-First proximal end, 37-First distal end, 38-First proximal end, 39-First distal end. Detailed Implementation

[0034] The present application will now be described in further detail with reference to the accompanying drawings.

[0035] In the description of this application, 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," and "counterclockwise," etc., 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 application and simplifying the description, and do not 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 application.

[0036] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly 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 connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0040] Figure 1 A schematic diagram of the waist structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 1As shown, the waist structure includes a first crank-rocker structure 101, a second crank-rocker structure 102, a first fixed base 103, a third joint motor 1, a waist base 2, and a waist universal joint 3. One end of the first crank-rocker structure 101 is connected to the thoracic cavity floor plate 4 of the humanoid robot, and the other end is connected to the first fixed base 103. One end of the second crank-rocker structure 102 is connected to the thoracic cavity floor plate 4, and the other end is connected to the first fixed base 103. The rotor of the third joint motor 1 is fixedly connected to the waist base 2, and the stator of the third joint motor 1 is fixedly connected to the hip structure of the humanoid robot. The first fixed base 103 is fixedly connected to the waist base 2. The third joint motor 1 is used to drive the upper body of the humanoid robot to perform lateral movement around a third axis, where the third axis is the third joint motor. The rotor of the 1 has a rotation reference axis; the waist universal joint 3 includes a first universal joint shaft 5 and a second universal joint shaft 6 along a first axis, a third universal joint shaft 7 and a fourth universal joint shaft 8 along a second axis, the first axis and the second axis intersect perpendicularly, the first universal joint shaft 5 is connected to the first crank-rocker structure 101, the second universal joint shaft 6 is connected to the second crank-rocker structure 102, and the third universal joint shaft 7 and the fourth universal joint shaft 8 are respectively connected to the waist base 2; the first crank-rocker structure 101 and the second crank-rocker structure 102 are used to drive the upper body of the humanoid robot to pitch around the first axis when moving synchronously in the same direction, and to drive the upper body of the humanoid robot to roll around the second axis when moving synchronously in opposite directions, the first axis, the second axis and the third axis intersect at a point. It should be noted that... Figure 1 Only the waist universal joint 3 is shown in the figure, and the first universal joint shaft 5, the second universal joint shaft 6, the third universal joint shaft 7 and the fourth universal joint shaft 8 are not further shown. The specific structure of the waist universal joint 3 can be found in the following embodiments.

[0041] In some embodiments, the crank-rocker structure is a planar linkage mechanism, a variation of the four-bar linkage, mainly used to convert the continuous rotational motion of a motor into a controllable reciprocating oscillation. The crank-rocker structure mainly consists of a crank, a rocker, a connecting rod, and a frame. The crank is a component that can rotate a full circle around a fixed point (input component), the rocker is a component that can only oscillate back and forth within a certain angle (output component), the connecting rod is the intermediate component connecting the crank and the rocker, and the frame is a fixed support part.

[0042] In some embodiments, the first crank-rocker structure 101 and the second crank-rocker structure 102 are located on the left and right sides of the waist structure, respectively. The two crank-rocker structures are symmetrical with respect to the vertical central axis of the robot. One end (e.g., the upper surface) of the first crank-rocker structure 101 is fixedly connected to the thoracic cavity base plate 4 of the humanoid robot, and the other end (e.g., the left or right surface) of the first crank-rocker structure 101 is fixedly connected to one end (e.g., the right or left end) of the first fixed base 103. The second crank-rocker structure 102... One end (e.g., the upper surface) is also fixedly connected to the thoracic cavity base plate 4 of the humanoid robot, and the other end (e.g., the left or right surface) of the second crank rocker structure 102 is fixedly connected to the other end (e.g., the right or left end) of the first fixed seat 103. The first crank rocker structure 101 and the second crank rocker structure 102 constitute two sets of active drive components for the robot's waist movement. The fixed connection methods in this application include, but are not limited to, threaded connection, welding, riveting, etc., and this example embodiment does not impose any special limitations on them. In some embodiments, the first fixed seat 103 is used to connect and support the first crank rocker structure 101 and the second crank rocker structure 102, that is, the first crank rocker structure 101 and the second crank rocker structure 102 are indirectly connected through the first fixed seat 103. The first fixed seat 103 can ensure the precise alignment of the first crank rocker structure 101 and the second crank rocker structure 102, transmit loads, and provide a stable installation reference.

[0043] In some embodiments, a joint motor refers to an electric motor and its supporting system specifically designed to drive the movement of robot limb joints. Its core function is to convert electrical energy into mechanical energy to achieve precise position, speed, or torque control of the joints, thereby mimicking human movement capabilities. Specific types of joint motors include, but are not limited to, servo motors, brushless DC motors, harmonic geared motors, direct drive motors, and stepper motors. This example embodiment does not impose any special limitations on these types. In some embodiments, the third joint motor 1 includes a rotor and a stator. The rotor is fixedly connected to the waist base 2, and the stator is fixedly connected to the hip structure of the humanoid robot. The first fixed base 103 is fixedly connected to the waist base 2. The stator is the stationary part of the joint motor, fixed to the outer casing, and typically includes windings and an iron core. It is used to generate a rotating magnetic field to drive the rotor. The rotor is the rotating part of the joint motor, driven by the stator magnetic field, and outputs torque to drive the load.

[0044] In some embodiments, driven by the third joint motor 1, the upper body of the humanoid robot will perform a lateral movement around a third axis, wherein the third axis is the rotation reference axis of the rotor of the third joint motor 1, and the rotation reference axis refers to the theoretical rotation center line of the motor rotor, that is, the geometric axis around which the rotor rotates. In some embodiments, the motion angle range of the robot's lateral movement is (-90°, +90°). Figure 8aThis diagram illustrates a sixth state of the waist structure of a humanoid robot according to an embodiment of this application. Figure 8b Showing according to Figure 8a The diagram shown is a schematic of the seventh state of the waist structure after lateral movement, based on... Figure 8a and Figure 8b As shown in the example, the humanoid robot from Figure 8a Starting from the indicated state, the upper body performs a lateral movement around the third axis, rotating 90° to reach the desired position. Figure 8b The state shown.

[0045] In some embodiments, the lumbar universal joint 3 is a mechanical joint with two degrees of freedom (pitch and roll) to enable flexible movement of the robot in two degrees of freedom, mimicking the flexion and extension and lateral bending movements of the human waist. In some embodiments, the lumbar universal joint 3 is a cross-shaped mechanical structure. The first universal joint shaft 5, the second universal joint shaft 6, the third universal joint shaft 7, and the fourth universal joint shaft 8 are four different shaft end portions of the lumbar universal joint 3. The lumbar universal joint 3 includes the first universal joint shaft 5 and the second universal joint shaft 6 along a first axis, and the third universal joint shaft 7 and the fourth universal joint shaft 8 along a second axis. That is, the first universal joint shaft 5 and the second universal joint shaft 6 are on a straight line (i.e., the first axis) and correspond to a common endpoint (i.e., the center point of the lumbar universal joint, i.e., the center point of the cross-shaped shaft), the third universal joint shaft 7, and the fourth universal joint shaft 8 along a second axis. The first and second axes intersect perpendicularly, forming a mechanical structure of a cross shaft. The four universal joint shafts are on another straight line (i.e., the second axis) and correspond to a common endpoint (i.e., the center point of the waist universal joint, i.e., the center point of the cross shaft). The four universal joint shafts correspond to a common endpoint (i.e., the center point of the waist universal joint, i.e., the center point of the cross shaft). The universal joint shaft refers to the rigid axis in the universal joint that allows relative rotation. It is usually supported by bearings or hinges, allowing connected components to rotate around the axis. It can be a solid shaft or a hollow shaft.

[0046] In some embodiments, the first universal joint shaft 5 is fixedly connected to one end (e.g., the left or right surface) of the first crank rocker structure 101, the second universal joint shaft 6 is fixedly connected to one end (e.g., the left or right surface) of the second crank rocker structure 102, and the third universal joint shaft 7 and the fourth universal joint shaft 8 are fixedly connected to the waist base 2 respectively.

[0047] In some embodiments, when the first crank-rocker structure 101 and the second crank-rocker structure 102 move synchronously in the same direction, the humanoid robot's thoracic base plate 4 will swing forward or backward under the combined action of the first crank-rocker structure 101 and the second crank-rocker structure 102, thereby driving the upper body of the humanoid robot to pitch around the first axis. When the first crank-rocker structure 101 and the second crank-rocker structure 102 move synchronously in opposite directions, the upper body of the humanoid robot will roll around the second axis under the action of the waist universal joint 3. Synchronous movement in the same direction means that the cranks (input components) of the two crank-rocker mechanisms rotate simultaneously in the same direction, resulting in the two rockers (output components) moving in the same direction and synchronously. Synchronous movement in opposite directions means that the cranks (input components) of the two crank-rocker mechanisms rotate simultaneously in opposite directions, resulting in the two rockers (output components) moving in opposite directions but synchronously. In some embodiments, the range of motion angles for the robot's pitch motion is (-35°, +25°), and the range of motion angles for the robot's roll motion is (-12°, +12°). Figure 5a This diagram illustrates a first state of the waist structure of a humanoid robot according to an embodiment of this application. Figure 5b Showing according to Figure 5a The diagram shows the second state of the waist structure after its forward tilting motion, from which the humanoid robot... Figure 5a As shown, the upper body makes a forward bending motion around the first axis to achieve... Figure 5b The state shown. Figure 6 This diagram illustrates a third state of the waist structure of a humanoid robot according to an embodiment of this application after a backward tilting motion, the humanoid robot transitioning from an upright state or a forward tilting state (e.g., Figure 5a or Figure 5b (As shown in the image), the upper body leans backward around the first axis to achieve... Figure 6 The state shown. Figure 7a This diagram illustrates a fourth state of the waist structure of a humanoid robot according to an embodiment of this application. Figure 7b Showing according to Figure 7a The diagram shows the fifth state of the waist structure after the tumbling motion, from which the humanoid robot... Figure 7a As shown, the upper body performs a rolling motion around the second axis, rotating 10° to reach the desired position. Figure 7b The state shown.

[0048] In some embodiments, the first axis, the second axis, and the third axis intersect at a point, that is, the rotation reference axis (third axis) of the rotor of the third joint motor 1 passes through the center point of the waist universal joint (i.e., the center point of the cross axis). In other words, the center point of the waist universal joint is located on the third axis, so that no matter how the robot pitches forward and backward, swings left and right, rotates, etc., the three central axes of pitching motion, rolling motion, and lateral movement always intersect at a point. This compact waist structure makes the space swept by the robot's waist movement small, which can reduce the workspace occupied by the robot's waist movement.

[0049] The humanoid robot provided in this application employs a universal joint structure in its waist structure, ensuring that regardless of the robot's pitching, swaying, or rotation, the three central axes of pitch, roll, and lateral movement always intersect at a single point. This compact waist structure minimizes the space swept by the robot's waist movements, reducing the workspace occupied by these movements. Furthermore, the robot achieves two degrees of freedom (pitch and roll) through the combined action of two sets of crank-rocker structures and the constraint of the waist universal joint. The waist universal joint acts as a constraint branch, while the two sets of crank-rocker structures act as the main transmission branches. The movements of each branch are mutually constrained, resulting in mutual constraints on the motion errors of each branch. Consequently, the cumulative error of each branch's motion is low, improving the motion accuracy of the thoracic floor plate.

[0050] Figure 2 This diagram illustrates the waist structure of a humanoid robot according to an embodiment of the present application at one angle. Figure 3 Show Figure 2 The diagram shows the waist structure from another angle. Figure 4 Show Figure 2 The exploded view of the waist structure is shown below. (The following is combined with...) Figures 2-4 The waist structure shown is described in further detail.

[0051] In some embodiments, the first crank-rocker structure 101 includes a first crank unit, a first rocker unit, and a first connecting rod 9; the second crank-rocker structure 102 includes a second crank unit, a second rocker unit, and a second connecting rod 10; the first fixed base 103 includes a connecting rod fixed base 11; the first crank unit is fixedly connected to the thoracic cavity floor plate 4; the first crank unit is connected to the first rocker unit via the first connecting rod 9; the first rocker unit is fixedly connected to the connecting rod fixed base 11; the second crank unit is fixedly connected to the thoracic cavity floor plate 4; the second crank unit is connected to the second rocker unit via the second connecting rod 10; the second rocker unit is fixedly connected to the connecting rod fixed base 11. In some embodiments, the first crank-rocker structure 101 includes a first crank unit, a first rocker unit, and a first connecting rod 9; the second crank-rocker structure 102 includes a second crank unit, a second rocker unit, and a second connecting rod 10. The crank unit is a component (input component) capable of rotating a full circle around a fixed point; the rocker unit is a component (output component) capable of reciprocating within a certain angle; and the connecting rod is an intermediate component connecting the crank unit and the rocker unit. In some embodiments, the first fixed base 103 includes a connecting rod fixed base. The connecting rod fixed base is a connecting component in a mechanical transmission or motion system, mainly used to fix and support the connecting rod, ensuring that the connecting rod maintains a stable position and angle during movement. In this application, the connecting rod fixed base is used to connect and support the first connecting rod 9 and the second connecting rod 10, that is, the first connecting rod 9 and the second connecting rod 10 are indirectly connected through the connecting rod fixed base. In some embodiments, the first crank unit is fixedly connected to the thoracic cavity floor plate 4, and the first rocker unit is fixedly connected to the connecting rod fixing seat 11. The first crank unit and the first rocker unit are not directly connected, but are indirectly connected through the first connecting rod 9, that is, the first crank unit and the first connecting rod 9 are fastened together, and the first rocker unit and the first connecting rod 9 are fastened together. In some embodiments, the second crank unit is fixedly connected to the thoracic cavity floor plate 4, and the second rocker unit is fixedly connected to the connecting rod fixing seat 11. The second crank unit and the second rocker unit are not directly connected, but are indirectly connected through the second connecting rod 10, that is, the second crank unit and the second connecting rod 10 are fastened together, and the second rocker unit and the second connecting rod 10 are fastened together.

[0052] In some embodiments, the first crank unit includes a first joint motor 12, a first joint motor mounting base 13, a first connector 14, a first short shaft 15, and a third fisheye bearing 16; the second crank unit includes a second joint motor 17, a second joint motor mounting base 18, a second connector 19, a second short shaft 20, and a fifth fisheye bearing 21; the stator of the first joint motor 12 is fixedly connected to the first joint motor mounting base 13, the first joint motor mounting base 13 is fixedly connected to the thoracic cavity floor plate 4, the rotor of the first joint motor 12 is fixedly connected to the first connector 14, and one end of the first short shaft 15 is fixedly connected to the first connector 16. The first connecting rod 9 is connected to the second connecting member 14 at one end, and the other end is embedded in the inner ring of the third fisheye bearing 16, which is embedded in the stepped hole at one end. The stator of the second joint motor 17 is fixedly connected to the second joint motor mounting base 18, which is fixedly connected to the thoracic floor plate 4. The rotor of the second joint motor 17 is fixedly connected to the second connecting member 19. One end of the second short shaft 20 is connected to the second connecting member 19, and the other end is embedded in the inner ring of the fifth fisheye bearing 21, which is embedded in the stepped hole at one end of the second connecting rod 10. In some embodiments, the joint motor mounting base is a key structural component in the robot used to fix and support the joint motor. Its main function is to ensure a stable connection between the motor and the robotic arm and transmission components, while providing precise positioning and mechanical support. In some embodiments, the connecting member is a mechanical component used to assemble, fix, and transmit motion / force. In some embodiments, the fisheye bearing is a specially designed bearing whose core feature is that it allows for angular oscillation and rotational motion in multiple directions. It is widely used in mechanical systems that require flexible adjustment and can withstand complex loads. In some embodiments, the stator of the first joint motor 12 is fixedly connected to the first joint motor mounting base 13, the first joint motor mounting base 13 is fixedly connected to the thoracic floor plate 4, the rotor of the first joint motor 12 is fixedly connected to the first connecting member 14, one end of the first short shaft 15 is inserted into the hole of the first connecting member 14 by interference fit, so that the first short shaft 15 is fixed to the first connecting member 14 and is positioned by screws to prevent the first short shaft 15 from rotating, and the other end of the first short shaft 15 is inserted into the inner ring of the third fisheye bearing 16, so that the first short shaft 15 and the inner ring of the third fisheye bearing 16 are fastened together by interference fit. In the radial direction of the third fisheye bearing 16, the third fisheye bearing 16 is inserted into the stepped hole at one end of the first connecting rod 9, and the outer ring of the third fisheye bearing 16 is fastened together with the first connecting rod 9 by interference fit; the first short shaft 15 is inserted into the inner ring of the third fisheye bearing 16, so that the inner ring of the third fisheye bearing 16 is fixed together with the first short shaft 15 by interference fit.In some embodiments, the stator of the second joint motor 17 is fixedly connected to the second joint motor mounting base 18, the second joint motor mounting base 18 is fixedly connected to the thoracic floor plate 4, the rotor of the second joint motor 17 is fixedly connected to the second connecting member 19, one end of the second short shaft 20 is inserted into the hole of the second connecting member 19 by interference fit, so that the second short shaft 20 is fixed to the second connecting member 19 and is positioned by screws to prevent the second short shaft 20 from rotating, and the other end of the second short shaft 20 is inserted into the inner ring of the fifth fisheye bearing 21, so that the second short shaft 20 and the inner ring of the fifth fisheye bearing 21 are fastened together by interference fit. In the radial direction of the fifth fisheye bearing 21, the fifth fisheye bearing 21 is inserted into the stepped hole at one end of the second connecting rod 10, the outer ring of the fifth fisheye bearing 21 is fastened together with the second connecting rod 10 by interference fit, and the second short shaft 20 is inserted into the inner ring of the fifth fisheye bearing 21, so that the inner ring of the fifth fisheye bearing 21 is fixed together with the second short shaft 20 by interference fit.

[0053] like Figure 9 As shown, a partial schematic diagram of the first connector 14 and the second connector 19 is presented. The first connector 14 and the second connector 19 have the same structure and are symmetrical from left to right.

[0054] like Figure 10 As shown, a partial schematic diagram of the first joint motor mounting base 13 and the second joint motor mounting base 18 is presented. The first joint motor mounting base 13 and the second joint motor mounting base 18 have the same structure and are installed symmetrically from left to right.

[0055] In some embodiments, the first proximal end 36 of the first short shaft 15 is stepped, and the first distal end 37 of the first short shaft 15 is screwed into the threaded hole of the first distal end with a screw with a first washer, the first washer pressing on the inner ring of the third spherical bearing 16; the second proximal end of the second short shaft 20 is stepped, and the second distal end of the second short shaft 20 is screwed into the threaded hole of the second distal end with a screw with a second washer, the second washer pressing on the inner ring of the fifth spherical bearing 21. In some embodiments, in the axial direction of the third spherical bearing 16, the first proximal end 36 of the first short shaft 15 (e.g. Figure 16 As shown, the first near-hole end 36 (the end closest to the threaded hole connecting the first short shaft 15 and the first connecting member 14, referred to as the near-hole end) is positioned using a stepped design, and the first far-hole end 37 of the first short shaft 15 (as shown in the image) is positioned using a stepped design. Figure 16As shown, the first distal end 37 (the end away from the threaded hole connecting the first short shaft 15 and the first connector 14, referred to as the distal end) is screwed into the threaded hole of the first distal end 37 with a screw with a first washer (the first washer presses on the inner ring of the third fisheye bearing 16), so that the inner ring of the third fisheye bearing 16 and the first short shaft 15 will not move in the axial direction. In some embodiments, in the axial direction of the fifth fisheye bearing 21, the second proximal end of the second short shaft 20 (the end near the threaded hole connecting the second short shaft 20 and the second connector 19, referred to as the proximal end) is positioned with a step, and the second distal end of the second short shaft 20 (the end away from the threaded hole connecting the second short shaft 20 and the second connector 19, referred to as the distal end) is screwed into the threaded hole of the second distal end with a screw with a second washer (the second washer presses on the inner ring of the fifth fisheye bearing 21), so that the inner ring of the fifth fisheye bearing 21 and the second short shaft 20 will not move in the axial direction.

[0056] In some embodiments, the first rocker unit includes a fourth fisheye bearing 22, and the second rocker unit includes a sixth fisheye bearing 23. The fourth fisheye bearing 22 is embedded in a stepped hole at the other end of the first connecting rod 9, and the first shaft of the connecting rod fixing seat 11 is embedded in the inner ring of the fourth fisheye bearing 22. The sixth fisheye bearing 23 is embedded in a stepped hole at the other end of the second connecting rod 10, and the second shaft of the connecting rod fixing seat 11 is embedded in the inner ring of the sixth fisheye bearing 23. In some embodiments, the first rocker unit includes a fourth fisheye bearing 22. In the radial direction of the fourth fisheye bearing 22, the fourth fisheye bearing 22 is embedded in a stepped hole at the other end of the first connecting rod 9. The outer ring of the fourth fisheye bearing 22 is fastened to the first connecting rod 9 by an interference fit. The first shaft of the connecting rod fixing seat is embedded in the inner ring of the fourth fisheye bearing 22, so that the inner ring of the fourth fisheye bearing 22 is fastened to the connecting rod fixing seat by an interference fit. In some embodiments, the second rocker unit includes a sixth fisheye bearing 23. In the radial direction of the sixth fisheye bearing 23, the sixth fisheye bearing 23 is embedded in the stepped hole at the other end of the second connecting rod 10. The outer ring of the sixth fisheye bearing 23 is fastened to the second connecting rod 10 by an interference fit. The second shaft of the connecting rod fixing seat is embedded in the inner ring of the sixth fisheye bearing 23, so that the inner ring of the sixth fisheye bearing 23 is fastened to the connecting rod fixing seat by an interference fit.

[0057] In some embodiments, the first proximal end (38) of one side of the connecting rod retainer (11) is positioned by a step, and the first distal end (39) of the same side is screwed into the threaded hole of the first distal end with a screw with a third washer, wherein the third washer presses on the inner ring of the fourth spherical bearing (22); the second proximal end of the other side of the connecting rod retainer (11) is positioned by a step, and the second distal end of the other side is screwed into the threaded hole of the second distal end with a screw with a fourth washer, wherein the fourth washer presses on the inner ring of the sixth spherical bearing (23). In some embodiments, in the axial direction of the fourth spherical bearing 22, the first proximal end 38 of one side of the connecting rod retainer 11 (e.g. Figure 17 As shown, the first proximal end 38 (the end closest to the center surface of the connecting rod fixing seat, referred to as the proximal end) is positioned using a stepped design, and the first distal end 39 on this side of the connecting rod fixing seat 11 (as shown in the image) Figure 17 As shown, the first distal end 39 (the end furthest from the center plane of the connecting rod fixing seat, referred to as the distal end) is screwed into the threaded hole of the first distal end 39 with a screw with a third washer (the third washer presses on the inner ring of the fourth fisheye bearing 22), so that the inner ring of the fourth fisheye bearing 22 and the connecting rod fixing seat 11 will not move in the axial direction. In some embodiments, in the axial direction of the sixth fisheye bearing 23, the second proximal end on the other side of the connecting rod fixing seat 11 is positioned by a step, and the second distal end on the other side of the connecting rod fixing seat 11 is screwed into the threaded hole of the second distal end with a screw with a fourth washer (the fourth washer presses on the inner ring of the sixth fisheye bearing 23), so that the inner ring of the sixth fisheye bearing 23 and the connecting rod fixing seat 11 are fixed in the axial direction and will not be offset.

[0058] Figure 11 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 11As shown, the third fisheye bearing 16 is embedded in the first connecting rod 9 with a stepped hole. The outer ring of the third fisheye bearing 16 is fastened to the first connecting rod 9 by an interference fit. The inner ring of the third fisheye bearing 16 is embedded in the first short shaft 15, so that the inner ring of the third fisheye bearing 16 is fixed to the first short shaft 15 by an interference fit. The fourth fisheye bearing 22 is embedded in the stepped hole at the other end of the first connecting rod 9. The outer ring of the fourth fisheye bearing 22 is fastened to the first connecting rod 9 by an interference fit. The inner ring of the fourth fisheye bearing 22 is embedded in a shaft of the connecting rod fixing seat 11, so that the inner ring of the fourth fisheye bearing 22 is fastened to the connecting rod fixing seat 11 by an interference fit. The fifth fisheye bearing 21 is embedded in the second connecting rod 10 with a stepped hole. The outer ring of the fifth fisheye bearing 21 is fastened to the second connecting rod 10 by an interference fit. The inner ring of the fifth fisheye bearing 21 is embedded in the second short shaft 20, so that the inner ring of the fifth fisheye bearing 21 is fixed to the second connecting rod 10 by an interference fit. The sixth fisheye bearing 23 is embedded in the stepped hole at the other end of the second connecting rod 10. The outer ring of the sixth fisheye bearing 23 is fastened to the second connecting rod 10 by an interference fit. The inner ring of the sixth fisheye bearing 23 is embedded in the other shaft of the connecting rod fixing seat 11, so that the inner ring of the sixth fisheye bearing 23 is fastened to the connecting rod fixing seat 11 by an interference fit.

[0059] In some embodiments, the waist structure further includes a first fisheye bearing 24 and a second fisheye bearing 25; the first fisheye bearing 24 is embedded in a stepped mounting hole in the first joint motor mounting base 13, and the inner ring of the first fisheye bearing 24 is embedded in the first universal joint shaft 5; the second fisheye bearing 25 is embedded in a stepped mounting hole in the second joint motor mounting base 18, and the inner ring of the second fisheye bearing 25 is embedded in the second universal joint shaft 6. In some embodiments, the waist structure further includes a first fisheye bearing 24 and a second fisheye bearing 25, the lower half of the first joint motor mounting base 13 has a stepped mounting hole, the first fisheye bearing 24 is embedded in this mounting hole from the outside to the inside, and the outer ring of the first joint motor mounting base 13 and the first fisheye bearing 24 are fixed together by an interference fit, and the first universal joint shaft 5 of the waist universal joint is embedded in the inner ring hole of the first fisheye bearing 24, and the inner ring of the first fisheye bearing 24 and the first universal joint shaft 5 of the waist universal joint are fixed together by an interference fit. In some embodiments, the lower half of the second joint motor mounting base 18 has a stepped mounting hole, and the second fisheye bearing 25 is inserted into this mounting hole from the outside to the inside. The outer rings of the second joint motor mounting base 18 and the second fisheye bearing 25 are fixed together by an interference fit. The second universal joint shaft 6 of the waist universal joint is inserted into the inner ring hole of the second fisheye bearing 25. The inner ring of the second fisheye bearing 25 and the second universal joint shaft 6 of the waist universal joint are fixed together by an interference fit.

[0060] Figure 12 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 12 As shown, the stator 32 of the first joint motor is fixed to the first joint motor mounting base 13 by a threaded connection. The first joint motor mounting base 13 is fixed to the thoracic floor plate 4 by a threaded connection. The first connector 14 is fixed to the rotor of the first joint motor 12 by a threaded connection. The first short shaft 15 is inserted into the hole of the first connector 14 by an interference fit, and a screw is used to prevent the first short shaft 15 from rotating in the hole. The hole at the bottom of the first connector 14 is fitted with a first fisheye bearing 24. The outer ring of the first fisheye bearing 24 is fixed together with the first connector 14 by an interference fit. The surface of the first connector 14 has scribing lines to mark the zero position when the motor is installed, i.e., the zero position mark.

[0061] The second joint motor 17 is the same as or similar to the first joint motor 12, and will not be described in detail here.

[0062] In some embodiments, the inner surface of the outer ring of the first spherical bearing 24 presses against the step inside the hole of the first joint motor mounting base 13, and a screw with a fifth washer is screwed into the threaded hole at the end of the first universal joint shaft 5, wherein the fifth washer presses against the inner ring of the first spherical bearing 24; the inner surface of the outer ring of the second spherical bearing 25 presses against the step inside the hole of the second joint motor mounting base 18, and a screw with a sixth washer is screwed into the threaded hole at the end of the second universal joint shaft 6, wherein the sixth washer presses against the inner ring of the second spherical bearing 25. In some embodiments, in the axial direction of the first universal joint shaft 5, the inner step of the lower half of the first joint motor mounting base 13 is located on the inner side, and the inner side of the outer ring of the first fisheye bearing 24 presses on the inner step of the first joint motor mounting base 13, so that the first fisheye bearing 24 cannot slide inward. A screw with a fifth washer (the fifth washer presses on the inner ring of the first fisheye bearing 24) is screwed into the threaded hole at the end of the first universal joint shaft 5, so that the inner ring of the first fisheye bearing 24 and the first universal joint shaft 5 of the waist universal joint are fixed together. In some embodiments, in the axial direction of the second universal joint shaft 6, the inner step of the lower half of the second joint motor mounting base 18 is located on the inner side, and the inner side of the outer ring of the second fisheye bearing 25 presses on the inner step of the second joint motor mounting base 18, so that the second fisheye bearing 25 cannot slide inward. A screw with a sixth washer (the sixth washer presses on the inner ring of the second fisheye bearing 25) is screwed into the threaded hole at the end of the second universal joint shaft 6, so that the inner ring of the second fisheye bearing 25 and the second universal joint shaft 6 of the waist universal joint are fixed together.

[0063] In some embodiments, the waist structure further includes a first angular contact bearing 26, a second angular contact bearing 27, a first fixed flange 28, and a second fixed flange 29; the first angular contact bearing 26 is embedded in the groove and stepped hole of the third universal joint shaft 7; the base of the first fixed flange 28 is fixed to the waist base 2; and the short shaft of the first fixed flange 28 is embedded in the inner ring of the first angular contact bearing 26 through the stepped hole of the waist base 2; the second angular contact bearing 27 is embedded in the groove of the fourth universal joint shaft 8; the second fixed flange 29 is installed in the stepped hole of the waist base 2; the base of the second fixed flange 29 is fixed to the waist base 2; and the short shaft of the second fixed flange 29 is embedded in the inner ring of the second angular contact bearing 27 through the stepped hole of the waist base 2. In some embodiments, the waist structure further includes a first angular contact bearing 26, a second angular contact bearing 27, a first fixed flange 28, and a second fixed flange 29. The angular contact bearing is a rolling bearing that can simultaneously withstand radial and axial loads. Its design feature is that the rolling elements (steel balls) form a contact angle with the inner and outer raceways, thereby possessing higher axial load capacity and rigidity. The fixed flange is a perforated disc-shaped part used for connecting pipes, valves, equipment, or mechanical components to achieve sealing or structural support. Its core feature is that its position is fixed (it cannot be rotated or moved). In some embodiments, the third universal joint shaft 7 has a groove, and the first angular contact bearing 26 is embedded in the groove of the third universal joint shaft 7. The outer ring of the first angular contact bearing 26 and the third universal joint shaft 7 are fixed together by an interference fit. The first fixing flange 28 is inserted into the stepped hole of the waist base 2 from the outside to the inside. The base part of the first fixing flange 28 is fixed (e.g., by threaded connection, welding, riveting, etc., which is not specifically limited in this example embodiment) on the waist base 2. The short shaft part of the first fixing flange 28 is embedded in the inner ring of the first angular contact bearing 26 through the stepped hole of the waist base 2. The first fixing flange 28 and the inner ring of the first angular contact bearing 26 are fixed together by an interference fit. In some embodiments, the fourth universal joint shaft 8 also has a groove, and the second angular contact bearing 27 is embedded in the groove of the fourth universal joint shaft 8. The outer ring of the second angular contact bearing 27 and the fourth universal joint shaft 8 are fixed together by an interference fit. The second fixing flange 29 is inserted into the stepped hole of the waist base 2 from the outside to the inside. The base part of the second fixing flange 29 is fixed (e.g., by threaded connection, welding, riveting, etc., which is not specifically limited in this example embodiment) on the waist base 2. The short shaft part of the second fixing flange 29 is embedded in the inner ring of the second angular contact bearing 27 through the stepped hole of the waist base 2. The second fixing flange 29 and the inner ring of the second angular contact bearing 27 are fixed together by an interference fit.

[0064] Figure 13-14 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 13-14 As shown, the first spherical bearing 24 is fitted onto the first universal joint shaft 5, and the inner ring of the first spherical bearing 24 is fastened to the first universal joint shaft 5 by an interference fit. The second spherical bearing 25 is fitted onto the second universal joint shaft 6, and the inner ring of the second spherical bearing 25 is fastened to the second universal joint shaft 6 by an interference fit. The first angular contact bearing 26 is embedded in the groove of the third universal joint shaft 7, and the outer ring of the first angular contact bearing 26 is fixed to the third universal joint shaft 7 by an interference fit. The base portion of the first fixed flange 28 is fixed to the waist base 2 by a threaded connection. The short shaft portion of the first fixed flange 28 is embedded into the inner ring of the first angular contact bearing 26 through the stepped hole of the waist base 2, and the first fixed flange 28 and the inner ring of the first angular contact bearing 26 are fixed together by an interference fit. The second angular contact bearing 27 is embedded in the groove of the fourth universal joint shaft 8, and the outer ring of the second angular contact bearing 27 is fixed to the fourth universal joint shaft 8 by an interference fit. The base portion of the second fixed flange 29 is fixed together with the waist base 2 by a threaded connection. The short shaft portion of the second fixed flange 29 is inserted into the inner ring of the second angular contact bearing 27 through the stepped hole of the waist base 2. The second fixed flange 29 and the inner ring of the second angular contact bearing 27 are fixed together by an interference fit.

[0065] In some embodiments, the hip structure includes a hip upper support 30 and a hip mounting base 31. The stator of the third joint motor 1 is fixedly connected to the hip upper support 30, and the hip mounting base 31 is fixedly connected to the hip upper support 30 and the leg structure of the humanoid robot. In some embodiments, the hip structure of the humanoid robot includes a hip upper support 30 and a hip mounting base 31. The hip upper support 30 is fixedly connected to the stator of the third joint motor 1, the hip mounting base 31 is fixedly connected to the hip upper support 30, and the hip mounting base 31 is fixedly connected to the leg structure of the humanoid robot.

[0066] Figure 15 A schematic diagram showing a portion of the waist structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 15 As shown, the stator 34 of the third joint motor is fixed to the upper hip support 30 by a threaded connection, the upper hip support 30 is fixed to the hip mounting base 31 by a threaded connection, the hip mounting base 31 is fixed to the robot's legs by a threaded connection, the rotor 35 of the third joint motor is fixed to the waist base 2 by a threaded connection, and the zero position mark 33 is used to mark the zero position when the third joint motor is installed.

[0067] Based on the waist structure described above, this application also proposes a humanoid robot that includes the waist structure described above.

[0068] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any particular order.

Claims

1. A waist structure for a humanoid robot, wherein, The waist structure includes a first crank rocker structure (101), a second crank rocker structure (102), a first fixed base (103), a third joint motor (1), a waist base (2), and a waist universal joint (3); Wherein, one end of the first crank rocker structure (101) is connected to the thoracic cavity floor plate (4) of the humanoid robot, and the other end is connected to the first fixed seat (103); one end of the second crank rocker structure (102) is connected to the thoracic cavity floor plate (4), and the other end is connected to the first fixed seat (103); The rotor of the third joint motor (1) is fixedly connected to the waist base (2), the stator of the third joint motor (1) is fixedly connected to the hip structure of the humanoid robot, the first fixed seat (103) is fixedly connected to the waist base (2), and the third joint motor (1) is used to drive the upper body of the humanoid robot to make lateral movement around the third axis. The third axis is the rotation reference axis of the rotor of the third joint motor (1). The waist universal joint (3) includes a first universal joint shaft (5) and a second universal joint shaft (6) along a first axis, a third universal joint shaft (7) and a fourth universal joint shaft (8) along a second axis. The first axis and the second axis intersect perpendicularly. The first universal joint shaft (5) is connected to the first crank rocker structure (101), the second universal joint shaft (6) is connected to the second crank rocker structure (102), and the third universal joint shaft (7) and the fourth universal joint shaft (8) are respectively connected to the waist base (2). The first crank-rocker structure (101) and the second crank-rocker structure (102) are used to drive the upper body of the humanoid robot to pitch around the first axis when moving synchronously in the same direction, and to drive the upper body of the humanoid robot to roll around the second axis when moving synchronously in opposite directions. The first axis, the second axis and the third axis intersect at a point.

2. The waist structure according to claim 1, wherein, The first crank-rocker structure (101) includes a first crank unit, a first rocker unit, and a first connecting rod (9); the second crank-rocker structure (102) includes a second crank unit, a second rocker unit, and a second connecting rod (10); and the first fixed seat (103) includes a connecting rod fixed seat (11). The first crank unit is fixedly connected to the thoracic cavity floor plate (4), the first crank unit is connected to the first rocker unit through the first connecting rod (9), and the first rocker unit is fixedly connected to the connecting rod fixing seat (11). The second crank unit is fixedly connected to the thoracic cavity base plate (4), the second crank unit is connected to the second rocker unit through the second connecting rod (10), and the second rocker unit is fixedly connected to the connecting rod fixing seat (11).

3. The waist structure according to claim 2, wherein, The first crank unit includes a first joint motor (12), a first joint motor mounting base (13), a first connector (14), a first short shaft (15), and a third fisheye bearing (16); the second crank unit includes a second joint motor (17), a second joint motor mounting base (18), a second connector (19), a second short shaft (20), and a fifth fisheye bearing (21). The stator of the first joint motor (12) is fixedly connected to the first joint motor mounting base (13), the first joint motor mounting base (13) is fixedly connected to the thoracic floor plate (4), the rotor of the first joint motor (12) is fixedly connected to the first connecting piece (14), one end of the first short shaft (15) is connected to the first connecting piece (14), and the other end is embedded in the inner ring of the third fisheye bearing (16), the third fisheye bearing (16) is embedded in the stepped hole at one end of the first connecting rod (9); The stator of the second joint motor (17) is fixedly connected to the second joint motor mounting base (18), the second joint motor mounting base (18) is fixedly connected to the thoracic floor plate (4), the rotor of the second joint motor (17) is fixedly connected to the second connecting piece (19), one end of the second short shaft (20) is connected to the second connecting piece (19), and the other end is embedded in the inner ring of the fifth fisheye bearing (21), which is embedded in the stepped hole at one end of the second connecting rod (10).

4. The waist structure according to claim 3, wherein, The first near-hole end (36) of the first short shaft (15) is positioned by a step, and the first far-hole end (37) of the first short shaft (15) is screwed into the threaded hole of the first far-hole end with a screw with a first washer, and the first washer is pressed on the inner ring of the third fisheye bearing (16). The second near-hole end of the second short shaft (20) is positioned by a step, and the second far-hole end of the second short shaft (20) is screwed into the threaded hole of the second far-hole end by a screw with a second washer, and the second washer is pressed on the inner ring of the fifth fisheye bearing (21).

5. The waist structure according to claim 2 or 3, wherein, The first rocker unit includes a fourth fisheye bearing (22), and the second rocker unit includes a sixth fisheye bearing (23); The fourth fisheye bearing (22) is embedded in the stepped hole at the other end of the first connecting rod (9), and the first shaft of the connecting rod fixing seat (11) is embedded in the inner ring of the fourth fisheye bearing (22); The sixth fisheye bearing (23) is embedded in the stepped hole at the other end of the second connecting rod (10), and the second shaft of the connecting rod fixing seat (11) is embedded in the inner ring of the sixth fisheye bearing (23).

6. The waist structure according to claim 5, wherein, The first proximal end (38) of the connecting rod fixing seat (11) is positioned by a step, and the first distal end (39) of the same side is screwed into the threaded hole of the first distal end with a screw with a third washer, wherein the third washer presses on the inner ring of the fourth fisheye bearing (22). The second proximal end of the connecting rod fixing seat (11) on the other side is positioned by a step, and the second distal end on the other side is screwed into the threaded hole of the second distal end with a screw with a fourth washer, wherein the fourth washer presses on the inner ring of the sixth fisheye bearing (23).

7. The waist structure according to claim 3, wherein, The waist structure also includes a first fisheye bearing (24) and a second fisheye bearing (25); The first fisheye bearing (24) is embedded in the stepped mounting hole of the first joint motor mounting base (13), and the inner ring of the first fisheye bearing (24) is embedded in the first universal joint shaft (5). The second fisheye bearing (25) is embedded in the stepped mounting hole of the second joint motor mounting base (18), and the inner ring of the second fisheye bearing (25) is embedded in the second universal joint shaft (6).

8. The waist structure according to claim 7, wherein, The inner side of the outer ring of the first fisheye bearing (24) presses against the step inside the hole of the first joint motor mounting base (13), and the screw with the fifth washer is screwed into the threaded hole at the end of the first universal joint shaft (5), wherein the fifth washer presses against the inner ring of the first fisheye bearing (24). The inner side of the outer ring of the second fisheye bearing (25) presses against the step inside the hole of the second joint motor mounting base (18), and a screw with a sixth washer is screwed into the threaded hole at the end of the second universal joint shaft (6), wherein the sixth washer presses against the inner ring of the second fisheye bearing (25).

9. The waist structure according to claim 1, wherein, The waist structure also includes a first angular contact bearing (26), a second angular contact bearing (27), a first fixed flange (28), and a second fixed flange (29); The first angular contact bearing (26) is embedded in the groove of the third universal joint shaft (7), the first fixing flange (28) is installed in the stepped hole of the waist base (2), the base of the first fixing flange (28) is fixed on the waist base (2), and the short shaft of the first fixing flange (28) is embedded in the inner ring of the first angular contact bearing (26) through the stepped hole of the waist base (2); The second angular contact bearing (27) is embedded in the groove of the fourth universal joint shaft (8), the second fixing flange (29) is installed in the stepped hole of the waist base (2), the base of the second fixing flange (29) is fixed on the waist base (2), and the short shaft of the second fixing flange (29) is embedded in the inner ring of the second angular contact bearing (27) through the stepped hole of the waist base (2).

10. The waist structure according to claim 1, wherein, The hip structure includes a hip upper support (30) and a hip mounting base (31). The stator of the third joint motor (1) is fixedly connected to the hip upper support (30). The hip mounting base (31) is fixed on the hip upper support (30) and is fixedly connected to the leg structure of the humanoid robot.

11. A humanoid robot, wherein, The humanoid robot comprises the waist structure as described in any one of claims 1 to 10.

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