Humanoid robot integrated hip joint execution module

Abstract

This invention relates to the field of robotics, specifically to an integrated hip joint execution module for a humanoid robot. The module includes a main housing, a secondary housing, and a shell-removing drive module. The main housing is a hollow cavity, rotatably connected to the secondary housing. An air inlet slot is formed on the surface of the main housing, and a cooling fan is fixedly connected to its inner wall. The shell-removing drive module includes a waist drive module, a roll drive module, and a pitch drive module. Each of these modules contains a stator assembly and a rotor assembly. The stator and rotor assemblies within the roll drive module are directly connected to the secondary housing, while the remaining stator and rotor assemblies are directly connected to the main housing. The output end of the pitch drive module is fixedly connected to a connector, which is connected to the roll drive module. Through the shell-removing drive module, the main housing simultaneously performs four functions, achieving compact integration. The main and secondary housings achieve complete decoupling and independent collaborative control of multiple degrees of freedom. Each module has a unique installation direction and position, preventing incorrect assembly.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an integrated hip joint execution module for humanoid robots. Background Technology

[0002] With the development of humanoid and bipedal robot technologies, higher demands are being placed on the robot's joint structure to enhance its mobility and stability in complex environments. The hip joint, as a crucial joint connecting the robot's torso and lower limbs, typically needs to simultaneously achieve multiple degrees of freedom, including pitch, roll, and yaw. Its structural complexity and load-bearing capacity directly affect the overall motion performance and reliability of the robot.

[0003] In existing technologies, robot hip joints employ a multi-motor distributed drive structure, with drive motors for different degrees of freedom typically positioned in different locations such as the torso, pelvis, or thigh. For bipedal structures, the drive motors for the left and right legs are often independently configured, resulting in a large number of motors and a dispersed spatial layout within the hip joint area, leading to a complex overall structure that hinders compact hip joint design. Furthermore, existing hip joint drive systems typically use standard joint modules with independent housings, where the motor stators, control boards, and housings are independently configured. While meeting structural strength requirements, this inevitably increases system weight and size. In multi-degree-of-freedom, high-torque applications, the space and mass occupied by the motor housings and associated structures further amplify the burden on the joint area, hindering overall robot lightweighting and center of gravity optimization. On the other hand, as hip joint drive power increases, the heat generated by the motors and drive system during operation gradually increases. In existing technologies, due to space constraints, heat dissipation in the hip joint area is primarily passive, with unclear heat dissipation paths, making it difficult to deploy effective heat dissipation structures or active cooling devices. This can easily lead to excessive localized temperature rise, affecting motor performance and system reliability.

[0004] Therefore, how to achieve a compact arrangement of multiple drive modules, reduce structural weight, improve system integration, and improve heat dissipation conditions in the hip joint area while ensuring the multi-degree-of-freedom motion performance of the robot's hip joint remains a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated hip joint execution module for humanoid robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated hip joint execution module for a humanoid robot, comprising a main shell, a secondary shell, and a shell removal drive module. The main shell is a hollow cavity, and the main shell and the secondary shell are rotatably connected. An air inlet slot is provided on the surface of the main shell, and a cooling fan is fixedly connected to the inner wall. The shell removal drive module includes a waist drive module, a roll drive module, and a pitch drive module. Each of the three modules has a stator assembly and a rotor assembly. The stator assembly and rotor assembly in the roll drive module are directly connected to the secondary shell, while the other stator assemblies and rotor assemblies are directly connected to the main shell. The output end of the pitch drive module is fixedly connected to a connector, which is connected to the roll drive module.

[0007] Preferably, the main housing includes a front cover and a rear cover. Two fixing rings of different sizes are symmetrically arranged on both sides of the inner wall of the main housing. The fixing rings have slots on their sides. The front cover and the rear cover are engaged with the fixing rings through the slots. The surface of the fixing rings has several through holes. The surface of the rear cover has pin holes. The front cover is inserted into the rear cover through the pin holes. The cooling fan is fixedly connected to the rear cover.

[0008] Preferably, a fixing disk is inserted into the upper end of the inner wall of the main housing. The inner wall of the fixing disk is fixedly connected to the rotor assembly surface of the waist drive module. Three annular reinforcing ribs are provided inside the main housing. Two reinforcing ribs are symmetrically arranged and fixedly connected to the surfaces of the two pitch drive modules respectively. The other reinforcing rib is fixedly connected to the surface of the waist drive module. The reinforcing ribs are fixedly connected to the main housing. The contact surfaces between the fixing disk and the fixing ring and the main housing are oval.

[0009] Preferably, the pitch drive module has two units symmetrically arranged on both sides of the waist drive module, and the axis of the rotor group forms a predetermined 25° angle with the vertical direction. The output end of the pitch drive module is fixedly connected to an output shaft, and the surfaces of the two rotor groups are fixedly connected to oval positioning rings of different sizes, with each positioning ring being engaged with a fixing ring.

[0010] Preferably, the secondary housing includes an end cap and a housing cover. Two secondary housings are provided and symmetrically arranged on both sides of the main housing. The arc surface of the housing cover has a semi-enclosed opening. A connecting pipe is fixedly connected to the middle position of the arc surface of the housing cover. A fixing rod is fixedly connected to the middle position of the end cap. The fixing rod is fixedly connected to the tumbling drive module. The outer surface of the rotor assembly of the tumbling drive module is fixedly connected to the inner wall of the housing cover.

[0011] Preferably, bearing assemblies are provided at both ends of the main housing, the outer wall of the bearing assembly is fixedly connected to both ends of the main housing, the inner wall of the bearing assembly is fixedly connected to the surface of the connecting pipe, and dust sleeves are fixedly connected to both ends of the main housing, with the bearing assemblies located inside the dust sleeves.

[0012] Preferably, there are two connectors, each including a connecting rod and a connecting ring. The connecting ring is sleeved on the surface of the roll drive module and fixedly connected thereto. One end of the connecting rod is fixedly connected to the connecting ring, and the other end passes through the connecting tube and is fixedly connected to the output shaft of the pitch drive module.

[0013] Preferably, the surfaces of the main housing and the secondary housing are provided with a plurality of positioning holes, the front cover and the rear cover are fixedly connected through the positioning holes, and the pitch drive module and the waist drive module are fixedly connected to the main housing.

[0014] Preferably, a PCB control board is detachably installed in the inner cavity of the main housing, and the PCB control board is electrically connected to both the waist drive module and the pitch drive module.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By integrating the main structure and using the shell-removing drive module that eliminates the independent shell, the main shell can simultaneously bear four functions: structural load-bearing, module protection, stator mounting reference, and heat dissipation conduction. This achieves compact integration and lightweight reduction of the hip joint structure, eliminates the structural redundancy of the multi-layer shell, optimizes the overall center of gravity distribution, and improves the stability of bipedal walking.

[0016] 2. Through the rotational connection between the main shell and the secondary shell, and with the circumferential support of the reinforcing ribs, the complete decoupling and independent coordinated control of multiple degrees of freedom of waist rotation, leg pitch and roll are achieved. At the same time, the overall rigidity and impact resistance of the structure are greatly improved, ensuring the flexibility and operational stability of the hip joint in all scenarios.

[0017] 3. By using the curvature difference and size distinction of the oval contact surface to differentiate the fixing ring and positioning ring, a unique installation direction and position positioning for each module is achieved, avoiding incorrect assembly from the source. The pin hole and positioning hole can prevent assembly misalignment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the main housing of the present invention; Figure 3 This is a schematic diagram of the internal structure of the secondary housing of the present invention; Figure 4 This is a schematic diagram of the tumbling drive module structure of the present invention.

[0019] In the diagram: 1. Main housing; 11. Front cover; 12. Rear cover; 13. Reinforcing rib; 14. Fixing ring; 15. Through hole; 16. Slot; 17. Fixing plate; 18. Dust cover; 19. Air inlet slot; 110. Cooling fan; 111. Pin hole; 2. Secondary housing; 21. Fixing rod; 22. Connecting pipe; 23. Semi-enclosed opening; 24. Housing cover; 25. End cover; 3. Housing removal drive module; 31. Waist drive module; 32. Pitch drive module; 33. Roll drive module; 34. Stator assembly; 35. Rotor assembly; 4. Bearing assembly; 5. Connector; 51. Connecting rod; 52. Connecting ring; 6. Positioning hole; 7. Output shaft; 8. Positioning ring; 9. PCB control board. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1-4 This invention provides a technical solution: an integrated hip joint execution module for a humanoid robot, comprising a main shell 1, a secondary shell 2, and a shell removal drive module 3. The main shell 1 is a hollow cavity, which facilitates the installation of other components. The main shell 1 and the secondary shell 2 are rotatably connected. The upper end of the main shell 1 is connected to the robot's waist, and the secondary shell 2 is connected to the robot's legs. An air inlet slot 19 is provided on the surface of the main shell 1, and a cooling fan 110 is fixedly connected to the inner wall. When the cooling fan 110 is started, it can exhaust the internal hot air through the preset air outlet of the main shell 1. At this time, a negative pressure is formed in the inner cavity of the main shell 1, which then draws outside air into the inner cavity of the main shell 1 from the air inlet slot 19 to complete the heat dissipation. The shell removal drive module 3 is installed in the main shell 1 through a high-precision positioning stop, thereby ensuring coaxiality and normal operation.

[0022] The shell-removed drive module 3 consists of multiple drive modules with their independent shells removed. This method allows the drive modules to be directly integrated into the interior of the main shell 1, thereby achieving the integration of structural load-bearing function and drive function. The shell-removed drive module 3 mainly includes a waist drive module 31, a roll drive module 33, and a pitch drive module 32. Each of the three modules is equipped with a stator assembly 34 and a rotor assembly 35. The rotor assembly 35 includes a protective shell and a rotor. The stator assembly 34 and rotor assembly 35 in the roll drive module 33 are directly connected to the secondary shell 2, while the other stator assembly 34 and rotor assembly 35 are directly connected to the main shell 1. At this time, different drive modules can work independently. The output end of the pitch drive module 32 is fixedly connected to a connector 5, which is connected to the roll drive module 33. The pitch drive module 32 can drive the roll drive module 33 to rotate through the connector 5.

[0023] The main housing 1 is triangular in shape and mainly includes a front cover 11 and a rear cover 12. Both the front cover 11 and the rear cover 12 have several corresponding positioning holes 6 on their surfaces, allowing for detachable connection via bolts. The positioning holes 6 also facilitate bolted connection with the waist drive module 31 and the pitch drive module 32. Two retaining rings 14 of different sizes are symmetrically arranged on both sides of the inner wall of the main housing 1. The sides of the retaining rings 14 have slots 16. Both the front cover 11 and the rear cover 12 are engaged with the retaining rings 14 via these slots 16. Since the engagement position is fixed, the installation positions of the two retaining rings 14 can be distinguished by their size, thus avoiding... To prevent misassembly during assembly, the surface of the fixing ring 14 has several through holes 15. The through holes 15 can prevent the fixing ring 14 from blocking the airflow after the cooling fan 110 is started, thus ensuring normal heat dissipation. The surface of the rear cover 12 has an L-shaped pin hole 111. The front cover 11 is inserted into the rear cover 12 through the pin hole 111, which facilitates quick docking between the two and also prevents misalignment during assembly. The cooling fan 110 is fixedly connected to the rear cover 12. The inner cavity of the main housing 1 is also detachably installed with an integrated PCB control board 9 by bolts. It is arranged in the vertical direction. The waist control module 31 and the pitch drive module 32 in the shell removal drive module 3 are controlled by the PCB control board 9.

[0024] A fixing plate 17 is inserted into the upper end of the inner wall of the main housing 1. The inner wall of the fixing plate 17 is fixedly connected to the outer surface of the rotor assembly 35 of the waist drive module 31. At this time, the waist drive module 31 can be fixed without affecting the rotation of the rotor. The surface of the fixing plate 17 is provided with ventilation grooves to avoid affecting heat dissipation. At the same time, the fixing plate 17 is a heat-conducting material, so the heat generated when the rotor rotates can be dissipated through the fixing plate 17, thereby improving the overall heat dissipation effect. Three annular reinforcing ribs 13 are provided inside the main housing 1. Two reinforcing ribs 13 are symmetrically arranged and separated. The other reinforcing rib 13 is fixedly connected to the surface of the two pitch drive modules 32 and the surface of the waist drive module 31. The reinforcing rib 13 is fixedly connected to the main housing 1. The reinforcing rib 13 forms circumferential support and radial limit for the pitch drive module 32 and the waist drive module 31, thereby improving the overall rigidity of the structure and serving as a support structure for the installation of the drive modules. The contact surfaces of the fixing plate 17 and the fixing ring 14 with the main housing 1 are oval. The installation direction of the fixing ring 14 and the fixing plate 17 can be determined by the difference in curvature between the upper and lower parts of the oval shape.

[0025] Two pitch drive modules 32 are symmetrically arranged on both sides of the waist drive module 31. The axis of the rotor assembly 35 forms a predetermined 25° angle with the vertical direction. This angle allows the two pitch drive modules 32 on the left and right and the waist drive module 31 in the middle to form a compact layout with no interference triangle, thereby improving the integration. At the same time, it makes the output shaft 7 of the pitch drive module 32 coaxial with the rotation center of the connecting pipe 22 of the secondary housing 2 and the bearing assembly 4, which improves the overall rigidity and the strength of the main housing 1. The output end of the pitch drive module 32 is fixedly connected to the output shaft 7. The rotor assembly 35 drives the reducer in the pitch drive module 32 and thereby drives the output shaft 7 to rotate. The surfaces of the two rotor assemblies 35 are fixedly connected to oval positioning rings 8 of different sizes. Each positioning ring 8 is engaged with a fixing ring 14. Since the position and direction of the fixing ring 14 have been determined, the installation position and direction of the two pitch drive modules 32 can also be determined by the size of the positioning ring 8 and the curvature of its two ends.

[0026] The secondary housing 2 includes an end cap 25 and a housing 24. Two secondary housings 2 are provided and symmetrically arranged on both sides of the main housing 1. The arc surface of the housing 24 has a semi-enclosed opening 23, which is used to connect and fix to the robot's thigh structure. A connecting pipe 22 is fixedly connected to the middle position of the arc surface of the housing 24. A fixing rod 21 is welded to the middle position of the end cap 25. The fixing rod 21 is fixedly connected to the tumbling drive module 33 to determine the position of the tumbling drive module 33. The outer surface of the rotor assembly 35 in the tumbling drive module 33 is fixedly connected to the inner wall of the housing 24 to fix the position of the tumbling drive module 33.

[0027] Bearing assemblies 4 are provided at both ends of the main housing 1. The outer wall of the bearing assembly 4 is fixedly connected to both ends of the main housing 1, and the inner wall of the bearing assembly 4 is fixedly connected to the surface of the connecting pipe 22, thereby realizing the rotational connection relationship of the secondary housing 2 relative to the main housing 1, which is used to realize the free movement of the thigh rolling. Dustproof sleeves 18 are fixedly connected to both ends of the main housing 1. The bearing assembly 4 is located inside the dustproof sleeve 18. The dustproof sleeve 18 can protect the bearing assembly 4, thereby preventing a large amount of dust from entering. There are two connecting parts 5. The connecting part 5 includes a connecting rod 51 and a connecting ring 52. The connecting ring 52 is sleeved on the surface of the rolling drive module 33 and fixedly connected to it. One end of the connecting rod 51 is fixedly connected to the connecting ring 52, and the other end passes through the connecting pipe 22 and is fixedly connected to the output shaft 7 of the pitch drive module 32. When the pitch drive module 32 is started, its output end can drive the connecting part 5 to rotate, thereby driving the rolling drive module 33 to rotate. At this time, the secondary housing 2 also rotates.

[0028] In actual use, when the waist drive module 31 is working, its output end can drive the humanoid robot's torso to rotate relative to the main shell 1 of the hip joint, thereby realizing the waist rotational degree of freedom; when the pitch drive module 32 is working, its output shaft 7 can drive the secondary shell 2 and the thigh structure to rotate around a predetermined axis, thereby realizing the thigh pitch degree of freedom; when the roll drive module 33 is working, the leg connected to the secondary shell 2 can rotate relative to the main shell 1 through the bearing assembly 4, thereby realizing the thigh roll degree of freedom; in the compound motion state, the waist drive module 31, the pitch drive module 32 and the roll drive module 33 can work independently or in coordination, thereby realizing multi-degree-of-freedom combined motion, including but not limited to leg lifting, side swinging, body rotation, stepping and other action modes.

[0029] The device integrates the pitch drive modules 32 for both legs and the waist drive module 31 into a single main housing 1, which also serves as the connecting base for both legs and the main structural support. This significantly reduces the number of structural components, compresses the volume of the hip joint, concentrates the center of gravity of the whole machine, and significantly improves the stability of bipedal gait and the rigidity of the pelvic structure. At the same time, by eliminating the independent outer shell of the drive module, the stator assembly 34 is directly fixed to the inner wall of the main housing 1. At this time, the main housing 1 simultaneously undertakes four functions: structural support, module protection, stator installation, and heat dissipation. This eliminates the redundant weight and volume of the multi-layered housing and significantly shortens the heat dissipation path.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An integrated hip joint execution module for a humanoid robot, characterized in that: It includes a main housing (1), a secondary housing (2) and a shell removal drive module (3). The main housing (1) is a hollow cavity. The main housing (1) and the secondary housing (2) are rotatably connected. An air inlet groove (19) is opened on the surface of the main housing (1), and a cooling fan (110) is fixedly connected to the inner wall. The shell removal drive module (3) includes: waist drive module (31), roll drive module (33) and pitch drive module (32). Each of the three is provided with stator group (34) and rotor group (35). The stator group (34) and rotor group (35) in the roll drive module (33) are directly connected to the secondary shell (2). The other stator group (34) and rotor group (35) are directly connected to the main shell (1). The output end of the pitch drive module (32) is fixedly connected to a connector (5). The connector (5) is connected to the roll drive module (33).

2. The integrated hip joint execution module for humanoid robots according to claim 1, characterized in that: The main housing (1) includes a front cover (11) and a rear cover (12). Two fixing rings (14) of different sizes are symmetrically arranged on both sides of the inner wall of the main housing (1). The fixing rings (14) have slots (16) on their sides. The front cover (11) and the rear cover (12) are both engaged with the fixing rings (14) through the slots (16). The surface of the fixing rings (14) has several through holes (15). The surface of the rear cover (12) has pin holes (111). The front cover (11) is inserted into the rear cover (12) through the pin holes (111). The cooling fan (110) is fixedly connected to the rear cover (12).

3. The integrated hip joint execution module for humanoid robots according to claim 2, characterized in that: A fixing disk (17) is inserted into the upper end of the inner wall of the main housing (1). The inner wall of the fixing disk (17) is fixedly connected to the surface of the rotor group (35) of the waist drive module (31). Three circular reinforcing ribs (13) are provided inside the main housing (1). Two reinforcing ribs (13) are symmetrically arranged and fixedly connected to the surfaces of the two pitch drive modules (32) respectively. The other reinforcing rib (13) is fixedly connected to the surface of the waist drive module (31). The reinforcing rib (13) is fixedly connected to the main housing (1). The contact surfaces of the fixing disk (17) and the fixing ring (14) with the main housing (1) are oval.

4. The integrated hip joint execution module for humanoid robots according to claim 3, characterized in that: The pitch drive module (32) has two symmetrically arranged on both sides of the waist drive module (31). The axis of its rotor group (35) forms a predetermined 25° angle with the vertical direction. The output end of the pitch drive module (32) is fixedly connected to the output shaft (7). The surfaces of the two rotor groups (35) are fixedly connected to oval positioning rings (8) of different sizes. Each positioning ring (8) is engaged with a fixing ring (14).

5. The integrated hip joint execution module for humanoid robots according to claim 1, characterized in that: The secondary housing (2) includes an end cap (25) and a housing (24). There are two secondary housings (2) symmetrically arranged on both sides of the main housing (1). The arc surface of the housing (24) has a semi-enclosed opening (23). A connecting pipe (22) is fixedly connected to the middle position of the arc surface of the housing (24). A fixing rod (21) is fixedly connected to the middle position of the end cap (25). The fixing rod (21) is fixedly connected to the tumbling drive module (33). The outer surface of the rotor assembly (35) of the tumbling drive module (33) is fixedly connected to the inner wall of the housing (24).

6. The integrated hip joint execution module for humanoid robots according to claim 5, characterized in that: The main housing (1) is provided with bearing assemblies (4) at both ends. The outer wall of the bearing assembly (4) is fixedly connected to both ends of the main housing (1). The inner wall of the bearing assembly (4) is fixedly connected to the surface of the connecting pipe (22). Dustproof sleeves (18) are fixedly connected to both ends of the main housing (1). The bearing assembly (4) is located inside the dustproof sleeve (18).

7. The integrated hip joint execution module for humanoid robots according to claim 6, characterized in that: Two connectors (5) are provided. The connector (5) includes a connecting rod (51) and a connecting ring (52). The connecting ring (52) is sleeved on the surface of the roll drive module (33) and fixedly connected to it. One end of the connecting rod (51) is fixedly connected to the connecting ring (52), and the other end passes through the connecting tube (22) and is fixedly connected to the output shaft (7) of the pitch drive module (32).

8. The integrated hip joint execution module for humanoid robots according to claim 1, characterized in that: The surfaces of the main housing (1) and the secondary housing (2) are provided with a number of positioning holes (6). The front cover (11) and the rear cover (12) are fixedly connected through the positioning holes (6). The pitch drive module (32) and the waist drive module (31) are both fixedly connected to the main housing (1).

9. The integrated hip joint execution module for humanoid robots according to claim 1, characterized in that: The PCB control board (9) is detachably installed in the inner cavity of the main housing (1). The PCB control board (9) is electrically connected to the waist drive module (31) and the pitch drive module (32).

Images