Two-degree-of-freedom hip joint assembly, hip-leg connection structure, and humanoid robot

Abstract

The application provides a two-degree-of-freedom hip joint assembly, a hip-leg connecting structure and a humanoid robot. The two-degree-of-freedom hip joint assembly comprises: a joint base comprising a first base plate part and a second base plate part, the first base plate part being provided with a first connecting part, and the second base plate part being provided with a second connecting part and a third connecting part; a leg lifting driving assembly comprising a leg lifting joint and a driving gear, the leg lifting joint being fixedly connected with the second connecting part, the driving gear being fixedly connected with a leg lifting output flange and rotating with the leg lifting output flange, and the driving gear being rotationally connected with the hip connecting assembly; a leg connecting part comprising a fourth connecting part and a fifth connecting part, the fourth connecting part being rotationally connected with the first base plate part, and the fifth connecting part being connected with a thigh structure; and a leg swinging driving assembly, the leg swinging joint being a reverse joint, a leg swinging output flange being fixedly connected with the first connecting part, and a leg swinging fixed disc being fixedly connected with the fourth connecting part; when the leg swinging joint drives the fixed disc to rotate, the leg connecting part drives the thigh structure to swing.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and in particular to a two-degree-of-freedom hip joint assembly, a hip-leg connection structure, and a humanoid robot. Background Technology

[0002] In existing technologies, for small humanoid robots ranging from 0.6 to 1 meter in size, the space at the base of the thigh, the support span, and the wall thickness of structural components are all significantly limited. When both leg swinging and leg raising orthogonal degrees of freedom are required simultaneously, simply stacking joint modules along a single direction can lead to excessively wide hips or excessively long thighs, making it difficult to maintain overall proportions. Concentrating joint modules on one side can cause the load-bearing path to deviate from the rotation center, creating risks of uneven loading, swaying, wear, or fatigue in small-scale support structures. Furthermore, the power for leg raising typically needs to be transmitted outwards through a long drive chain, further encroaching on the limited space at the base of the thigh. Summary of the Invention

[0003] This application aims to provide a two-degree-of-freedom hip joint assembly, a hip-leg connection structure, and a humanoid robot, which, under the dimensional constraints of a child-sized humanoid robot, enables the two degrees of freedom at the upper part of the thigh to form a compact structure with relatively balanced force distribution, and helps to reduce the risks of lateral expansion of the hip, increased length of the thigh root, and local support wear.

[0004] In a first aspect, this application provides a two-degree-of-freedom hip joint assembly at the upper thigh of a humanoid robot, comprising: The joint base includes a first base plate portion and a second base plate portion. One end of the first base plate portion and one end of the second base plate portion are perpendicularly disposed. The first base plate portion is provided with a first connecting portion, which is located on the same side of the first base plate portion. The second base plate portion is provided with a second connecting portion and a third connecting portion. The third connecting portion is disposed at one end of the second base plate portion near the first base plate portion, and the second connecting portion and the third connecting portion are respectively located on both sides of the second base plate portion. The second connecting portion and the first base plate portion are located on the same side of the second base plate portion. The leg-lifting drive assembly includes a leg-lifting joint and an active gear. The leg-lifting joint is fixedly connected to the second connecting part and has a leg-lifting output flange. The active gear is fixedly connected to the leg-lifting output flange and rotates with it. The active gear is rotatably connected to the hip connection assembly of the humanoid robot. A leg connector includes a fourth connecting portion and a fifth connecting portion fixedly connected in the extension direction of the thigh structure of a humanoid robot; the fourth connecting portion is rotatably connected to a first base plate portion, and the fifth connecting portion is connected to the thigh structure; and A leg swing drive assembly includes a leg swing joint; the leg swing joint is a reversible joint, the leg swing joint has a leg swing fixing plate and a leg swing output flange, the leg swing fixing plate is the output side, and the leg swing output flange is the stationary side; the leg swing output flange is fixedly connected to a first connecting part, and the leg swing fixing plate is fixedly connected to a fourth connecting part; the rotation axis of the leg raising joint is orthogonal to the rotation axis of the leg swing joint; in the extension direction of the thigh structure, the fifth connecting part is located on the side of the leg raising joint and the leg swing joint closer to the thigh structure; When the leg joint drives its fixed plate to rotate, the fourth connecting part rotates with the leg fixed plate relative to the joint base, and the leg connecting piece drives the thigh structure to perform leg swinging motion.

[0005] In some embodiments of this application, the joint base is generally L-shaped, and the rotation axis of the leg-raising joint is perpendicular to the second base plate portion. The fourth connecting part and the leg-raising joint are located on the side of the second base plate that is away from the third connecting part; In the extending direction of the second base plate, a portion of the fourth connecting portion is located between the leg-raising joint and the first base plate; The orthographic projection of the leg-raising joint on a plane perpendicular to the extension direction of the thigh structure falls completely on the orthographic projection of the fifth connecting part on a plane perpendicular to the extension direction of the thigh structure. The orthographic projection of the leg-swinging joint on a plane perpendicular to the extension direction of the thigh structure partially overlaps with the orthographic projection of the fifth connecting part on a plane perpendicular to the extension direction of the thigh structure.

[0006] In some embodiments of this application, the fourth connecting part includes a mounting sleeve and a support body that are fixedly connected to each other. The mounting sleeve has a receiving cavity, and the support body is detachably connected to the fifth connecting part. The axial direction of the mounting sleeve is perpendicular to the axial direction of the support body. The swing leg joint is housed within the receiving cavity and fixedly connected to the mounting sleeve. The swing leg output flange is fixedly connected to the first connecting part. The rotation axis of the swing leg joint, the central axis of the mounting sleeve, and the central axis of the first connecting part are collinear.

[0007] In some embodiments of this application, the fourth connecting portion includes a first connecting end, which is fixedly disposed on the inner wall of the mounting sleeve and close to the first substrate portion; the first connecting end has an annular structure. The leg-swing fixing plate and the leg-swing output flange are located on the same axial side of the leg-swing joint. The leg-swing output flange is fixedly connected to the first connecting part, and the leg-swing fixing plate is fixedly connected to the first connecting end. The support body has a second connecting end on the side away from the mounting sleeve, and the second connecting end is fixedly connected to the fifth connecting part; one end of the second connecting end protrudes from the mounting sleeve in a direction perpendicular to the extension direction of the thigh structure and forms a limiting step, and at least a part of the leg lifting drive assembly is located on the limiting step. The central axes of the first connecting end and the second connecting end are perpendicular to each other.

[0008] In some embodiments of this application, the swing leg output flange has a first positioning hole, and the first connecting portion has a second positioning hole, with the first positioning hole and the second positioning hole being positioned opposite each other; the first positioning hole and the second positioning hole are connected by a positioning pin to position the swing leg joint and the first base plate portion of the joint base; and / or The swing leg output flange also has a first connection hole, which is adjacent to the first positioning hole; the first connection part also has a second connection hole, which is opposite to the first connection hole; the swing leg drive assembly and the joint base are fixedly connected by fasteners passing through the second connection hole and fixed to the first connection hole.

[0009] Secondly, this application also provides a hip-leg connection structure, including: two two-degree-of-freedom hip joint components as described above; and two hip connection components, respectively connected to the two two-degree-of-freedom hip joint components; Each hip connection assembly includes a driven gear, a bearing support, and a hip connector. The driven gear is fixedly connected to one end of the hip connector, and the bearing support is disposed inside the hip connector and rotatably connected to the hip connector. The driven gear has a central hole, and a portion of the bearing support is disposed within the central hole of the driven gear. The hip connector is fixedly connected to the hip structure of the humanoid robot, the passive gear meshes with the active gear of each two-degree-of-freedom hip joint assembly to transmit the rotational motion of the leg-lifting joint, and the third connector is fixedly connected to the bearing support.

[0010] In some embodiments of this application, the second substrate portion further has a first receiving groove, the opening of the first receiving groove facing the corresponding hip structure; the hip connector has a mounting groove; The hip connection assembly also includes a bearing, a first pressure ring, and a second pressure ring; the bearing, the second pressure ring, and the bearing support are all disposed within the mounting groove; the first pressure ring is fixedly connected to the hip connector in the axial direction of the hip connector and is close to the hip structure; the second pressure ring is rotatably connected to the hip connector in the axial direction of the hip connector; the second pressure ring and the bearing support are disposed along the axial direction of the hip connector; the end of the bearing support away from the second pressure ring is fixedly connected to the third connecting part; the end of the driven gear away from the hip connector abuts against the bottom wall of the first receiving groove facing the hip structure; The first pressure ring mates with the hip connector to fix the outer ring of the bearing in the axial direction of the hip connector; the second pressure ring mates with the bearing support to fix the inner ring of the bearing in the axial direction of the hip connector. The hip connector, bearing, first pressure ring, second pressure ring, bearing support and driven gear are coaxially arranged.

[0011] In some embodiments of this application, the first pressure ring includes an annular pressure ring body, which is fixedly connected to the hip connector. The inner side of the pressure ring body protrudes radially toward the center of the pressure ring body from the hip connector to form a first hip step portion facing the outer ring of the bearing. The hip connector is constructed with a first groove segment and a second groove segment, which are arranged adjacent to each other in the axial direction of the mounting groove. The first groove segment abuts against the pressure ring body. The inner diameter of the first groove segment is larger than the inner diameter of the second groove segment. A second hip step is formed at the connection between the first groove segment and the second groove segment. The second pressure ring structure has a first ring segment, a second ring segment and a third ring segment. The first ring segment, the second ring segment and the third ring segment are arranged adjacent to each other in the axial direction of the pressure ring body. The outer diameters of the first ring segment, the second ring segment and the third ring segment decrease in sequence. A third hip step is formed at the connection between the first ring segment and the second ring segment, and a fourth hip step is formed at the connection between the second ring segment and the third ring segment. The bearing support component comprises a first support ring segment, a second support ring segment, and a third support ring segment. The second and third support ring segments are respectively disposed on both sides of the first support ring segment along the axial direction of the bearing support component, and are staggered along the axial direction of the bearing support component. The second support ring segment faces the hip structure. The outer diameters of the third support ring segment, the second support ring segment, and the first support ring segment increase sequentially. The inner diameter of the third support ring segment is smaller than the inner diameter of the second support ring segment but equal to the inner diameter of the first support ring segment. A fifth hip step is formed at the connection between the first and second support ring segments, and a sixth hip step is formed at the connection between the second and third support ring segments. The third support ring segment is fixedly connected to the third connecting portion. The outer ring of the bearing abuts against the first hip step and the second hip step at its two axial ends, respectively, and the inner ring of the bearing abuts against the third hip step and the fifth hip step at its two axial ends, respectively. The outer ring of the bearing abuts against the outer wall of the first groove section in its radial direction, and the inner wall of the outer ring of the bearing abuts against the outer wall of the second support ring section in its radial direction. The end of the second support ring segment away from the first support ring segment abuts against the fourth hip step, and the end of the third ring segment away from the first ring segment abuts against the sixth hip step. The third ring segment and the third support ring segment are fixedly connected by fasteners.

[0012] In some embodiments of this application, the hip connector is further configured with a third groove segment, which is disposed adjacent to the second groove segment. The inner diameter of the third groove segment is smaller than the inner diameter of the second groove segment. A seventh hip step is formed at the connection between the third groove segment and the second groove segment. One end of the driven gear is received in the mounting groove and fixedly connected to the third groove segment. An eighth hip step is formed at the connection between the first support ring segment and the third support ring segment. The eighth hip step faces the seventh hip step and one end of the driven gear, and there is a gap between the eighth hip step and the seventh hip step and one end of the driven gear. The driven gear has a central hole extending axially, and a third support ring segment extends into the driven gear and has a gap between it and the inner wall of the central hole.

[0013] In some embodiments of this application, the first pressure ring further includes a fourth hip connection portion and a plurality of support bars, one end of each support bar being fixedly connected to the pressure ring body and the other end being fixedly connected to the fourth hip connection portion; the plurality of support bars are evenly distributed along the circumference of the fourth hip connection portion; The fourth hip connection portion and the second pressure ring partially overlap in the axial direction of the first pressure ring; The fourth hip connection has a second receiving groove that extends axially along the first pressure ring and has a lateral opening, and a first set screw hole that communicates with the second receiving groove; The hip connection assembly also includes a conductive slip ring; the conductive slip ring has a fixing part and a rotating part rotatably connected to one end of the fixing part; the conductive slip ring enters the second receiving groove through a lateral opening of the second receiving groove, the fixing part abuts against the inner wall of the second receiving groove and abuts against a first set screw inserted from the first set screw hole to fix the conductive slip ring. The center of the second pressure ring and bearing support has a first channel, and the rotating part of the conductive slip ring is housed in the first channel.

[0014] In some embodiments of this application, the conductive slip ring further includes a slip ring connecting end, which is fixedly connected to the end of the rotating part away from the fixed part and extends along the axial direction of the conductive slip ring. The conductive slip ring also includes a slip ring limiting member, which is generally T-shaped and includes a first limiting part and a second limiting part extending from the center of the first limiting part along the axial direction of the conductive slip ring. The cross-section of the second limiting part is square. The sidewall of the slip ring limiting member has a notch, and the wire of the conductive slip ring enters the interior of the slip ring limiting member through the notch. The center of the slip ring limiting member has a second channel extending along the axial direction of the conductive slip ring. The second channel communicates with the notch, and a portion of the conductive slip ring’s wire is housed within the second channel. The first limiting part is also provided with at least one set screw hole communicating with the second channel. The set screw hole extends radially along the second channel, and the slip ring connecting end extends into the second channel and is abutted by a set screw inserted from the set screw hole to fix the slip ring limiting member to the conductive slip ring. The third connecting part is annular, and the second base plate part also has a slip ring limiting groove. The cross-section of the slip ring limiting groove in the radial direction of the third connecting part is square. The second limiting part is inserted into the slip ring limiting groove from one side of the third connecting part, and the wire of the conductive slip ring extends out from the slip ring limiting groove.

[0015] Thirdly, this application also provides a humanoid robot, including: a two-degree-of-freedom hip joint assembly as described above; or a hip-leg connection structure as described above.

[0016] In some embodiments of this application, the humanoid robot further includes: a hip structure connected to the two-degree-of-freedom hip joint assembly; a thigh structure connected to the fifth connecting portion of the two-degree-of-freedom hip joint assembly; a torso assembly rotatably connected to the hip structure; and a head and neck assembly rotatably connected to the torso assembly.

[0017] The two-degree-of-freedom hip joint assembly, hip-leg connection structure, and humanoid robot provided in this application have the following technical advantages: First, since the joint base includes a first base plate portion and a second base plate portion that are perpendicular to each other, and the first connecting portion, the second connecting portion, and the third connecting portion are respectively arranged on the two vertical portions, the leg swing joint and the hip connection assembly can be staggered instead of stacked in a single direction. This allows for a compact combination of two orthogonal degrees of freedom within the narrow space at the root of the thigh, which is beneficial for controlling the width of the hip and the length of the root of the thigh.

[0018] Secondly, since the third connecting part is close to the first base plate and is rotatably connected to the bearing support of the hip connecting assembly, the rotation center of the joint base relative to the hip connecting assembly is close to the structural center of the joint base, which is beneficial to improve the load-bearing path and reduce the risk of off-center loading and local swaying. At the same time, since the first connecting part and the second base plate are located on the same side of the first base plate, the transmission gear of the leg raising joint can mesh with the passive gear of the hip connecting assembly, which is beneficial to shorten the transmission path of the leg raising degree of freedom.

[0019] Third, since the second and third connecting parts are located on both sides of the second base plate, the swing leg joint and the hip connecting assembly are arranged in opposite directions, which is conducive to dispersing the force; the fifth connecting part of the leg connector is located between the leg raising joint and the swing leg joint and below both of them, which makes it easy for the thigh structure to extend naturally from the middle position, which is conducive to maintaining the overall appearance proportion of the leg.

[0020] Therefore, this technical solution can achieve a compact and relatively balanced arrangement of the two degrees of freedom at the upper part of the thigh under the limited space, support span and structural wall thickness of small humanoid robots with a size of 0.6 to 1 meter. It also helps to reduce the risk of increased lateral profile of the hip, increased length of the thigh root and local support wear. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A three-dimensional structural schematic diagram of the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0023] Figure 2 A partial internal structural diagram of the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0024] Figure 3 An exploded view of the leg-lifting drive assembly in the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0025] Figure 4 An exploded view of the leg-swinging drive assembly in the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0026] Figure 5 A three-dimensional structural diagram of a humanoid robot according to an embodiment of this application is shown, showing the hip structure after the leg lifting drive component and the leg swing drive component are hidden.

[0027] Figure 6 A three-dimensional structural schematic diagram of the joint base of the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0028] Figure 7 This paper shows a three-dimensional structural schematic diagram of the joint base of the hip structure of a humanoid robot according to an embodiment of this application from another perspective.

[0029] Figure 8 A three-dimensional structural schematic diagram of the swing leg joint of the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0030] Figure 9 A cross-sectional view of the hip structure of a humanoid robot according to an embodiment of this application is shown, passing through both the axis of rotation of the leg lift drive component and the axis of rotation of the leg swing drive component.

[0031] Figure 10 A cross-sectional view of the axis of rotation of the over-leg drive component in the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0032] Figure 11 A three-dimensional structural schematic diagram of the leg connector of the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0033] Figure 12This paper shows a three-dimensional structural schematic diagram of the leg connector of the hip structure of a humanoid robot according to an embodiment of this application from another perspective.

[0034] Figure 13 This paper shows a three-dimensional structural diagram of the hip structure of a humanoid robot according to an embodiment of the present application, after the joint base and hip connection assembly are assembled.

[0035] Figure 14 An exploded view of the joint base and hip connection assembly in the hip structure of a humanoid robot according to an embodiment of this application is shown.

[0036] Figure 15 This paper shows a cross-sectional schematic diagram of the hip structure of a humanoid robot according to an embodiment of the present application, after the joint base and hip connection assembly are assembled.

[0037] Figure 16 A three-dimensional structural schematic diagram of a hip connector for a humanoid robot provided in this application is shown.

[0038] Figure 17 A three-dimensional structural schematic diagram of the first pressure ring of a humanoid robot provided in this application is shown.

[0039] Figure 18 A three-dimensional structural schematic diagram of the second pressure ring of a humanoid robot provided in this application is shown.

[0040] Figure 19 A three-dimensional structural schematic diagram of a bearing support component for a humanoid robot provided in this application is shown.

[0041] Figure 20 This paper presents a three-dimensional structural schematic diagram of a bearing support component for a humanoid robot provided in this application, viewed from another perspective.

[0042] Figure 21 A three-dimensional structural schematic diagram of a slip ring limiting component for a humanoid robot provided in this application is shown.

[0043] Figure 22 A three-dimensional structural schematic diagram of a humanoid robot provided in this application is shown.

[0044] Figure label: 100. Humanoid robot; 101. Two-DOF hip joint assembly; 102. Hip connection assembly; 120. Thigh structure; 130. Torso assembly; 140. Head and neck assembly; 150. Hip structure; 10. Joint base; 11. First base plate portion; 111. First connecting portion; 1111. Second positioning hole; 1112. Second connecting hole; 12. Second base plate portion; 121. Second connecting portion; 122. Third connecting portion; 123. First receiving groove; 124. Slip ring limiting groove; 20. Leg-raising drive assembly; 21. Leg-raising joint; 211. Leg-raising output flange; 22. Drive gear; 30. Leg connector; 31. Fourth connecting part; 311. Mounting sleeve; 3111. Accommodating cavity; 3112. First connecting end; 312. Support base; 3121. Second connecting end; 3122. Limiting step part; 32. Fifth connecting part; 40. Leg swing drive assembly; 41. Leg swing joint; 411. Leg swing fixing plate; 412. Leg swing output flange; 4121. First positioning hole; 4122. First connecting hole; 51. Driven gear; 511. Center hole; 52. Bearing support component; 521. First support ring segment; 522. Second support ring segment; 523. Third support ring segment; 524. Fifth hip step portion; 525. Sixth hip step portion; 526. Eighth hip step portion; 53. Hip connector; 531. Mounting groove; 532. First groove segment; 533. Second groove segment; 534. Second hip step; 535. Third groove segment; 536. Seventh hip step; 54. Bearings; 55. First pressure ring; 551. Pressure ring body; 552. First hip step portion; 553. Fourth hip connection portion; 5531. Second receiving groove; 5532. First set screw hole; 554. Support bar; 56. Second pressure ring; 561. First ring segment; 562. Second ring segment; 563. Third ring segment; 564. Third hip step; 565. Fourth hip step; 566. First channel; 57. Conductive slip ring; 571. Fixing part; 572. Rotating part; 573. Slip ring connecting end; 574. Slip ring limiting member; 5741. First limiting part; 5742. Second limiting part; 5743. Notch; 5744. Second channel; 5745. Set screw hole; 60. Positioning post. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0046] 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", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation of this application.

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

[0048] 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 part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

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

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

[0051] In this application, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the object's overall shape is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cubic" means that the object's overall shape is cubic, but there are differences in some non-functional details.

[0052] In the design of traditional 0.6 to 1 meter small humanoid robots 100, the hip design is limited by the space at the root of the thigh, the support span, and the wall thickness of the structural components. When configuring two orthogonal degree-of-freedom modules for swinging and raising the legs at the same time, stacking them in a single direction will result in an excessively large lateral width of the hip or an increase in the length of the root of the legs. If they are arranged in a concentrated offset, the transmission force will be deviated from the rotation center, which will easily cause off-center loading and swaying on the small-sized support structure.

[0053] For this, please refer to Figures 1 to 21 This application provides a two-degree-of-freedom hip joint assembly 101 at the upper thigh of a humanoid robot 100, comprising: The joint base 10 includes a first base plate portion 11 and a second base plate portion 12. One end of the first base plate portion 11 and one end of the second base plate portion 12 are perpendicularly disposed. The first base plate portion 11 is provided with a first connecting portion 111, which is located on the same side of the first base plate portion 11. The second base plate portion 12 is provided with a second connecting portion 121 and a third connecting portion 122, which is disposed at one end of the second base plate portion 12 near the first base plate portion 11. The second connecting portion 121 and the third connecting portion 122 are respectively located on both sides of the second base plate portion 12, and the second connecting portion 121 and the first base plate portion 11 are located on the same side of the second base plate portion 12. The leg-lifting drive assembly 20 includes a leg-lifting joint 21 and an active gear 22. The leg-lifting joint 21 is fixedly connected to the second connecting part 121. The leg-lifting joint 21 has a leg-lifting output flange 211. The active gear 22 is fixedly connected to the leg-lifting output flange 211 and rotates with it. The active gear 22 is rotatably connected to the hip connection assembly 102 of the humanoid robot 100. The leg connector 30 includes a fourth connecting portion 31 and a fifth connecting portion 32 fixedly connected in the extension direction of the thigh structure 120 of the humanoid robot 100. The fourth connecting portion 31 is rotatably connected to the first base plate portion 11, and the fifth connecting portion 32 is connected to the thigh structure 120; and The leg swing drive assembly 40 includes a leg swing joint 41; the leg swing joint 41 is a reversible joint, and the leg swing joint 41 has a leg swing fixing plate 411 and a leg swing output flange 412, the leg swing fixing plate 411 is the output side, and the leg swing output flange 412 is the stationary side; the leg swing output flange 412 is fixedly connected to the first connecting part 111, and the leg swing fixing plate 411 is fixedly connected to the fourth connecting part 31; the rotation axis of the leg raising joint 21 is orthogonal to the rotation axis of the leg swing joint 41; in the extension direction of the thigh structure 120, the fifth connecting part 32 is located on the side of the leg raising joint 21 and the leg swing joint 41 closer to the thigh structure 120; When the leg joint 41 drives its fixed plate to rotate, the fourth connecting part 31 rotates relative to the joint base 10 along with the leg fixed plate 411, and the leg connecting part 30 drives the thigh structure 120 to perform leg swinging motion.

[0054] The two-degree-of-freedom hip joint assembly 101 refers to the mechanical transmission and load-bearing combination applied to the connection between the hip joint and the upper thigh of the humanoid robot 100, capable of providing rotational motion around two mutually orthogonal axes independently or in conjunction. The stationary side and the output side define the power reference constraint end of the drive unit and the motion end that transmits mechanical work externally, respectively. The stationary side remains relatively stationary with respect to the frame or base structure, while the output side is fixed to the driven component to drive it to perform rotation.

[0055] Specifically, a reversible joint refers to a joint drive device that functionally replaces the installation and positioning relationship between the stator side and the rotor side of a conventional motor or reduction module. Its flange end serves as the stationary side with a fixed installation reference, while the outer peripheral disc structure serves as the output side for outputting rotational torque. The swing leg joint 41 is installed inside the space as a reversible joint. The end of the swing leg output flange 412 of the swing leg joint 41 is directly locked and fixed to the end face of the first connecting part 111 by end face bolts. The swing leg fixing disc 411 on the outer edge of the swing leg joint 41 is fixedly connected to the first connecting end 3112 of the fourth connecting part 31 by bolts (see below).

[0056] The central rotation axis of the leg-raising joint 21 is horizontally positioned (e.g., extending along a first direction, which is perpendicular to the height direction of the humanoid robot 100), while the central rotation axis of the leg-swinging joint 41 is arranged perpendicular to the horizontal plane (e.g., extending along a second direction, which is perpendicular to both the first direction and the height direction of the humanoid robot 100). The two are spatially orthogonal and staggered on the vertical projection plane. When the leg-swinging joint 41 module is in a non-working state, the fifth connecting part 32 is arranged along the direction of gravity directly below the leg-raising joint 21 and the leg-swinging joint 41.

[0057] When the leg-raising joint 21 receives a drive signal, the internal motor drives the leg-raising output flange 211 to rotate around its own rotation axis. The leg-raising output flange 211 directly drives the active gear 22 to rotate synchronously. The active gear 22 transmits the rotational motion to the hip connection assembly 102 through meshing with the passive gear 51 on the hip connection assembly 102. Since the hip connection assembly 102 is fixedly connected to the hip structure 150 and remains stationary, the reaction force drives the two-degree-of-freedom hip joint assembly 101 to revolve around the axis of the passive gear 51. This, in turn, drives the bearing support 52 and the leg connector 30 to rotate around the axis of the hip connector 53 through the third connection part 122, causing the leg connector 30 to drive the entire thigh structure 120 to complete the forward and backward leg-raising movements through the fifth connection part 32.

[0058] When the leg joint 41 receives a drive signal, the internal motor drives the external leg fixing plate 411 to rotate relative to the leg output flange 412. The leg fixing plate 411 directly drives the fourth connecting part 31 to generate angular displacement relative to the joint base 10, causing the leg connector 30 to drive the entire thigh structure 120 to complete the lateral leg swing action through the fifth connecting part 32.

[0059] Through the above technical solution, this application has the following technical effects: First, since the joint base 10 includes a first base plate portion 11 and a second base plate portion 12 that are perpendicular to each other, and the first connecting portion 111, the second connecting portion 121, and the third connecting portion 122 are respectively arranged on the two vertical portions, the leg swing joint 41 and the hip connection assembly 102 can be staggered instead of stacked in a single direction, thereby enabling a compact combination of two orthogonal degrees of freedom in the narrow space at the root of the thigh, which is beneficial for controlling the width of the hip and the length of the root of the thigh.

[0060] Secondly, since the third connecting part 122 is close to the first base plate part 11 and is rotatably connected to the bearing support 52 of the hip connecting assembly 102, the rotation center of the joint base 10 relative to the hip connecting assembly 102 is close to the structural center of the joint base 10, which is beneficial to improve the load-bearing path and reduce the risk of off-center loading and local swaying. At the same time, since the first connecting part 111 and the second base plate part 12 are located on the same side of the first base plate part 11, the transmission gear of the leg raising joint 21 can mesh with the passive gear 51 of the hip connecting assembly 102, which is beneficial to shorten the transmission path of the leg raising degree of freedom.

[0061] Third, since the second connecting part 121 and the third connecting part 122 are located on both sides of the second base plate part 12, the leg swing joint 41 and the hip connecting assembly 102 are arranged in opposite directions, which is conducive to dispersing the force; the fifth connecting part 32 of the leg connector 30 is located between the leg raising joint 21 and the leg swing joint 41 and below both of them, which makes it easy for the thigh structure 120 to extend naturally from the middle position, which is conducive to maintaining the overall appearance proportion of the leg.

[0062] Therefore, this technical solution can achieve a compact and relatively balanced arrangement of the two degrees of freedom at the upper part of the thigh in a small humanoid robot 100 with limited space at the root of the thigh, support span, and structural component wall thickness, under the condition that the space, support span, and structural component wall thickness are all limited. It also helps to reduce the risk of increased lateral profile of the hip, increased length of the root of the thigh, and local support wear.

[0063] Please see Figures 1 to 4 and Figure 22 In some embodiments of this application, the joint base 10 is generally L-shaped, and the rotation axis of the leg joint 21 is perpendicular to the second base plate portion 12. The fourth connecting part 31 and the leg lifting joint 21 are located on the side of the second base plate part 12 opposite to the third connecting part 122; In the extending direction of the second base plate portion 12, a portion of the fourth connecting portion 31 is located between the leg raising joint 21 and the first base plate portion 11. The orthographic projection of the leg-raising joint 21 on a plane perpendicular to the extension direction of the thigh structure 120 falls completely on the orthographic projection of the fifth connecting part 32 on a plane perpendicular to the extension direction of the thigh structure 120. The orthographic projection of the leg-swinging joint 41 on a plane perpendicular to the extension direction of the thigh structure 120 partially overlaps with the orthographic projection of the fifth connecting part 32 on a plane perpendicular to the extension direction of the thigh structure 120.

[0064] Through the above technical solutions, this application achieves an optimized layout of the hip joint assembly in an extremely compact space by precisely defining the geometric shape of the joint base 10 and the relative spatial positions of each functional component through geometric and projection constraints. First, by defining the joint base 10 as L-shaped and making the rotation axis of the leg-raising joint 21 perpendicular to the second base plate portion 12, a stable installation reference is established, ensuring that the leg-raising power can be stably transmitted with a vertical reference. Second, by arranging the fourth connecting portion 31 and the leg-raising joint 21 on the side of the second base plate portion 12 away from the third connecting portion 122, a spatially staggered layout effectively avoids physical interference between functional components during assembly and operation, ensuring that each connecting structure is subjected to force independently and does not obstruct each other. Third, by placing a portion of the fourth connecting portion 31 between the leg-raising joint 21 and the first base plate portion 11 in the extending direction of the second base plate portion 12, the assembly achieves a stable installation reference by defining the rotation axis of the leg-raising joint 21 perpendicular to the second base plate portion 12. The upward, compact, and staggered arrangement effectively shortens the torque transmission path and reduces the stress deformation caused by structural overhang. Finally, the orthographic projection of the leg-raising joint 21 falls entirely within the fifth connecting part 32, allowing the leg-raising driving force to be directly transmitted along the main load-bearing section of the thigh structure 120, eliminating the additional off-center load torque introduced by the projection deviation. The orthographic projection of the swing leg joint 41 overlaps with that of the fifth connecting part 32, which not only tightly compresses the lateral outline dimensions but also reserves sufficient dynamic swing margin for the leg swing movement. Thus, while ensuring the overall structural rigidity and compactness, it significantly improves the motion stability and transmission efficiency of the thigh structure 120 under dynamic and complex working conditions.

[0065] Please see Figures 1 to 4 , Figure 11 and Figure 12 In some embodiments of this application, the fourth connecting part 31 includes a mounting sleeve 311 and a support body 312 that are fixedly connected to each other. The mounting sleeve 311 has an accommodating cavity 3111, and the support body 312 is detachably connected to the fifth connecting part 32. The axial direction of the mounting sleeve 311 is perpendicular to the axial direction of the support body 312. The swing leg joint 41 is housed in the receiving cavity 3111 and fixedly connected to the mounting sleeve 311. The swing leg output flange 412 is fixedly connected to the first connecting part 111. The rotation axis of the swing leg joint 41, the central axis of the mounting sleeve 311 and the central axis of the first connecting part 111 are collinear.

[0066] Through the above technical solution, the mounting sleeve 311 provides high-rigidity physical protection and annular support for the reversible leg joint 41, compactly integrating the originally exposed leg joint 41 module inside the fourth connecting part 31, effectively constraining the radial deformation and sway of the leg joint 41 when bearing the thigh swing inertia and gravitational torque; at the same time, the rotation axis of the leg joint 41, the central axis of the mounting sleeve 311, and the central axis of the first connecting part 111 on the first base plate 11 are collinear, ensuring high-precision coaxial alignment between the power output side and the stationary side of the joint base 10 from the assembly reference, eliminating the additional radial torque and local stress concentration caused by installation eccentricity, and significantly reducing the risk of uneven wear of the bearings and reduction mechanism inside the joint; the support body 312 is axially perpendicular to the mounting sleeve 311 and detachably connected to the fifth connecting part 32, which not only utilizes the right-angle topological space to achieve a compact layout, but also ensures efficient transmission of the leg swing torque to the thigh structure 120, while greatly improving the assembly processability and maintenance convenience of the joint components.

[0067] In some embodiments of this application, the fourth connecting portion 31 includes a first connecting end 3112, which is fixedly disposed on the inner wall of the mounting sleeve 311 and close to the first base plate portion 11; the first connecting end 3112 has an annular structure. The swing leg fixing plate 411 and the swing leg output flange 412 are located on the same axial side of the swing leg joint 41. The swing leg output flange 412 is fixedly connected to the first connecting part 111, and the swing leg fixing plate 411 is fixedly connected to the first connecting end 3112. The support body 312 has a second connecting end 3121 on the side away from the mounting sleeve 311. The second connecting end 3121 is fixedly connected to the fifth connecting part 32. One end of the second connecting end 3121 protrudes from the mounting sleeve 311 in a direction perpendicular to the extension direction of the thigh structure 120 and forms a limiting step part 3122. At least a part of the leg lifting drive assembly 20 is located on the limiting step part 3122. The central axes of the first connecting end 3112 and the second connecting end 3121 are perpendicular to each other.

[0068] In this embodiment, the first connecting end 3112 and the mounting sleeve 311 are integrally formed.

[0069] Through the above technical solution, the first connecting end 3112 is fixed in a ring shape to the inner wall of the mounting sleeve 311, so that the reverse-designed swing joint 41 can be installed in the mounting sleeve 311 in an embedded manner. The fixing plate of the swing joint 41 is directly attached and fixed to the first connecting end 3112, while the output flange is directly fixed to the first connecting part 111 of the joint base 10, which simplifies the transmission alignment path and greatly improves the module integration and radial support stiffness in a small space. At the same time, the support body 312 protrudes on the side away from the mounting sleeve 311 to form a limiting step part 3122, so that the leg lifting drive component 20 can be compactly stacked and at least partially seated on the limiting step part 3122, effectively reusing vertical space, avoiding structural interference between the leg lifting drive component 20 and the leg connector 30 during movement, and greatly reducing the axial thickness and overall outer dimensions of the hip joint component. In addition, the central axes of the first connecting end 3112 and the second connecting end 3121 are perpendicular to each other, which clarifies the orthogonal force transmission path of the leg swing drive and the leg lift drive in space, ensuring that the driving force is efficiently and smoothly transmitted to the thigh structure 120, and avoiding local fatigue wear caused by off-center loading.

[0070] Please see Figures 1 to 8 In some embodiments of this application, the swing leg output flange 412 has a first positioning hole 4121, and the first connecting portion 111 has a second positioning hole 1111, with the first positioning hole 4121 and the second positioning hole 1111 positioned opposite each other; the first positioning hole 4121 and the second positioning hole 1111 are connected by a positioning pin 60 to position the swing leg joint 41 and the first base plate portion 11 of the joint base 10; and / or The swing leg output flange 412 also has a first connection hole 4122, which is adjacent to the first positioning hole 4121; the first connecting part 111 also has a second connection hole 1112, which is opposite to the first connection hole 4122; the swing leg drive assembly 40 and the joint base 10 are fixedly connected by fasteners passing through the second connection hole 1112 and fixed to the first connection hole 4122.

[0071] Through the above technical solution, this application significantly improves the structural rigidity and operational reliability between the leg swing drive assembly 40 and the joint base 10 by introducing a connection mechanism that coordinates positioning and fastening. Based on the mechanical limiting effect of the relatively set first positioning hole 4121, second positioning hole 1111, and positioning post 60, high-precision alignment of the swing leg joint 41 is achieved during the assembly process, ensuring that the rotation axis of the swing leg joint 41 is highly consistent with the first connecting part 111 of the joint base 10, effectively eliminating eccentricity or axis misalignment caused by assembly gaps; at the same time, by setting the positioning post 60 and the fastener that bears axial tension separately, the positioning function and the pre-tightening function are separated and coordinated. When the swing leg movement is subjected to high-frequency reversing torque and alternating vibration load, the positioning post 60 can directly bear and divert the shear force perpendicular to the axial direction, while the fastener focuses on providing reliable axial clamping force, thereby effectively suppressing the fretting wear and connection loosening between the output flange and the first base plate 11, greatly improving the fatigue strength of the joint module, and ensuring the motion accuracy and structural stability of the humanoid robot 100 hip joint under long-term dynamic operation.

[0072] Secondly, please refer to Figures 1 to 22 This application also provides a hip and leg connection structure for a humanoid robot 100, including: two two-degree-of-freedom hip joint components 101 as described above; and two hip connection components 102, which are respectively connected to the two two-degree-of-freedom hip joint components 101; Each hip connection assembly 102 includes a driven gear 51, a bearing support 52, and a hip connector 53. The driven gear 51 is fixedly connected to one end of the hip connector 53, and the bearing support 52 is disposed inside the hip connector 53 and rotatably connected to the hip connector 53. The driven gear 51 has a central hole 511, and a portion of the bearing support 52 is disposed within the central hole 511 of the driven gear 51. The hip connector 53 is fixedly connected to the hip structure 150 of the humanoid robot 100, the passive gear 51 meshes with the active gear 22 of each two-degree-of-freedom hip joint assembly 101 to transmit the rotational motion of the leg lifting joint 21, and the third connecting part 122 is fixedly connected to the bearing support 52.

[0073] The hip-leg connection structure of this application combines the passive gear 51, bearing support 52, and hip connector 53 in the hip connection assembly 102 in a nested structural layout, and fixes the third connection part 122 to the bearing support 52, thereby achieving a direct transmission path and optimization of the rotation center of the leg-raising power within a limited space. Specifically, the fixed connection between the passive gear 51 and the hip connector 53 avoids additional transmission links and significantly shortens the power transmission distance of the leg-raising degree of freedom; the bearing support 52 is partially embedded in the central hole 511 of the passive gear 51, forming a nested structure with axial dimension compression, making the hip connection assembly 102 fit more tightly against the hip structure 150; the fixed connection between the third connection part 122 and the bearing support 52 ensures that the support point of the joint base 10 acts directly on the bearing support 52, making the rotation center closer to the structural center and effectively improving the load-bearing path.

[0074] Furthermore, the symmetrical layout of the two hip connection assemblies 102 evenly distributes the robot's torso load to both legs, avoiding structural wear caused by unilateral force. The fixed connection between the hip connector 53 and the hip structure 150 provides a stable support foundation, while the meshing of the passive gear 51 and the active gear 22 enables efficient transmission of the rotational motion of the leg-lifting joint 21. Due to the rotatable connection between the bearing support 52 and the hip connector 53, the hip connection assembly 102 can perform leg-swinging movements around the hip structure 150 while maintaining structural rigidity and motion flexibility. Based on this, the nested structural design minimizes the axial space occupied by the hip, while the optimization of the rotation center significantly reduces the risk of off-center loading on the small-scale support structure.

[0075] Through the above technical solution, the hip-leg connection structure achieves compact integration and force balance of two orthogonal degrees of freedom under the limited space at the root of the thigh in a small-sized humanoid robot 100 (0.6 to 1 meter). The overall structure effectively controls the lateral profile of the hip and the length of the root of the thigh, while reducing the risk of local support wear and swaying, providing a reliable technical solution for the hip joint design of the small-sized humanoid robot 100.

[0076] Please see Figure 1 , Figure 6 and Figures 13 to 22 In some embodiments of this application, the second substrate portion 12 also has a first receiving groove 123, the opening of the first receiving groove 123 facing the corresponding hip structure 150; the hip connector 53 has a mounting groove 531; The hip connection assembly 102 also includes a bearing 54, a first pressure ring 55, and a second pressure ring 56; the bearing 54, the second pressure ring 56, and the bearing support 52 are all disposed in the mounting groove 531; the first pressure ring 55 is fixedly connected to the hip connector 53 in the axial direction of the hip connector 53 and is close to the hip structure 150; the second pressure ring 56 is rotatably connected to the hip connector 53 in the axial direction of the hip connector 53; the second pressure ring 56 and the bearing support 52 are disposed along the axial direction of the hip connector 53; the end of the bearing support 52 away from the second pressure ring 56 is fixedly connected to the third connecting part 122; the end of the driven gear 51 away from the hip connector 53 abuts against the bottom wall of the first receiving groove 123 facing the hip structure 150; The first pressure ring 55 cooperates with the hip connector 53 to fix the outer ring of the bearing 54 in the axial direction of the hip connector 53; the second pressure ring 56 cooperates with the bearing support 52 to fix the inner ring of the bearing 54 in the axial direction of the hip connector 53. The hip connector 53, bearing 54, first pressure ring 55, second pressure ring 56, bearing support 52 and driven gear 51 are coaxially arranged.

[0077] Through the above technical solution, this application opens a first receiving groove 123 in the second substrate portion 12, so that the passive gear 51 can form axial contact and spatial avoidance with the bottom wall of the first receiving groove 123 while realizing power transmission, effectively shortening the space occupied by the transmission chain along the axial direction, avoiding component interference and establishing a precise axial reference; at the same time, the first pressure ring 55 cooperates with the hip connector 53 to tightly lock the outer ring of the bearing 54, and the second pressure ring 56 cooperates with the bearing support 52 to firmly lock the inner ring of the bearing 54, forming an independent bidirectional axial limiting system for the inner and outer rings, completely eliminating the risk of axial movement of the bearing 54 during high-speed or heavy-load motion of the hip joint; in addition, the overall coaxial layout of the hip connector 53, bearing 54, first pressure ring 55, second pressure ring 56, bearing support 52 and passive gear 51 ensures the coincidence of the line of action of the transmission load and the support reaction force, greatly reducing the eccentric torque and wear loss, thereby significantly improving the rotational accuracy, structural rigidity and service life of the humanoid robot 100 hip joint under complex motion conditions.

[0078] Please see Figure 1 , Figure 6 and Figures 13 to 22 In some embodiments of this application, the first pressure ring 55 includes an annular pressure ring body 551, which is fixedly connected to the hip connector 53. The inner side of the pressure ring body 551 protrudes radially toward the center of the pressure ring body 551 from the hip connector 53 to form a first hip step portion 552 facing the outer ring of the bearing 54. The hip connector 53 is constructed with a first groove segment 532 and a second groove segment 533. The first groove segment 532 and the second groove segment 533 are arranged adjacent to each other in the axial direction of the mounting groove 531. The first groove segment 532 abuts against the pressure ring body 551. The inner diameter of the first groove segment 532 is larger than the inner diameter of the second groove segment 533. A second hip step portion 534 is formed at the connection between the first groove segment 532 and the second groove segment 533. The second pressure ring 56 is constructed with a first ring segment 561, a second ring segment 562 and a third ring segment 563. The first ring segment 561, the second ring segment 562 and the third ring segment 563 are arranged adjacent to each other in the axial direction of the pressure ring body 551. The outer diameters of the first ring segment 561, the second ring segment 562 and the third ring segment 563 decrease in sequence. A third hip step portion 564 is formed at the connection between the first ring segment 561 and the second ring segment 562, and a fourth hip step portion 565 is formed at the connection between the second ring segment 562 and the third ring segment 563. The bearing support 52 comprises a first support ring segment 521, a second support ring segment 522, and a third support ring segment 523. The second support ring segment 522 and the third support ring segment 523 are respectively disposed on both sides of the first support ring segment 521 in the axial direction of the bearing support 52, and are staggered in the axial direction of the bearing support 52. The second support ring segment 522 faces the hip structure 150. The outer diameters of the third support ring segment 523, the second support ring segment 522, and the first support ring segment 521 increase sequentially. The inner diameter of the third support ring segment 523 is smaller than the inner diameter of the second support ring segment 522 and equal to the inner diameter of the first support ring segment 521. A fifth hip step portion 524 is formed at the connection between the first support ring segment 521 and the second support ring segment 522, and a sixth hip step portion 525 is formed at the connection between the second support ring segment 522 and the third support ring segment 523. The third support ring segment 523 is fixedly connected to the third connecting portion 122. The outer ring of the bearing 54 abuts against the first hip step 552 and the second hip step 534 at its two axial ends, respectively, and the inner ring of the bearing 54 abuts against the third hip step 564 and the fifth hip step 524 at its two axial ends, respectively. The outer ring of bearing 54 abuts against the outer wall of the first groove section 532 in the radial direction, and the inner wall of the outer ring of bearing 54 abuts against the outer wall of the second support ring section 522 in the radial direction. The end of the second support ring segment 522 away from the first support ring segment 521 abuts against the fourth hip step portion 565, and the end of the third ring segment 563 away from the first ring segment 561 abuts against the sixth hip step portion 525. The third ring segment 563 and the third support ring segment 523 are fixedly connected by fasteners.

[0079] Through the above technical solution, this application achieves all-round precise positioning of the inner and outer rings of the bearing 54 in the axial and radial directions by constructing a multi-stage stepped fit structure, ensuring the operational stability of the hip-leg connection structure under high load. The pressure ring body 551 forms a first hip step portion 552, which works together with the second hip step portion 534 on the hip connector 53 to axially lock the outer ring of the bearing 54 within the first groove section 532, effectively limiting the axial displacement of the outer ring of the bearing 54 and preventing axial movement caused by motion impact; the hip connector 53 forms a second hip step portion 534 through the difference in inner diameter between the first groove section 532 and the second groove section 533, which not only provides an axial and radial positioning reference for the outer ring of the bearing 54, but also eliminates radial wobble through a tight fit with the first groove section 532; the second pressure ring 56, through a stepped outer diameter design, cooperates with the third hip step portion 564 and the fourth hip step portion 565 to axially press... The force is evenly transmitted to the inner ring of the bearing 54, ensuring the axial stability of the inner ring. The multi-stage stepped structure of the bearing support 52, together with the fifth hip step 524 and the sixth hip step 525, realizes the axial limitation of the inner ring of the bearing 54 and the precise guidance of the relative position of the inner and outer rings. Combined with the abutment of the second support ring segment 522 and the fourth hip step 565, and the abutment of the third ring segment 563 and the sixth hip step 525, and the use of fasteners to firmly lock the third ring segment 563 and the third support ring segment 523, a closed-loop force support system is formed, which effectively resists the combined stress generated by the swinging and lifting movements of the leg, and significantly improves the stability of the joint transmission and the structural reliability.

[0080] Please see Figure 1 , Figure 6 and Figures 13 to 22 In some embodiments of this application, the hip connector 53 is further configured with a third groove segment 535, which is disposed adjacent to the second groove segment 533. The inner diameter of the third groove segment 535 is smaller than the inner diameter of the second groove segment 533. A seventh hip step portion 536 is formed at the connection between the third groove segment 535 and the second groove segment 533. One end of the driven gear 51 is received in the mounting groove 531 and fixedly connected to the third groove segment 535. An eighth hip step 526 is formed at the connection between the first support ring segment 521 and the third support ring segment 523. The eighth hip step 526 faces the seventh hip step 536 and one end of the driven gear 51, and there is a gap between it and the seventh hip step 536 and one end of the driven gear 51. The passive gear 51 is hollow, and the third support ring segment 523 extends into the passive gear 51 and has a gap between it and the inner wall of the center hole 511 of the passive gear 51.

[0081] Through the above technical solution, this application adds a third groove segment 535 inside the hip connector 53 to form a seventh hip step portion 536, providing a precise axial limiting reference and assembly support surface for the driven gear 51, greatly enhancing the connection rigidity and torsional stability of the driven gear 51 in the mounting groove 531, and effectively preventing loosening and instability under high load movement; on this basis, by setting an eighth hip step portion 526 on the bearing support 52 and maintaining a preset axial gap with the seventh hip step portion 536 and the end face of the driven gear 51, and at the same time cooperating with the radial gap design between the hollow driven gear 51 and the third support ring segment 523 extending into it, a multi-layer nested and completely non-contact motion cooperation mechanism is constructed, achieving high-density structural integration without increasing the overall radial and axial outer dimensions of the hip joint, effectively avoiding mechanical scraping and interference wear between the transmission components and the support structure, and significantly improving the stability, accuracy and service life of the transmission system.

[0082] Please see Figures 13 to 22 In some embodiments of this application, the first pressure ring 55 further includes a fourth hip connection portion 553 and a plurality of support bars 554. One end of each support bar 554 is fixedly connected to the pressure ring body 551, and the other end is fixedly connected to the fourth hip connection portion 553. The plurality of support bars 554 are evenly distributed along the circumference of the fourth hip connection portion 553. The fourth hip connection 553 and the second pressure ring 56 partially overlap in the axial direction of the first pressure ring 55; The fourth hip connection portion 553 has a second receiving groove 5531 extending axially along the first pressure ring 55 and having a lateral opening, and a first set screw hole 5532 communicating with the second receiving groove 5531. The hip connection assembly 102 also includes a conductive slip ring 57; the conductive slip ring 57 has a fixing portion 571 and a rotating portion 572 rotatably connected to one end of the fixing portion 571; the conductive slip ring 57 enters the second receiving groove 5531 through a lateral opening of the second receiving groove 5531, the fixing portion 571 abuts against the inner wall of the second receiving groove 5531 and abuts against a first set screw inserted from the first set screw hole 5532 to fix the conductive slip ring 57; The second pressure ring 56 and the bearing support 52 have a first channel 566 at their center, and the rotating part 572 of the conductive slip ring 57 is housed in the first channel 566.

[0083] Through the above technical solution, this application integrates circumferentially distributed support bars 554 and a fourth hip connection portion 553 on the first pressure ring 55, thereby constructing a rigid and stable built-in electrical integration platform while maintaining the axial limiting rigidity of the pressure ring itself. The axial overlapping layout of the fourth hip connection portion 553 and the second pressure ring 56 maximizes the compression of the axial thickness of the hip joint, allowing the fixing portion 571 of the conductive slip ring 57 to be securely accommodated in the second receiving groove 5531. Combined with the clamping action of the first set screw and the groove wall, high-rigidity radial clamping and axial anti-dislodgement of the conductive slip ring 57 are achieved. At the same time, the rotating portion 572 of the conductive slip ring 57 is coaxially housed in the first channel 566 at the center of the second pressure ring 56 and the bearing support 52, ensuring high-precision alignment between the slip ring rotation axis and the mechanical rotation axis. This effectively eliminates mechanical interference and cable traction fatigue caused by installation eccentricity during the robot's large-range leg swing, significantly improving the signal transmission stability and overall service life of the high-density integrated joint.

[0084] Please see Figure 1 , Figure 6 and Figures 13 to 22 In some embodiments of this application, the conductive slip ring 57 further includes a slip ring connection end 573, which is fixedly connected to the end of the rotating part 572 away from the fixed part 571 and extends along the axial direction of the conductive slip ring 57. The conductive slip ring 57 also includes a slip ring limiting member 574, which is generally T-shaped and includes a first limiting portion 5741 and a second limiting portion 5742 extending from the center of the first limiting portion 5741 along the axial direction of the conductive slip ring 57. The cross-section of the second limiting portion 5742 is square. The sidewall of the slip ring limiting member 574 has a notch 5743, through which the wire of the conductive slip ring 57 enters the interior of the slip ring limiting member 574. The center of the slip ring limiting member 574 has a second channel 5744 extending axially along the conductive slip ring 57. The second channel 5744 communicates with the notch 5743. A portion of the conductor of the conductive slip ring 57 is housed in the second channel 5744. The first limiting part 5741 is also provided with at least one set screw hole 5745 communicating with the second channel 5744. The set screw hole 5745 extends radially along the second channel 5744. The slip ring connecting end 573 extends into the second channel 5744 and is abutted by a set screw inserted from the set screw hole 5745 to fix the slip ring limiting member 574 to the conductive slip ring 57. The third connecting portion 122 is annular, and the second base plate portion 12 also has a slip ring limiting groove 124. The cross-section of the slip ring limiting groove 124 in the radial direction of the third connecting portion 122 is square. The second limiting portion 5742 is inserted into the slip ring limiting groove 124 from one side of the third connecting portion 122, and the wire of the conductive slip ring 57 extends out from the slip ring limiting groove 124.

[0085] Through the above technical solution, this application constructs a reliable anti-torsion limiting and wire protection guiding system for the conductive slip ring 57 by the coordinated cooperation of the slip ring connecting end 573, the slip ring limiting member 574, and the slip ring limiting groove 124 on the second base plate portion 12. On the one hand, the approximately T-shaped slip ring limiting member 574 is precisely engaged with the slip ring limiting groove 124 of the second base plate portion 12 through the square cross-section of the second limiting part 5742. During the relative rotation of the second base plate portion 12 and the bearing support member 52, a reliable circumferential mechanical anti-rotation constraint is formed, effectively preventing the slip ring rotating part 572 from undergoing unexpected circumferential deflection due to friction or inertia, and ensuring the coaxiality and stability of the conductive slip ring 57 during rotation. On the other hand, the slip ring limiting member 574 is connected to the central second channel 5744 through the side wall notch 5743. This provides a smooth and physically isolated routing channel for the conductors of the conductive slip ring 57, preventing the conductors from being directly exposed to the motion interference area during rotation and preventing twisting, pulling, and friction damage to the conductors. At the same time, the radial clamping and locking of the set screw and the slip ring connection end 573 ensures the connection rigidity between the slip ring and the limiting component. The conductors are finally led out in an orderly manner from the slip ring limiting groove 124, realizing a highly reliable electrical signal transmission channel and wiring layout in the extremely narrow internal space of the joint, which significantly improves the reliability and service life of the robot's hip joint movement.

[0086] Thirdly, please refer to Figures 13 to 22 This application also provides a humanoid robot 100, including: the two-degree-of-freedom hip joint assembly 101 as described above; or the hip-leg connection structure as described above.

[0087] In some embodiments of this application, the humanoid robot 100 further includes a hip structure 150, a thigh structure 120, a torso assembly 130, and a head and neck assembly 140. The hip structure 150 is connected to the two-degree-of-freedom hip joint assembly 101; the thigh structure 120 is connected to the fifth connecting portion 32 of the two-degree-of-freedom hip joint assembly 101; the torso assembly 130 is rotatably connected to the hip structure 150; and the head and neck assembly 140 is rotatably connected to the torso assembly 130.

[0088] In this embodiment, the humanoid robot 100 is a humanoid robot 100 with a length of 0.6 meters to 1 meter.

[0089] Specifically, the hip structure 150 serves as the core load-bearing skeleton and mounting reference for the pelvic region of the humanoid robot 100, primarily providing reliable mechanical transition and support positioning for the lower limbs and torso. The thigh structure 120, as the main load-bearing and transmission component of the robot's lower limbs, supports the robot's weight and performs walking, flexion, and extension movements. The torso assembly, as the core load-bearing platform for the upper body of the humanoid robot 100, houses core electrical components such as the control center and power supply module. The head and neck assembly, as the end effector assembly enabling visual perception and head posture adjustment, is rotatably or fixedly connected (the base of the internal structure of the head and neck is fixedly connected to the torso assembly, while the head shell can rotate relative to the base) to the upper part of the torso assembly.

[0090] Through the above technical solution, this application uses the two-degree-of-freedom hip joint assembly 101 as the key motion and support node to construct a complete motion chain from the head and neck assembly 140, the trunk assembly 130, the hip structure 150 to the thigh structure 120. Since the hip structure 150 is directly and stably connected to the two-degree-of-freedom hip joint assembly 101, a rigid reference for lower limb swinging and lifting is established; the fifth connecting part 32 of the two-degree-of-freedom hip joint assembly 101 is directly and fixedly connected to the thigh structure 120, ensuring that the power of leg swinging and lifting can directly act on the thigh structure 120 through the shortest path, significantly improving the lower limb motion response speed and transmission efficiency. Based on this, the rotational connection between the torso component 130 and the hip structure 150, as well as the rotational connection between the head and neck component 140 and the torso component 130, realizes the orderly linkage and posture decoupling between the degrees of freedom of the whole body. The compact and balanced layout advantages of the two-degree-of-freedom hip joint component 101 are fully extended to the whole machine level. While effectively avoiding spatial interference and lengthy transmission chains, it ensures the coordination of the overall appearance proportions of the humanoid robot 100 and the structural stability during the movement of the whole machine.

[0091] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The description of the above embodiments is only applicable to help understand the method and core idea of ​​this application; at the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A two-degree-of-freedom hip joint assembly at the upper thigh of a humanoid robot, characterized in that, include: The joint base includes a first base plate portion and a second base plate portion. One end of the first base plate portion and one end of the second base plate portion are perpendicularly disposed. The first base plate portion is provided with a first connecting portion, which is located on the same side of the first base plate portion as the second base plate portion. The second base plate portion is provided with a second connecting portion and a third connecting portion. The third connecting portion is disposed at one end of the second base plate portion near the first base plate portion, and the second connecting portion and the third connecting portion are respectively located on both sides of the second base plate portion. The second connecting portion and the first base plate portion are located on the same side of the second base plate portion. The leg-lifting drive assembly includes a leg-lifting joint and a drive gear. The leg-lifting joint is fixedly connected to the second connecting part. The leg-lifting joint has a leg-lifting output flange. The drive gear is fixedly connected to the leg-lifting output flange and rotates with it. The drive gear is rotatably connected to the hip connection assembly of the humanoid robot. A leg connector includes a fourth connecting portion and a fifth connecting portion fixedly connected in the extension direction of the thigh structure of the humanoid robot; the fourth connecting portion is rotatably connected to the first base plate portion, and the fifth connecting portion is connected to the thigh structure; and A leg swing drive assembly includes a leg swing joint; the leg swing joint is a reversible joint, the leg swing joint has a leg swing fixing plate and a leg swing output flange, the leg swing fixing plate is the output side, and the leg swing output flange is the stationary side; the leg swing output flange is fixedly connected to the first connecting part, and the leg swing fixing plate is fixedly connected to the fourth connecting part; the rotation axis of the leg raising joint is orthogonal to the rotation axis of the leg swing joint; in the extension direction of the thigh structure, the fifth connecting part is located on the side of the leg raising joint and the leg swing joint closer to the thigh structure; When the leg joint drives its fixed plate to rotate, the fourth connecting part rotates with the leg fixed plate relative to the joint base, and the leg connector drives the thigh structure to perform leg swinging motion.

2. The two-degree-of-freedom hip joint assembly as described in claim 1, characterized in that, The joint base is generally L-shaped, and the rotation axis of the leg-raising joint is perpendicular to the second base plate portion; The fourth connecting part and the leg-raising joint are located on the side of the second base plate that is away from the third connecting part; In the extending direction of the second base plate portion, a portion of the fourth connecting portion is located between the leg-raising joint and the first base plate portion; The orthographic projection of the leg-raising joint on a plane perpendicular to the extension direction of the thigh structure falls completely on the orthographic projection of the fifth connecting part on a plane perpendicular to the extension direction of the thigh structure. The orthographic projection of the leg-swinging joint on a plane perpendicular to the extension direction of the thigh structure partially overlaps with the orthographic projection of the fifth connecting part on a plane perpendicular to the extension direction of the thigh structure.

3. The two-degree-of-freedom hip joint assembly as described in claim 1, characterized in that, The fourth connecting part includes a mounting sleeve and a support body that are fixedly connected to each other. The mounting sleeve has a receiving cavity. The support body is detachably connected to the fifth connecting part. The axial direction of the mounting sleeve is perpendicular to the axial direction of the support body. The swing leg joint is housed within the accommodating cavity and fixedly connected to the mounting sleeve. The swing leg output flange is fixedly connected to the first connecting part. The rotation axis of the swing leg joint, the central axis of the mounting sleeve, and the central axis of the first connecting part are collinear.

4. The two-degree-of-freedom hip joint assembly as described in claim 3, characterized in that, The fourth connecting part includes a first connecting end, which is fixedly disposed on the inner wall of the mounting sleeve and close to the first base plate; the first connecting end has an annular structure. The leg-swing fixing plate and the leg-swing output flange are located on the same axial side of the leg-swing joint. The leg-swing output flange is fixedly connected to the first connecting part, and the leg-swing fixing plate is fixedly connected to the first connecting end. The support body has a second connecting end on the side away from the mounting sleeve, and the second connecting end is fixedly connected to the fifth connecting part; one end of the second connecting end protrudes from the mounting sleeve in a direction perpendicular to the extension direction of the thigh structure and forms a limiting step, and at least a part of the leg lifting drive assembly is located on the limiting step. The central axes of the first connecting end and the second connecting end are perpendicular to each other.

5. The two-degree-of-freedom hip joint assembly as described in claim 4, characterized in that, The swing leg output flange has a first positioning hole, and the first connecting part has a second positioning hole, with the first positioning hole and the second positioning hole being positioned opposite each other; the first positioning hole and the second positioning hole are connected by a positioning pin to position the swing leg joint to the first base plate portion of the joint base; and / or The swing leg output flange also has a first connection hole, which is adjacent to the first positioning hole; the first connection part also has a second connection hole, which is opposite to the first connection hole; the swing leg drive assembly is fixedly connected to the joint base by passing a fastener through the second connection hole and fixing it to the first connection hole.

6. A hip-leg connection structure, characterized in that, include: Two two-degree-of-freedom hip joint components as described in any one of claims 1 to 5; and Two hip connection components are respectively connected to the two two-degree-of-freedom hip joint components; Each of the hip connection components includes a driven gear, a bearing support, and a hip connector. The driven gear is fixedly connected to one end of the hip connector, and the bearing support is disposed inside the hip connector and rotatably connected to the hip connector. The driven gear has a central hole, and a portion of the bearing support is disposed within the central hole of the driven gear. The hip connector is fixedly connected to the hip structure of the humanoid robot, the passive gear meshes with the active gear of each of the two-degree-of-freedom hip joint components to transmit the rotational motion of the leg-lifting joint, and the third connecting part is fixedly connected to the bearing support.

7. The hip-leg connection structure as described in claim 6, characterized in that, The second substrate portion also has a first receiving groove, the opening of the first receiving groove facing the corresponding hip structure; The hip connector has a mounting groove; The hip connection assembly further includes a bearing, a first pressure ring, and a second pressure ring; the bearing, the second pressure ring, and the bearing support are all disposed within the mounting groove; the first pressure ring is fixedly connected to the hip connection in the axial direction of the hip connection and is close to the hip structure; the second pressure ring is rotatably connected to the hip connection in the axial direction of the hip connection; the second pressure ring and the bearing support are disposed along the axial direction of the hip connection; one end of the bearing support away from the second pressure ring is fixedly connected to the third connecting portion; one end of the driven gear away from the hip connection abuts against the bottom wall of the first receiving groove facing the hip structure; The first pressure ring cooperates with the hip connector to fix the outer ring of the bearing in the axial direction of the hip connector; the second pressure ring cooperates with the bearing support to fix the inner ring of the bearing in the axial direction of the hip connector. The hip connector, the bearing, the first pressure ring, the second pressure ring, the bearing support, and the driven gear are coaxially arranged.

8. The hip-leg connection structure as described in claim 7, characterized in that, The first pressure ring includes an annular pressure ring body, which is fixedly connected to the hip connector. The inner side of the pressure ring body protrudes radially toward the center of the pressure ring body from the hip connector to form a first hip step portion facing the outer ring of the bearing. The hip connector is constructed with a first groove segment and a second groove segment, the first groove segment and the second groove segment are arranged adjacent to each other in the axial direction of the mounting groove, the first groove segment abuts against the pressure ring body, the inner diameter of the first groove segment is larger than the inner diameter of the second groove segment, and a second hip step is formed at the connection between the first groove segment and the second groove segment. The second pressure ring has a first ring segment, a second ring segment and a third ring segment. The first ring segment, the second ring segment and the third ring segment are arranged adjacent to each other in the axial direction of the pressure ring body. The outer diameters of the first ring segment, the second ring segment and the third ring segment decrease in sequence. A third hip step is formed at the connection between the first ring segment and the second ring segment, and a fourth hip step is formed at the connection between the second ring segment and the third ring segment. The bearing support comprises a first support ring segment, a second support ring segment, and a third support ring segment. The second and third support ring segments are respectively disposed on both sides of the first support ring segment in the axial direction of the bearing support, and are staggered in the axial direction of the bearing support. The second support ring segment faces the hip structure. The outer diameters of the third support ring segment, the second support ring segment, and the first support ring segment increase sequentially. The inner diameter of the third support ring segment is smaller than the inner diameter of the second support ring segment and equal to the inner diameter of the first support ring segment. A fifth hip step is formed at the connection between the first and second support ring segments, and a sixth hip step is formed at the connection between the second and third support ring segments. The third support ring segment is fixedly connected to the third connecting portion. The outer ring of the bearing abuts against the first hip step and the second hip step at its two axial ends, respectively, and the inner ring of the bearing abuts against the third hip step and the fifth hip step at its two axial ends, respectively. The outer ring of the bearing abuts against the first groove section on its radial outer wall, and the outer ring of the bearing abuts against the outer wall of the second support ring section on its radial inner wall; The end of the second support ring segment away from the first support ring segment abuts against the fourth hip step portion, and the end of the third ring segment away from the first ring segment abuts against the sixth hip step portion. The third ring segment and the third support ring segment are fixedly connected by fasteners.

9. The hip-leg connection structure as described in claim 8, characterized in that, The hip connector is also configured with a third groove segment, which is adjacent to the second groove segment. The inner diameter of the third groove segment is smaller than the inner diameter of the second groove segment. A seventh hip step is formed at the connection between the third groove segment and the second groove segment. One end of the driven gear is received in the mounting groove and fixedly connected to the third groove segment. An eighth hip step is formed at the connection between the first support ring segment and the third support ring segment. The eighth hip step faces the seventh hip step and one end of the driven gear, and there is a gap between the eighth hip step and one end of the driven gear. The driven gear has a central hole extending axially, and the third support ring segment extends into the driven gear and has a gap between it and the inner wall of the central hole.

10. The hip-leg connection structure as described in claim 8, characterized in that, The first pressure ring further includes a fourth hip connection portion and a plurality of support bars. One end of each support bar is fixedly connected to the pressure ring body, and the other end is fixedly connected to the fourth hip connection portion. The plurality of support bars are evenly distributed along the circumference of the fourth hip connection portion. The fourth hip connection portion and the second pressure ring partially overlap in the axial direction of the first pressure ring; The fourth hip connection portion has a second receiving groove extending axially along the first pressure ring and having a lateral opening, and a first set screw hole communicating with the second receiving groove. The hip connection assembly further includes a conductive slip ring; the conductive slip ring has a fixing part and a rotating part rotatably connected to one end of the fixing part; the conductive slip ring enters the second receiving groove through the lateral opening of the second receiving groove, the fixing part abuts against the inner wall of the second receiving groove and abuts against the first set screw inserted from the first set screw hole to fix the conductive slip ring; The second pressure ring and the bearing support have a first channel at their center, and the rotating part of the conductive slip ring is housed in the first channel.

11. The hip-leg connection structure as described in claim 10, characterized in that, The conductive slip ring further includes a slip ring connecting end, which is fixedly connected to the end of the rotating part away from the fixed part and extends along the axial direction of the conductive slip ring; The conductive slip ring further includes a slip ring limiting member, which is generally T-shaped and includes a first limiting portion and a second limiting portion extending from the center of the first limiting portion along the axial direction of the conductive slip ring. The cross-section of the second limiting portion is square. The sidewall of the slip ring limiting member has a notch, and the wire of the conductive slip ring enters the interior of the slip ring limiting member through the notch. The center of the slip ring limiting member has a second channel extending along the axial direction of the conductive slip ring, the second channel communicating with the notch, and a portion of the conductive slip ring's wire is housed within the second channel; the first limiting part is also provided with at least one set screw hole communicating with the second channel, the set screw hole extending radially along the second channel, the slip ring connecting end extending into the second channel and being abutted by a set screw inserted from the set screw hole, so as to fix the slip ring limiting member to the conductive slip ring; The third connecting part is annular, and the second base plate part also has a slip ring limiting groove. The cross-section of the slip ring limiting groove in the radial direction of the third connecting part is square. The second limiting part is inserted into the slip ring limiting groove from one side of the third connecting part, and the wire of the conductive slip ring extends out from the slip ring limiting groove.

12. A humanoid robot, characterized in that, include: The two-degree-of-freedom hip joint assembly as described in any one of claims 1 to 5; or The hip-leg connection structure as described in any one of claims 6 to 11.

13. The humanoid robot as described in claim 12, characterized in that, Also includes: The hip structure is connected to the two-degree-of-freedom hip joint assembly; The thigh structure is connected to the fifth connecting part of the two-degree-of-freedom hip joint assembly; The torso assembly is rotatably connected to the hip structure; and The head and neck assembly is rotatably connected to the torso assembly.

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