Hip electric connection structure of humanoid robot and humanoid robot

Abstract

The application provides a hip electric connection structure of a humanoid robot and the humanoid robot. The hip electric connection structure comprises a hip structure, a first conductive slip ring and two second conductive slip rings. The hip structure has a receiving cavity, a first assembly part above the receiving cavity and two second assembly parts on the left and right sides of the receiving cavity. The fixed part of the first conductive slip ring is fixed to the first assembly part, and the fixed parts of the two second conductive slip rings are respectively fixed to the two second assembly parts. The fixed side wire harness of the first conductive slip ring is electrically connected with the fixed side wire harness of the two second conductive slip rings in the receiving cavity, and the rotating side wire harnesses are respectively led outwards by the corresponding assembly parts. In this way, the fixed side wire harnesses and the rotating side wire harnesses of the three rotating positions of the waist and the left and right legs can be arranged on the same hip structure, the wire winding on the outside of the hip is reduced, the risk of wire harness twisting, pulling, scratching or fatigue damage is reduced, and the compact arrangement of the limited hip space of the humanoid robot is suitable.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and more particularly to a hip electrical connection structure for a humanoid robot and the humanoid robot itself. Background Technology

[0002] The hips of a humanoid robot are used to connect the upper body to the left and right legs. While bearing the robot's load, the upper body can rotate relative to the hips, and the left and right legs can swing relative to the hips.

[0003] Currently, there is a demand for miniaturized humanoid robots in the market. Due to the limited hip space of small humanoid robots, the waist rotation position and the left and right leg rotation positions often have power supply or signal connection requirements that cross the relatively rotating parts. The power supply or signal lines need to be arranged centrally between multiple rotation interfaces in a limited space.

[0004] In the hip structure of related technologies, if ordinary flexible wire harnesses are used for winding or distributed wiring at the aforementioned rotational positions, it can easily lead to winding on the outer side of the hip, increased local contour, and torsion, pulling, scraping, or fatigue damage to the flexible wire harness between multiple rotational interfaces, affecting the reliability of the wire harness routing. Distributed wiring structures also occupy more hip space. Related solutions struggle to simultaneously ensure reliable wiring at multiple rotational connection positions and reduce winding on the outer side of the hip under conditions of limited hip space. Summary of the Invention

[0005] This application addresses the technical problems of wire harnesses being scattered across multiple rotational positions in the hip, waist, and left and right legs of a humanoid robot, resulting in winding, increased outer contour, and insufficient reliability of wire crossing at the rotational interface. It provides a hip electrical connection structure and a humanoid robot.

[0006] In one technical solution, a hip electrical connection structure for a humanoid robot is provided. The hip electrical connection structure includes a hip structural member, a first conductive slip ring, and two second conductive slip rings. The hip structural member has a receiving cavity, a first assembly portion, and two second assembly portions. The first assembly portion is located above the receiving cavity, and the two second assembly portions are respectively located on the left and right sides of the receiving cavity. The first conductive slip ring includes a first fixed portion and a first rotating portion that are rotatable relative to each other. The first fixed portion has a first wiring harness group, and the first rotating portion has a second wiring harness group. Each second conductive slip ring includes a second fixed portion and a second rotating portion that are rotatable relative to each other. Each second fixed portion has a third wiring harness group, and each second rotating portion has a fourth wiring harness group. The first fixed portion is fixed to the first assembly portion, and the two second fixed portions are respectively fixed to the two second assembly portions. The first wiring harness groups are electrically connected to the two third wiring harness groups respectively within the receiving cavity, so that the second wiring harness groups form electrical connection paths with the two fourth wiring harness groups respectively. The first wiring harness group and two third wiring harness groups are at least partially located within the receiving cavity. The second wiring harness group extends outward from the first assembly part, and the two fourth wiring harness groups extend outward from their respective second assembly parts. No joint module is installed within the hip structure component.

[0007] In one technical solution, the hip structure component, when projected along the front-rear direction of the humanoid robot, forms a triangle with its vertex pointing downwards. The first assembly part is located in the middle region of the upper side of the hip structure component, and the two second assembly parts are located at the left and right ends of the upper side of the hip structure component, respectively. The first assembly part and the two second assembly parts are spaced apart in both the vertical and horizontal directions, and the receiving cavity is arranged in the middle region enclosed by the three assembly positions, which is beneficial for reserving space for the centralized reception and distribution of the fixed side wiring harness.

[0008] In one technical solution, a first fixing part and two second fixing parts are distributed around the receiving cavity to form a wire harness connection area between the first fixing part and the two second fixing parts. The first wire harness group is electrically connected to the two third wire harness groups within the wire harness connection area. The connection nodes of the three fixed-side wire harnesses are concentrated in the middle region of the hip structure, shortening the routing length from the first wire harness group to the two third wire harness groups.

[0009] In one technical solution, the direction from the receiving cavity to the first assembly part is defined as the first direction, and the direction in which the two second assembly parts are arranged opposite each other is defined as the second direction. The first and second directions intersect and jointly define a first reference plane. The rotation axes of the two second conductive slip rings are both located within the first reference plane. The rotation axis of the first conductive slip ring extends along the first direction and is spaced apart from the first reference plane along a third direction perpendicular to the first reference plane. The first conductive slip ring and the two second conductive slip rings are spatially staggered to avoid interference between the three conductive slip rings in the same plane and to reduce the space occupied by the hip in the front-back direction.

[0010] In one technical solution, at least one of the first assembly portion and two second assembly portions forms a recessed mounting region. A fixing portion of the corresponding conductive slip ring, or a slip ring support for fixing the fixing portion, is at least partially disposed within the recessed mounting region. The recessed mounting region forms a positioning step and an anti-rotation mating portion. The fixing portion or slip ring support abuts against the positioning step and mates with the anti-rotation mating portion to define the axial mounting position and circumferential mounting posture of the corresponding conductive slip ring. The fact that the fixing portion or slip ring support is at least partially recessed into the recessed mounting region reduces the amount of protrusion of the conductive slip ring relative to the outer surface of the hip structure component.

[0011] In one technical solution, a first assembly portion has a recessed mounting area. A first conductive slip ring is detachably mounted on a first slip ring support, forming a first pre-assembled component that can be integrally inserted into or removed from the first assembly portion. Two second assembly portions each have a recessed mounting area. Two second conductive slip rings are detachably mounted on corresponding second slip ring supports, forming second pre-assembled components that can be integrally inserted into or removed from their respective second assembly portions. Each slip ring support mates with a corresponding positioning step and anti-rotation mating part. The conductive slip ring can be pre-assembled with the slip ring support outside the hip area before being integrally inserted into the corresponding assembly portion, reducing the difficulty of direct assembly within the confined space of the hip area.

[0012] In one technical solution, at least one of the first slip ring support and the two second slip ring supports is a mounting base integrally formed with the hip structure, or a mounting bracket detachably mounted to the hip structure. The slip ring support is positioned relative to the hip structure via a positioning step and an anti-rotation mating part. The mounting base or mounting bracket has a positioning bearing surface for supporting the corresponding conductive slip ring, and an anti-rotation part for limiting the rotation of the corresponding fixing part relative to the hip structure.

[0013] In one technical solution, a first assembly part is provided with a first bearing fixing seat, a first rotating seat, a first supporting bearing, and a first slip ring support. Both the first bearing fixing seat and the first slip ring support are fixed relative to the hip structure component. The first rotating seat is rotatably mounted on the first bearing fixing seat via the first supporting bearing. A first fixing part is fixed to the first slip ring support, and a first rotating part is connected to the first rotating seat. Two second assembly parts are respectively provided with a second bearing fixing seat, a second rotating seat, a second supporting bearing, and a second slip ring support. Each second fixing part is fixed to a corresponding second slip ring support, and each second rotating part is connected to a corresponding second rotating seat.

[0014] In one technical solution, the first bearing mounting seat has a hollow toothed portion, and an annular first passive toothed portion is formed on the radially outer side of the hollow toothed portion, forming an assembly cavity. The first rotating seat has a hollow platform portion, at least partially extending into the assembly cavity. A first support bearing is sleeved on the outer periphery of the hollow platform portion and positioned between the hollow platform portion and the first bearing mounting seat. A first conductive slip ring is at least partially disposed on the radially inner side of the first support bearing, capable of compressing the height of the first assembly portion along a first direction.

[0015] In one technical solution, each second bearing mounting base is provided with an annular second passive tooth portion, which surrounds at least a portion of the outer periphery of the corresponding second support bearing. Each second rotating base is constructed with a second axial channel surrounded by the corresponding second support bearing, and the second axial channel is coaxially arranged with the corresponding second conductive slip ring. The corresponding second conductive slip ring is at least partially disposed on the radially inner side of the second support bearing, and the corresponding fourth wire harness group is led out from the second rotating part through the second axial channel to the side of the second rotating base away from the receiving cavity.

[0016] In one technical solution, a first support bearing and a first conductive slip ring are coaxially arranged. The first conductive slip ring is at least partially located radially inside the first support bearing and at least partially overlaps with the projection of the first support bearing onto the rotation axis of the first conductive slip ring. Two second support bearings are coaxially arranged with their corresponding second conductive slip rings. Each second conductive slip ring is at least partially located radially inside its corresponding second support bearing and at least partially overlaps with the projection of its corresponding second support bearing onto the rotation axis of its corresponding second conductive slip ring. The rotating support structure and the conductive slip rings share the same axial space, compressing the axial dimensions of each assembly part.

[0017] In one technical solution, the hip electrical connection structure further includes a first external connector and two second external connectors. At least one of the first external connector and the two second external connectors includes a peripheral fixing part, a slip ring fixing part located radially inside the peripheral fixing part, and a plurality of connecting arms connecting the peripheral fixing part and the slip ring fixing part. The peripheral fixing part is fixed relative to the hip structural member, and the corresponding fixing part is fixed to the slip ring fixing part. A clearance opening communicating with the receiving cavity is formed between adjacent connecting arms, allowing the fixed-side wiring harness to pass through the clearance opening into the receiving cavity.

[0018] In one technical solution, a first rotating seat is provided with a first axial channel extending along the rotation axis of a first conductive slip ring, and two second rotating seats are each provided with a second axial channel extending along the rotation axis of a corresponding second conductive slip ring. The first axial channel is connected to the wire harness lead-out side of the first rotating part, and a second wire harness group is led out through the first axial channel. The two second axial channels are respectively connected to the wire harness lead-out side of the corresponding second rotating part, and two fourth wire harness groups are led out through their respective second axial channels. A first support bearing is arranged around at least a portion of the outer periphery of the first axial channel, and two second support bearings are respectively arranged around at least a portion of the outer periphery of their respective second axial channels. The rotating side wire harness is led out from the inside along the rotation axis to avoid radial winding around the outer periphery of the conductive slip ring.

[0019] In one technical solution, a humanoid robot is provided. The humanoid robot includes an upper body structure, two leg assemblies, a waist rotation assembly, a first leg root rotation assembly, a second leg root rotation assembly, and the aforementioned hip electrical connection structure. The upper body structure is connected to the hip structure via the waist rotation assembly, and the two leg assemblies are respectively connected to the hip structure via the first and second leg root rotation assemblies. A first fixed portion of a first conductive slip ring is fixed relative to the hip structure, and a first rotating portion is fixed relative to the upper body structure. The second fixed portions of two second conductive slip rings are respectively fixed relative to the hip structure, and the two second rotating portions are respectively fixed relative to their corresponding leg assemblies.

[0020] In one technical solution, the second wiring harness group is electrically connected to the upper body side wiring harness within the upper body structure, and the two fourth wiring harness groups are respectively electrically connected to the leg side wiring harness within the corresponding leg assembly. The power supply or signal lines inside the upper body and the left and right legs can be connected to the wiring harness connection area within the receiving cavity via the rotating side wiring harness of the corresponding conductive slip ring.

[0021] In one technical solution, the rotation axis of the first conductive slip ring is collinear with the waist rotation axis of the waist rotation assembly, and the rotation axes of the two second conductive slip rings are collinear with the leg root rotation axes of the first and second leg root rotation assemblies, respectively. The rotation axes of the two second conductive slip rings are both located within a robot reference plane extending along the left-right and up-down directions of the humanoid robot. The rotation axis of the first conductive slip ring extends along the up-down direction of the humanoid robot and is located on the front side of the body within the robot reference plane, spaced apart from it. The waist rotation interface avoids the left and right leg root rotation interfaces in the front-back direction, and the three rotation interfaces are staggered within the limited space of the hip area.

[0022] In one technical solution, the waist rotation assembly, the first leg root rotation assembly, and the second leg root rotation assembly each include a joint module. The joint modules of the waist rotation assembly, the first leg root rotation assembly, and the second leg root rotation assembly are all located outside the receiving cavity, and no joint module is located inside the receiving cavity. The receiving cavity contains a first wiring harness group, two third wiring harness groups, and electrical connection components connecting the first wiring harness group and the two third wiring harness groups. The receiving cavity is specifically used to house and distribute the fixed-side wiring harness, and the larger joint modules are located outside the receiving cavity.

[0023] The above technical solution arranges the conductive slip rings at the three rotation positions of the waist and left and right legs on the same hip structure, so that the fixed side wire harness is centrally connected and distributed in the receiving cavity, and the rotating side wire harness is led outward along the corresponding rotation axis. Combined with the concave installation, axial nesting and axial wiring structure, the space occupied in the hip area is reduced and the reliability of wire passing is improved. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and, together with the specification, serve to explain the technical solutions of the present application.

[0025] Figure 1 This is a three-dimensional structural schematic diagram of a partial cross-section of the hip electrical connection structure in one embodiment of this application.

[0026] Figure 2 This is a schematic diagram of the assembly structure of the hip electrical connection structure, the waist rotation component, and the leg root rotation component in one embodiment of this application.

[0027] Figure 3 This is an exploded structural diagram of the hip electrical connection structure in one embodiment of this application.

[0028] Figure 4 This is a schematic diagram of the hip electrical connection structure cut along the front-to-back direction in one embodiment of this application.

[0029] Figure 5 This is a cross-sectional schematic diagram of the hip electrical connection structure in one embodiment of this application along the left-right direction.

[0030] Figure 6 This is a schematic diagram of the electrical connection structure of the hip in one embodiment of this application.

[0031] Figure 7 This is an exploded view of the assembly structure of the first conductive slip ring in one embodiment of this application.

[0032] Figure 8 This is an exploded view of the assembly structure of the second conductive slip ring in one embodiment of this application.

[0033] Figure 9 This is a schematic diagram of the overall structure of a humanoid robot in one embodiment of this application.

[0034] Explanation of reference numerals in the attached figures: 10. Hip structure component; 11. Receiving cavity; 12. First assembly part; 13. Second assembly part; 14. Recessed mounting area; 15. Positioning step; 16. Anti-rotation mating part; 17. Wire harness connection area; 20. First conductive slip ring; 21. First fixing part; 22. First rotating part; 23. First wire harness group; 24. Second wire harness group; 30. Second conductive slip ring; 31. Second fixing part; 32. Second rotating part; 33. Third wire harness group; 34. Fourth wire harness group; 35. Electrical connection component; 40. First slip ring support; 41. First bearing mounting seat; 42. Hollow toothed section; 43. First driven toothed section; 44. Assembly cavity; 45. First rotating seat; 46. Hollow bearing platform; 47. First axial channel; 48. First support bearing; 50. Second slip ring support; 51. Second bearing mounting seat; 52. Second driven tooth; 53. Second rotating seat; 54. Second axial channel; 55. Second support bearing; 61. First inner connector; 62. First outer connector; 63. Second inner connector; 64. Second outer connector; 65. Inner adapter; L1, the rotation axis of the first conductive slip ring; L2, the rotation axis of the second conductive slip ring; D1, the first direction; D2, the second direction; 600. Humanoid robot; 601. Upper body structure; 602. Arm assembly; 603. Waist rotation assembly; 604. Leg assembly; 605. First leg root rotation assembly; 606. Second leg root rotation assembly; 607. Hip assembly. Detailed Implementation

[0035] The directional terms "up," "down," "left," "right," "front," "back," "left-right direction," "up-down direction," and "forward-backward direction" used in this application are based on the humanoid robot 600's normal standing position. Specifically, the up-down direction corresponds to the height of the humanoid robot 600, the left-right direction corresponds to its width, and the forward-backward direction corresponds to its thickness. When the robot or its hip structure is in other postures, these directions change with its overall posture.

[0036] The terms "first," "second," etc., are used only to distinguish components with the same or similar names and do not indicate the number, order, or importance of the components. The terms "including" or "having" indicate open inclusion, meaning that in addition to the explicitly listed components, other components required to achieve driving, detection, sealing, or connection may be included.

[0037] For ease of description, a set of reference directions are defined below with reference to the accompanying drawings. Taking the hip structure 10 as a reference, the direction from the receiving cavity 11 to the first assembly part 12 is denoted as the first direction D1, the direction in which the two second assembly parts 13 are positioned opposite each other is denoted as the second direction D2, the plane jointly defined by the first direction D1 and the second direction D2 is denoted as the first reference plane, and the direction perpendicular to the first reference plane is denoted as the third direction. When the hip electrical connection structure is installed in the humanoid robot 600, the first direction D1 roughly corresponds to the up-down direction, the second direction D2 roughly corresponds to the left-right direction, and the third direction roughly corresponds to the front-back direction. The first reference plane is the robot reference plane extending along the left-right and up-down directions of the humanoid robot 600.

[0038] Please refer to Figures 1 to 9 One embodiment of this application provides a hip electrical connection structure applicable to a humanoid robot 600 with a height of 0.6 meters to 1 meter. The hip electrical connection structure includes a hip structure 10, a first conductive slip ring 20, and two second conductive slip rings 30. The first conductive slip ring 20 and the two second conductive slip rings 30 correspond to the electrical connection requirements of the humanoid robot 600 at the waist rotation position and the left and right leg rotation positions, respectively, and the three are arranged on the same hip structure 10.

[0039] In one embodiment, please refer to Figure 1 and Figure 3 The hip structure 10 serves as the mounting frame for the hip electrical connection structure. The hip structure 10 comprises a receiving cavity 11, a first assembly part 12, and two second assembly parts 13. The hip structure 10 is frame-shaped, with its upper wall and left and right side walls enclosing an internal space that forms the receiving cavity 11. The first assembly part 12 is located above the receiving cavity 11 along a first direction D1. The two second assembly parts 13 are located on the left and right sides of the receiving cavity 11 along a second direction D2, respectively. Thus, the first assembly part 12 and the two second assembly parts 13 are distributed around the receiving cavity 11, forming three assembly positions: one at the top and one on each of the left and right sides.

[0040] In one embodiment, please refer to Figure 3 , Figure 4 and Figure 7A first conductive slip ring 20 is disposed on the first assembly portion 12. The first conductive slip ring 20 includes a first fixed portion 21 and a first rotating portion 22 that are rotatable relative to each other. The first fixed portion 21 and the first rotating portion 22 maintain sliding electrical contact with the brush through multiple loops inside the conductive slip ring, thereby maintaining electrical connection during relative rotation. The first fixed portion 21 has a first wiring harness group 23, and the first rotating portion 22 has a second wiring harness group 24. The first wiring harness group 23 is the fixed side wiring harness of the first conductive slip ring 20, and the second wiring harness group 24 is the rotating side wiring harness of the first conductive slip ring 20. The first fixed portion 21 is fixed to the first assembly portion 12, so that the first wiring harness group 23 is fixed relative to the hip structure member 10.

[0041] In one embodiment, please refer to Figure 3 , Figure 5 and Figure 8 Two second conductive slip rings 30 are respectively disposed on two second assembly portions 13. Each second conductive slip ring 30 includes a second fixed portion 31 and a second rotating portion 32 that are rotatable relative to each other. Each second fixed portion 31 has a third wiring harness group 33, and each second rotating portion 32 has a fourth wiring harness group 34. The third wiring harness group 33 is the fixed side wiring harness of the second conductive slip ring 30, and the fourth wiring harness group 34 is the rotating side wiring harness of the second conductive slip ring 30. The two second fixed portions 31 are respectively fixed to the two second assembly portions 13, so that the two third wiring harness groups 33 are kept fixed relative to the hip structure member 10.

[0042] In one embodiment, please refer to Figures 4 to 6 The first wiring harness group 23 and the two third wiring harness groups 33 are all fixed relative to the hip structure 10, and the fixed-side wiring harnesses of the three converge within the receiving cavity 11. The first wiring harness group 23 is electrically connected to the two third wiring harness groups 33 within the receiving cavity 11, thereby creating electrical connection paths between the second wiring harness group 24 and the two fourth wiring harness groups 34. Specifically, the second wiring harness group 24 corresponding to the upper body is connected to the first wiring harness group 23 via the rotating interface of the first conductive slip ring 20. The first wiring harness group 23 is distributed to the two third wiring harness groups 33 within the receiving cavity 11, and the two third wiring harness groups 33 are then connected to the two fourth wiring harness groups 34 via the rotating interfaces of the corresponding second conductive slip rings 30, thus establishing electrical connection paths with the left and right legs.

[0043] In one embodiment, the first wiring harness group 23 and the two third wiring harness groups 33 are at least partially located within the receiving cavity 11. The second wiring harness group 24 extends outward from the first mounting portion 12. The two fourth wiring harness groups 34 extend outward from their respective second mounting portions 13. Thus, the fixed-side wiring harnesses are centrally housed inside the receiving cavity 11, while the rotating-side wiring harnesses extend outward from their respective mounting portions to face the waist rotating assembly 603 and the left and right leg assemblies, respectively.

[0044] In the above structure, the electrical connections at the waist rotation connection point and the left and right leg rotation connection points are all established on the same hip structure 10. The first wire harness group 23 and the two third wire harness groups 33 are centrally electrically connected within the receiving cavity 11, allowing the fixed-side wire harnesses to be centrally housed and distributed inside the hip structure 10. The second wire harness group 24 and the two fourth wire harness groups 34 are located outside their respective assembly parts, reducing the winding and distributed wiring structure on the outer side of the hip, thereby reducing the risk of torsion, pulling, scratching, or fatigue damage when ordinary flexible wire harnesses directly cross multiple rotation interfaces.

[0045] In one embodiment, please refer to Figure 1 and Figure 3 When viewed from the front-back direction (i.e., the third direction) of the humanoid robot 600, the orthographic projection contour of the hip structure 10 can be a triangle or a triangular-like shape with the vertex pointing downwards. At this time, the first assembly part 12 is located in the middle region of the upper side of the hip structure 10, and the two second assembly parts 13 are located at the left and right ends of the upper side of the hip structure 10, respectively. The triangular-like contour refers to an approximate triangular contour after the vertex or sides are rounded, chamfered, or partially convex and concave. By making the orthographic projection contour of the hip structure 10 a triangle or a triangular-like shape with the vertex pointing downwards, the first assembly part 12 and the two second assembly parts 13 are spaced apart from each other in the vertical and horizontal directions, and the receiving cavity 11 is located in the middle region enclosed by the three assembly positions to accommodate the fixed side wiring harness and its electrical connection component 35.

[0046] In one embodiment, please refer to Figures 4 to 6 A first fixing part 21 and two second fixing parts 31 are distributed around the receiving cavity 11 to form a wire harness connection area 17 between the first fixing part 21 and the two second fixing parts 31. The wire harness connection area 17 is the space area within the receiving cavity 11 located between the three fixing parts. The first wire harness group 23 is electrically connected to the two third wire harness groups 33 within the wire harness connection area 17. As a result, the connection nodes of the three fixed-side wire harnesses are concentrated in the central area of ​​the hip structure 10, shortening the routing length from the first wire harness group 23 to the two third wire harness groups 33, and also facilitating the arrangement of electrical connection components such as connectors, adapters, or wire harness fixing parts in the same area.

[0047] In one embodiment, please refer to Figure 3To further illustrate the spatial arrangement of the three rotating interfaces, the direction from the receiving cavity 11 to the first assembly part 12 is defined as the first direction D1, and the direction in which the two second assembly parts 13 are positioned opposite each other is defined as the second direction D2. The first direction D1 and the second direction D2 intersect and jointly define the first reference plane. The rotation axes L2 of the two second conductive slip rings 30 are both located within the first reference plane and extend outward and downward along the inclined direction of the corresponding second assembly part 13. The rotation axis L1 of the first conductive slip ring 20 extends along the first direction D1 and is spaced apart from the first reference plane along a third direction perpendicular to the first reference plane, that is, the rotation axis L1 of the first conductive slip ring 20 is offset in the front-back direction relative to the plane containing the rotation axes L2 of the two second conductive slip rings 30.

[0048] With the aforementioned axial arrangement, the rotation axis L1 of the first conductive slip ring 20 extends along the first direction D1, and the rotation axes L2 of the two second conductive slip rings 30 extend outward and downward along the inclined direction of the corresponding second assembly part 13, respectively. The first conductive slip ring 20 is offset relative to the first reference plane where the two second conductive slip rings 30 are located along a third direction. In this way, the three rotation interfaces are staggered in the front-back direction and the up-down direction, thereby reducing mutual interference and reserving axial lead-out space for their respective rotation side wiring harnesses. The first conductive slip ring 20 can be oriented towards the front or rear of the humanoid robot 600's body along the third direction, and the specific direction can be determined according to the overall layout of the robot.

[0049] In one embodiment, please refer to Figure 1 , Figure 3 , Figure 4 , Figure 7 and Figure 8 At least one of the first assembly portion 12 and the two second assembly portions 13 has a recessed mounting region 14. A fixing portion corresponding to the conductive slip ring or a slip ring support for fixing the fixing portion is at least partially disposed within the recessed mounting region 14. By sinking the fixing portion or the slip ring support at least partially into the recessed mounting region 14, the amount of protrusion of the conductive slip ring relative to the outer surface of the hip structure 10 can be reduced.

[0050] In one embodiment, please refer to Figure 3The recessed mounting area 14 has a positioning step 15 and an anti-rotation fitting part 16. The positioning step 15 is a step surface axially arranged within the recessed mounting area 14. The anti-rotation fitting part 16 is a fitting structure circumferentially arranged within the recessed mounting area 14, which can be one or more of a planar mating surface, keyway, pin hole, or spline. The fixing part or slip ring support abuts against the positioning step 15 and mates with the anti-rotation fitting part 16. The positioning step 15 defines the mounting depth of the corresponding conductive slip ring in the axial direction, and the anti-rotation fitting part 16 restricts the rotation of the corresponding fixing part or slip ring support relative to the hip structure 10 in the circumferential direction. Thus, the positioning step 15 and the anti-rotation fitting part 16 together define the axial mounting position and circumferential mounting posture of the corresponding conductive slip ring, so that the fixed side does not move axially or rotate circumferentially with the rotating part after assembly, ensuring the stability of the fixed side wiring harness.

[0051] The anti-rotation mating part 16 can alternatively be implemented as a plane provided on the side wall of the recessed mounting area 14, with an anti-rotation surface that fits against the plane on the corresponding fixing part or slip ring support; in other embodiments, the anti-rotation mating part 16 can be implemented as a positioning pin provided on the bottom surface of the recessed mounting area 14, with a pin hole provided on the corresponding fixing part or slip ring support that mates with the positioning pin. All of the above anti-rotation methods can be used individually or in combination.

[0052] In one embodiment, please refer to Figure 3 and Figure 7 The first conductive slip ring 20 is detachably mounted on the first slip ring support 40. The first conductive slip ring 20 and the first slip ring support 40 form a first pre-assembled assembly that can be integrally installed into or removed from the first assembly part 12. During assembly, the first conductive slip ring 20 and the first slip ring support 40 can be pre-assembled as a single unit outside the hip area, and then the first pre-assembled assembly can be integrally installed into the first assembly part 12; during maintenance, the first pre-assembled assembly can be integrally removed. The first slip ring support 40 cooperates with the corresponding positioning step 15 and the anti-rotation fitting part 16, so that the first pre-assembled assembly obtains a defined axial position and circumferential posture after installation. The first conductive slip ring 20 and the first slip ring support 40 can be detachably connected by one or more of the following methods: threaded connection, snap-fit, interference fit, or elastic clamping. With the setting of the first pre-assembled assembly, the installation and replacement of the first conductive slip ring 20 can be completed outside the hip area, reducing the difficulty of directly operating the conductive slip ring in the confined space of the hip area.

[0053] In one embodiment, please refer to Figure 3 and Figure 8Similar to the first conductive slip ring 20, two second conductive slip rings 30 are detachably mounted on their respective second slip ring supports 50. Each second conductive slip ring 30 and its corresponding second slip ring support 50 form a second pre-assembled assembly that can be integrally inserted into or removed from the corresponding second assembly part 13. Each second slip ring support 50 mates with its corresponding positioning step 15 and anti-rotation fitting part 16. Thus, the left and right second conductive slip rings 30 can also be pre-assembled as a second pre-assembled assembly outside the hip area before being integrally inserted, facilitating the assembly and maintenance of the conductive slip rings at the left and right leg rotation interface. The first pre-assembled assembly and the second pre-assembled assembly can be used simultaneously, or only one of them can be used.

[0054] In one embodiment, please continue to refer to Figure 7 and Figure 8 The hip electrical connection structure includes a first slip ring support 40 for fixing the first fixing part 21, and two second slip ring supports 50 for fixing the two second fixing parts 31. At least one of the first slip ring support 40 and the two second slip ring supports 50 is an integrally formed mounting base with the hip structure 10, or a mounting bracket detachably mounted on the hip structure 10. When the slip ring support is implemented as an integrally formed mounting base, the slip ring support and the hip structure 10 are integrated into one piece, resulting in high structural rigidity; when the slip ring support is implemented as a detachable mounting bracket, the slip ring support can be processed separately and then fixed to the hip structure 10, facilitating separate manufacturing and maintenance.

[0055] In one embodiment, at least one of the above-mentioned components has a positioning bearing surface for supporting the corresponding conductive slip ring, and an anti-rotation portion for limiting the rotation of the corresponding fixing portion relative to the hip structure 10. The positioning bearing surface supports the corresponding conductive slip ring axially, and the anti-rotation portion and the corresponding fixing portion cooperate circumferentially, together defining the axial position and circumferential orientation of the corresponding fixing portion.

[0056] In one embodiment, please refer to Figure 4 and Figure 7 The first assembly part 12 is provided with a first bearing fixing seat 41, a first rotating seat 45, a first support bearing 48, and a first slip ring support member 40. Both the first bearing fixing seat 41 and the first slip ring support member 40 are fixed relative to the hip structure member 10. The first rotating seat 45 is rotatably mounted on the first bearing fixing seat 41 via the first support bearing 48. A first fixing part 21 is fixed to the first slip ring support member 40, a first rotating part 22 is connected to the first rotating seat 45, and the first support bearing 48 provides rotational support between the first rotating seat 45 and the first bearing fixing seat 41.

[0057] In one embodiment, please refer to Figure 4 and Figure 7The first bearing mounting seat 41 has a hollow toothed portion 42. A first driven toothed portion 43 is formed on the radially outer side of the hollow toothed portion 42. The hollow toothed portion 42 surrounds the assembly cavity 44. The first driven toothed portion 43 meshes with the output gear of the waist rotation assembly 603. When the output gear of the waist rotation assembly 603 rotates, the meshing reaction force between the output gear and the first driven toothed portion 43 fixed relative to the hip structure 10 drives the waist rotation assembly 603 and the upper body structure 601 to rotate relative to the hip structure 10 about the waist rotation axis; the first driven toothed portion 43 bears the reaction torque transmitted by the meshing. The first rotating seat 45 has a hollow support portion 46. The hollow support portion 46 at least partially extends into the assembly cavity 44. A first support bearing 48 is sleeved on the outer periphery of the hollow support portion 46 and disposed between the hollow support portion 46 and the first bearing mounting seat 41. Thus, the first support bearing 48 is accommodated within the assembly cavity 44 formed by the hollow toothed portion 42, and is located radially between the hollow base portion 46 and the hollow toothed portion 42, so that the rotating support structure is compactly stacked axially at the first assembly portion 12. The first conductive slip ring 20 is at least partially disposed radially inside the first support bearing 48, so that the first conductive slip ring 20 is housed within the inner space defined by the hollow base portion 46, further compressing the height of the first assembly portion 12 along the first direction D1.

[0058] In one embodiment, please refer to Figure 8 Each of the two second assembly parts 13 is provided with a second bearing fixing seat 51, a second rotating seat 53, a second support bearing 55, and a second slip ring support member 50. Each second bearing fixing seat 51 and the corresponding second slip ring support member 50 are fixed relative to the hip structure member 10. The corresponding second rotating seat 53 is rotatably mounted on the second bearing fixing seat 51 via the corresponding second support bearing 55. The corresponding second fixing part 31 is fixed to the second slip ring support member 50, and the corresponding second rotating part 32 is connected to the second rotating seat 53. Thus, both the left and right second assembly parts 13 form a fixed side and rotating side structure similar to the first assembly part 12: the second bearing fixing seat 51 and the second slip ring support member 50 constitute the fixed side, the second rotating seat 53 constitutes the rotating side that rotates with the corresponding leg assembly, and the second support bearing 55 provides rotational support between the two.

[0059] In one embodiment, please refer to Figure 5 and Figure 8Each second bearing mounting base 51 is provided with an annular second passive tooth 52. The second passive tooth 52 is arranged around at least a portion of the outer periphery of the corresponding second support bearing 55. The second passive tooth 52 meshes with the output gear of the corresponding first leg root rotating assembly 605 or second leg root rotating assembly 606; when the corresponding output gear rotates, the meshing reaction force drives the corresponding leg root rotating assembly and leg assembly to rotate relative to the hip structure 10 about the corresponding leg root rotating axis, and the second passive tooth 52 bears the reaction torque transmitted by the meshing. Each second rotating base 53 is constructed with a second axial channel 54 surrounded by the corresponding second support bearing 55. The second axial channel 54 is coaxially arranged with the corresponding second conductive slip ring 30. The corresponding second conductive slip ring 30 is at least partially disposed on the radially inner side of the second support bearing 55. The corresponding fourth wire harness group 34 is led out from the second rotating part 32 through the second axial channel 54 to the side of the second rotating base 53 away from the receiving cavity 11. Therefore, the fourth wire harness group 34 on the rotating side passes through the inside along the rotation axis L2 of the second conductive slip ring 30, avoiding the wire harness on the rotating side from winding around the outer circumference of the conductive slip ring, and reducing the risk of the fourth wire harness group 34 being pulled or scratched during rotation.

[0060] In one embodiment, please refer to Figure 4 and Figure 5 The first support bearing 48 is coaxially arranged with the first conductive slip ring 20. The first conductive slip ring 20 is at least partially located radially inside the first support bearing 48 and at least partially overlaps with the projection of the first support bearing 48 in the direction of the rotation axis L1 of the first conductive slip ring 20. Along the rotation axis L1 of the first conductive slip ring 20, the axial range of the first support bearing 48 and the first conductive slip ring 20 at least partially overlaps. Two second support bearings 55 are coaxially arranged with their corresponding second conductive slip rings 30. Each second conductive slip ring 30 is at least partially located radially inside the corresponding second support bearing 55 and at least partially overlaps with the projection of the corresponding second support bearing 55 in the direction of the rotation axis L2 of the corresponding second conductive slip ring 30. Through the overlap of the conductive slip rings and support bearings in their axial projections, the rotational support structure and the conductive slip rings share a portion of the axial space, thereby reducing the axial dimensional occupancy of each assembly part.

[0061] In one embodiment, the hip electrical connection structure further includes a first inner connector 61, a first outer connector 62, a second inner connector 63, a second outer connector 64, and an inner adapter 65. Please refer to... Figure 5 , Figure 7 and Figure 8At least one of the first external connector 62 and the two second external connectors 64 includes a peripheral fixing portion, a slip ring fixing portion located radially inside the peripheral fixing portion, and a plurality of connecting arms connecting the peripheral fixing portion and the slip ring fixing portion. The peripheral fixing portion is fixed relative to the hip structure 10, and the corresponding first fixing portion 21 or second fixing portion 31 is fixed to the slip ring fixing portion. A clearance opening communicating with the receiving cavity 11 is formed between adjacent connecting arms.

[0062] like Figure 7 As shown, the first inner connector 61 and the first outer connector 62 are respectively disposed on both axial sides of the first conductive slip ring 20; Figure 8 As shown, the second inner connector 63, the second outer connector 64, and the inner adapter 65 are distributed along the axial direction of the second conductive slip ring 30, and are used for connection or transfer between the corresponding fixed part, rotating part and adjacent support structure.

[0063] Through the combination of the outer fixing part, the slip ring fixing part and multiple connecting arms, the first outer connecting member 62 and the second outer connecting member 64 form a hollow spoke-like structure. The clearance opening between adjacent connecting arms communicates with the receiving cavity 11, allowing the fixed side wire harness to pass into the receiving cavity 11 through the clearance opening.

[0064] In one embodiment, please refer to Figure 4 The first rotating seat 45 is provided with a first axial channel 47 extending along the rotation axis L1 of the first conductive slip ring 20. The first axial channel 47 is connected to the wire harness lead-out side of the first rotating part 22. The second wire harness group 24 is led out through the first axial channel 47. The first support bearing 48 is arranged around at least a portion of the outer periphery of the first axial channel 47. Please refer to... Figure 5 Each of the two second rotating seats 53 is provided with a second axial channel 54 that runs through the rotation axis L2 of the corresponding second conductive slip ring 30. The two second axial channels 54 are respectively connected to the wire harness lead-out side of the corresponding second rotating part 32. The two fourth wire harness groups 34 are respectively led out through the corresponding second axial channels 54. The two second support bearings 55 are respectively arranged around at least part of the outer periphery of the corresponding second axial channels 54.

[0065] Thus, each rotating seat forms an axial wiring channel that runs along the rotation axis of the corresponding conductive slip ring, and the rotating side wiring harness exits from the inside along the rotation axis. The second wiring harness group 24 is led out through the first axial channel 47 along the first direction D1 and faces the waist rotating assembly 603, and the two fourth wiring harness groups 34 are led out through the corresponding second axial channel 54 along the corresponding second direction D2 and face the left and right leg assemblies.

[0066] Please refer to Figure 2 and Figure 9This application also provides a humanoid robot 600 in one embodiment. The humanoid robot 600 includes an upper body structure 601, two leg assemblies 604, a waist rotation assembly 603, a first leg root rotation assembly 605, a second leg root rotation assembly 606, and the hip electrical connection structure described in any of the above embodiments. The hip electrical connection structure corresponds to... Figure 9 The hip assembly 607 is included. The upper body structure 601 is the structure of the humanoid robot 600 located above the hips, including, for example, the torso, head, and arm assembly 602. The two leg assemblies are the left and right legs of the humanoid robot 600.

[0067] The upper body structure 601 is connected to the hip structure 10 via a waist rotation assembly 603, allowing the upper body structure 601 to rotate relative to the hip structure 10 around the waist rotation axis. Two leg assemblies 604 are connected to the hip structure 10 via a first leg root rotation assembly 605 and a second leg root rotation assembly 606, respectively, allowing each leg assembly 604 to rotate relative to the hip structure 10 around its corresponding leg root rotation axis. The first fixing part 21 of the first conductive slip ring 20 is fixed relative to the hip structure 10, and the first rotating part 22 of the first conductive slip ring 20 is fixed relative to the upper body structure 601. The second fixing parts 31 of the two second conductive slip rings 30 are fixed relative to the hip structure 10, and the second rotating parts 32 of the two second conductive slip rings 30 are fixed relative to their respective leg assemblies 604.

[0068] Thus, the three conductive slip rings maintain the electrical connection of the corresponding rotating interface, preventing the flexible wire harness from repeatedly twisting across the rotating interface.

[0069] In one embodiment, please refer to Figure 4 , Figure 5 and Figure 9 The second wiring harness group 24 is electrically connected to the upper body side wiring harness inside the upper body structure 601, and the two fourth wiring harness groups 34 are electrically connected to the leg side wiring harness (not shown in the figure) inside the corresponding leg assembly, respectively. Specifically, the rotating side of the first conductive slip ring 20 is connected to the upper body side wiring harness inside the upper body structure 601 via the second wiring harness group 24, and the rotating side of each second conductive slip ring 30 is connected to the leg side wiring harness inside the corresponding leg assembly via the corresponding fourth wiring harness group 34. Thus, the power supply or signal lines inside the upper body and the left and right legs are all connected to the wiring harness connection area inside the receiving cavity 11 through the rotating side wiring harness of the corresponding conductive slip ring, realizing the unified collection and distribution of the entire machine's wiring in the hip area.

[0070] In one embodiment, please refer to Figure 2 , Figure 4 and Figure 5The rotation axis L1 of the first conductive slip ring 20 is collinear with the waist rotation axis of the waist rotation assembly 603, and the rotation axes L2 of the two second conductive slip rings 30 are collinear with the leg rotation axes of the first leg root rotation assembly 605 and the second leg root rotation assembly 606, respectively. Therefore, the rotation interface of each conductive slip ring is coaxial with the rotation interface of the corresponding joint, and the relative rotation of the conductive slip rings is synchronized with the rotation of the corresponding joint. The rotating side wiring harness only needs to move around the same axis with the corresponding joint.

[0071] In one embodiment, please refer to Figure 3 , Figure 5 and Figure 9 The rotation axes L2 of the two second conductive slip rings 30 are both located within the robot reference plane extending along the left-right and up-down directions of the humanoid robot 600. The rotation axis L1 of the first conductive slip ring 20 extends along the up-down direction of the humanoid robot 600 and is located on the front side of the body within the robot reference plane, spaced apart from it. In other words, the axes of the left and right leg root rotation interfaces are coplanarly arranged within the robot reference plane, while the axis of the waist rotation interface is vertically upward and offset towards the front of the body relative to the reference plane. This arrangement causes the waist rotation interface to be offset from the left and right leg root rotation interfaces in the front-back direction, with each rotation interface occupying a different space.

[0072] In one embodiment, please refer to Figure 2 , Figures 4 to 6 The waist rotation assembly 603, the first leg root rotation assembly 605, and the second leg root rotation assembly 606 each include a joint module. The waist rotation assembly 603 includes a joint module for driving waist rotation, and the first leg root rotation assembly 605 and the second leg root rotation assembly 606 each include a joint module for driving the corresponding leg rotation. The joint module may include, for example, a motor, a reducer, and corresponding transmission components. The joint modules of the waist rotation assembly 603, the first leg root rotation assembly 605, and the second leg root rotation assembly 606 are all disposed outside the receiving cavity 11, and no joint module is disposed inside the receiving cavity 11. The receiving cavity 11 is provided with a first wiring harness group 23, two third wiring harness groups 33, and an electrical connection component 35 connecting the first wiring harness group 23 and the two third wiring harness groups 33. The electrical connection component 35 may be, for example, one or more of the following: a connector, an adapter plate, or a wiring harness fixing component.

[0073] Thus, the receiving cavity 11 can be dedicated to accommodating the fixed-side wire harness and its electrical connection components 35, and the fixed-side wire harness and its electrical connection components 35 can be arranged within the receiving cavity 11.

[0074] In one embodiment, please refer to Figures 2 to 9The assembly and wiring of the hip electrical connection structure with the humanoid robot 600 are described herein. This embodiment is only used to illustrate one assembly and wiring combination and does not constitute a limitation on the scope of protection of this application.

[0075] Please refer to Figure 3 , Figure 4 , Figure 7 and Figure 8 The hip structure 10 of the humanoid robot 600 has a triangular outline with its apex pointing downwards in the orthographic projection along the front-rear direction. The first assembly part 12 is located in the middle region of the upper side, and the two second assembly parts 13 are located at the left and right ends of the upper side, respectively. During assembly, the first conductive slip ring 20 is first installed on the first slip ring support 40 to form a first pre-assembled assembly, and each second conductive slip ring 30 is installed on the corresponding second slip ring support 50 to form a second pre-assembled assembly. Subsequently, the first pre-assembled assembly is inserted into the recessed mounting area 14 of the first assembly part 12 along the first direction D1, so that the first slip ring support 40 abuts against the positioning step 15 and engages with the anti-rotation fitting part 16; the two second pre-assembled assemblies are respectively inserted into the recessed mounting areas 14 of the two second assembly parts 13 along the corresponding second direction D2. The first bearing fixing seat 41, the second bearing fixing seat 51 and each slip ring support are fixed relative to the hip structure 10. The first rotating seat 45 and the second rotating seat 53 are rotatably supported on the corresponding bearing fixing seats by the first support bearing 48 and the second support bearing 55, respectively.

[0076] Please refer to Figures 4 to 6 During wiring, the upper body side harness (not shown in the figure) enters the second harness group 24 from the upper body structure 601 downwards. The second harness group 24 enters the first conductive slip ring 20 through the first axial channel 47 of the first rotating seat 45 along the first direction D1, and reaches the first harness group 23 of the first fixing part 21 through the rotation interface of the first conductive slip ring 20. The first harness group 23 passes through the clearance opening between the adjacent connecting arms of the first external connector 62 into the receiving cavity 11, and is electrically connected to two third harness groups 33 respectively through the electrical connection component 35 in the harness connection area 17. The two third harness groups 33 are respectively connected to the second fixing part 31 of the corresponding second conductive slip ring 30, and reach the fourth harness group 34 of the second rotating part 32 through the rotation interface of the corresponding second conductive slip ring 30. The two fourth harness groups 34 are respectively led out through the second axial channel 54 of the corresponding second rotating seat 53 along the corresponding second direction D2, and then connected to the leg side harness (not shown in the figure) in the corresponding leg assembly. The joint modules of the waist rotation assembly 603, the first leg root rotation assembly 605, and the second leg root rotation assembly 606 are all arranged outside the receiving cavity 11.

[0077] Please refer to Figure 4 , Figure 5 and Figure 9When the upper body structure 601 rotates relative to the hip structure 10 around the waist rotation axis, the first rotating part 22 rotates with the upper body structure 601 relative to the first fixed part 21, the second wiring harness group 24 moves with the first rotating seat 45 around the rotation axis L1, and the first wiring harness group 23 remains fixed. When any leg assembly rotates relative to the hip structure 10 around the corresponding leg root rotation axis, the corresponding second rotating part 32 rotates relative to the second fixed part 31, the corresponding fourth wiring harness group 34 moves with the corresponding second rotating seat 53 around the rotation axis L2, and the two third wiring harness groups 33 remain fixed. The fixed-side wiring harnesses of the three rotating interfaces are always concentrated and housed in the receiving cavity 11, and the rotating-side wiring harnesses are always led out from the inside along their respective rotation axes.

[0078] The components in the above embodiments can also take other forms.

[0079] The mounting directions of the first fixing part 21 and the first rotating part 22 of the first conductive slip ring 20 can be interchanged. In some embodiments, the first fixing part 21 faces the receiving cavity 11 and the first rotating part 22 faces the upper body structure 601; in other embodiments, the first fixing part 21 and the first rotating part 22 are arranged in opposite directions along the rotation axis L1, as long as the first fixing part 21 is fixed relative to the hip structure 10 and the first rotating part 22 is fixed relative to the upper body structure 601. The mounting directions of the fixing parts and rotating parts of the two second conductive slip rings 30 can also adopt any of the above-described reverse assembly methods.

[0080] There may be specification differences between the first conductive slip ring 20 and the two second conductive slip rings 30. In some embodiments, the number of channels, rated current, or outer diameter of the first conductive slip ring 20 may differ from that of the two second conductive slip rings 30; for example, the first conductive slip ring 20 facing the upper body structure 601 carries more wiring, and its number of channels or outer diameter may be larger than that of the second conductive slip rings 30; in other embodiments, the three conductive slip rings use the same specifications for general use. The above specifications can be selected according to the actual power supply and signal requirements of the waist and left and right legs respectively.

[0081] The spoke-shaped hollow structure of the first and second outer connectors, the recessed mounting area 14, and the overlapping nesting of the conductive slip ring and the support bearing in the axial projection can be selected according to the location of the assembly part. The first assembly part 12 can adopt one or more of these, and the two second assembly parts 13 can adopt the same or different combinations, as long as they meet the positioning, anti-rotation, and wiring requirements of the corresponding conductive slip ring fixed side and the rotating side.

[0082] The above embodiments are used to illustrate the technical solutions of this application, and are not intended to limit this application. Those skilled in the art can make adjustments or substitutions to the specific shape, connection method, and assembly sequence of each component without departing from the concept of this application, and such adjustments or substitutions should still fall within the scope defined by the claims.

Claims

1. An electrical connection structure for the hip of a humanoid robot, characterized in that, Includes a hip structure, a first conductive slip ring, and two second conductive slip rings; The hip structure has a receiving cavity, a first assembly part and two second assembly parts. The first assembly part is located above the receiving cavity, and the two second assembly parts are located on the left and right sides of the receiving cavity, respectively. The first conductive slip ring includes a first fixed part and a first rotating part that are rotatable relative to each other. The first fixed part has a first wire harness group, and the first rotating part has a second wire harness group. Each of the second conductive slip rings includes a second fixed part and a second rotating part that are rotatable relative to each other, each of the second fixed parts has a third wire harness group, and each of the second rotating parts has a fourth wire harness group; The first fixing part is fixed to the first assembly part, and the two second fixing parts are respectively fixed to the two second assembly parts. The first wire harness group is electrically connected to the two third wire harness groups respectively in the receiving cavity, so that the second wire harness group forms an electrical connection path with the two fourth wire harness groups respectively. The first wire harness group and the two third wire harness groups are at least partially located within the receiving cavity, the second wire harness group is led outward from the first assembly part, and the two fourth wire harness groups are led outward from their respective second assembly parts; No joint module is installed inside the hip structure.

2. The hip electrical connection structure according to claim 1, characterized in that, The projection of the hip structure along the direction facing the humanoid robot is roughly an inverted triangle. The first assembly part is located in the upper region of the hip structure part, and the two second assembly parts are located in the left and right regions of the hip structure part, respectively.

3. The hip electrical connection structure according to claim 1, characterized in that, The first fixing part and the two second fixing parts are distributed around the receiving cavity to form a wire harness connection area between the first fixing part and the two second fixing parts, and the first wire harness group is electrically connected to the two third wire harness groups in the wire harness connection area.

4. The hip electrical connection structure according to claim 1, characterized in that, The direction from the receiving cavity to the first assembly part is taken as the first direction, and the direction in which the two second assembly parts are arranged opposite each other is taken as the second direction. The first direction and the second direction intersect and jointly define a first reference plane. The rotation axes of the two second conductive slip rings are both located in the first reference plane. The rotation axis of the first conductive slip ring extends along the first direction and is spaced apart from the first reference plane along a third direction perpendicular to the first reference plane.

5. The hip electrical connection structure according to any one of claims 1 to 4, characterized in that, At least one of the first assembly part and the two second assembly parts has a recessed mounting area, and the corresponding conductive slip ring fixing part or slip ring support for fixing the fixing part is at least partially disposed in the recessed mounting area; The recessed mounting area has a positioning step and an anti-rotation fitting part. The fixing part or the slip ring support abuts against the positioning step and cooperates with the anti-rotation fitting part to define the axial mounting position and circumferential mounting posture of the corresponding conductive slip ring. The slip ring support includes a first slip ring support and a second slip ring support.

6. The hip electrical connection structure according to claim 5, characterized in that, The first assembly portion has the recessed mounting area, the first conductive slip ring is detachably mounted on the first slip ring support, and together with the first slip ring support, forms a first pre-assembled component that can be integrally inserted into or removed from the first assembly portion, and the first slip ring support cooperates with the corresponding positioning step and the anti-rotation mating portion.

7. The hip electrical connection structure according to claim 5, characterized in that, The two second assembly parts each have the recessed mounting area, and the two second conductive slip rings are detachably mounted on the corresponding second slip ring support, and respectively form a second pre-assembled component with the corresponding second slip ring support that can be integrally installed into or removed from the corresponding second assembly part; Each of the second slip ring supports mates with the corresponding positioning step and the anti-rotation fitting part.

8. The hip electrical connection structure according to claim 5, characterized in that, At least one of the first slip ring support and the two second slip ring supports is a mounting base integrally formed with the hip structure, or a mounting bracket detachably mounted on the hip structure; The slip ring support is positioned relative to the hip structure via the positioning step and the anti-rotation engagement portion. The mounting base or the mounting bracket has a positioning bearing surface for bearing the corresponding conductive slip ring, and an anti-rotation portion for limiting the rotation of the corresponding fixing portion relative to the hip structure.

9. The hip electrical connection structure according to claim 8, characterized in that, The first assembly part is provided with a first bearing fixing seat, a first rotating seat and a first supporting bearing; Both the first bearing fixing seat and the first slip ring support are fixed relative to the hip structure, and the first rotating seat is rotatably disposed on the first bearing fixing seat through the first support bearing; The first fixing part is fixed to the first slip ring support, and the first rotating part is connected to the first rotating seat.

10. The hip electrical connection structure according to claim 9, characterized in that, The first bearing mounting base has a hollow toothed portion, and an annular first passive toothed portion is formed on the radially outer side of the hollow toothed portion, which forms an assembly cavity. The first rotating seat has a hollow support portion, which at least partially extends into the assembly cavity. The first support bearing is sleeved on the outer periphery of the hollow support portion and is disposed between the hollow support portion and the first bearing fixing seat. The first conductive slip ring is at least partially disposed on the radial inner side of the first support bearing.

11. The hip electrical connection structure according to claim 9, characterized in that, Each of the two second assembly parts is provided with a second bearing fixing seat, a second rotating seat, and a second support bearing; Each of the second bearing fixing seats and the corresponding second slip ring support members are fixed relative to the hip structure member, and the corresponding second rotating seat is rotatably disposed on the second bearing fixing seat through the corresponding second support bearing; The corresponding second fixing part is fixed to the second slip ring support, and the corresponding second rotating part is connected to the second rotating seat.

12. The hip electrical connection structure according to claim 11, characterized in that, Each of the second bearing mounting seats is provided with an annular second passive tooth portion, which is arranged around at least a portion of the outer periphery of the corresponding second support bearing; Each of the second rotating seats is constructed with a second axial channel surrounded by the corresponding second support bearing, and the second axial channel is coaxially arranged with the corresponding second conductive slip ring; The corresponding second conductive slip ring is at least partially disposed on the radial inner side of the second support bearing, and the corresponding fourth wire harness group is led out from the second rotating part through the second axial channel to the side of the second rotating seat away from the receiving cavity.

13. The hip electrical connection structure according to claim 11, characterized in that, The first support bearing is coaxially arranged with the first conductive slip ring, and the first conductive slip ring is at least partially located radially inside the first support bearing and at least partially overlaps with the projection of the first support bearing in the direction of the rotation axis of the first conductive slip ring. Two second support bearings are respectively coaxially arranged with the corresponding second conductive slip rings. Each second conductive slip ring is at least partially located radially inside the corresponding second support bearing and at least partially overlaps with the projection of the corresponding second support bearing in the direction of the rotation axis of the corresponding second conductive slip ring.

14. The hip electrical connection structure according to claim 11, characterized in that, The hip electrical connection structure further includes a first external connector and two second external connectors. At least one of the first external connector and the two second external connectors includes a peripheral fixing part, a slip ring fixing part located radially inside the peripheral fixing part, and a plurality of connecting arms connecting the peripheral fixing part and the slip ring fixing part. The peripheral fixing part is fixed relative to the hip structure, and the corresponding first fixing part or second fixing part is fixed to the slip ring fixing part; A clearance opening communicating with the receiving cavity is formed between adjacent connecting arms.

15. The hip electrical connection structure according to claim 11, characterized in that, The first rotating seat is provided with a first axial channel that runs through the rotation axis of the first conductive slip ring, and the two second rotating seats are respectively provided with a second axial channel that runs through the rotation axis of the corresponding second conductive slip ring. The first axial channel is connected to the wire harness lead-out side of the first rotating part, and the second wire harness group is led out through the first axial channel; The two second axial channels are respectively connected to the wire harness lead-out side of the corresponding second rotating part, and the two fourth wire harness groups are respectively led out through the corresponding second axial channels; The first support bearing is disposed around at least a portion of the outer periphery of the first axial channel, and the two second support bearings are respectively disposed around at least a portion of the outer periphery of the corresponding second axial channel.

16. A humanoid robot, characterized in that, It includes an upper body structure, two leg assemblies, a waist rotation assembly, a first leg root rotation assembly and a second leg root rotation assembly, and a hip electrical connection structure as described in any one of claims 1 to 15; The upper body structure is connected to the hip structure via the waist rotation assembly, and the two leg assemblies are respectively connected to the hip structure via the first leg root rotation assembly and the second leg root rotation assembly; The first fixed part of the first conductive slip ring is fixed relative to the hip structure, and the first rotating part of the first conductive slip ring is fixed relative to the upper body structure. The second fixed portions of the two second conductive slip rings are fixed relative to the hip structure, and the second rotating portions of the two second conductive slip rings are fixed relative to the corresponding leg assemblies.

17. The humanoid robot according to claim 16, characterized in that, The second wiring harness group is electrically connected to the upper body side wiring harness in the upper body structure, and the two fourth wiring harness groups are respectively electrically connected to the leg side wiring harness in the corresponding leg assembly.

18. The humanoid robot according to claim 16 or 17, characterized in that, The rotation axis of the first conductive slip ring is collinear with the waist rotation axis of the waist rotation assembly, and the rotation axes of the two second conductive slip rings are collinear with the leg root rotation axes of the first leg root rotation assembly and the second leg root rotation assembly, respectively. The rotation axes of the two second conductive slip rings are located together in the robot reference plane extending along the left-right and up-down directions of the humanoid robot; The rotation axis of the first conductive slip ring extends along the vertical direction of the humanoid robot and is located on the front side of the robot's body on the robot's reference plane, and is spaced apart from the robot's reference plane.

19. The humanoid robot according to claim 16 or 17, characterized in that, The waist rotation assembly, the first leg root rotation assembly, and the second leg root rotation assembly each include a joint module; The joint modules of the waist rotation assembly, the first leg root rotation assembly, and the second leg root rotation assembly are all located outside the receiving cavity, and none of the joint modules are located inside the receiving cavity. The cavity contains the first wire harness group, two third wire harness groups, and an electrical connection component connecting the first wire harness group and the two third wire harness groups.

Images