An adaptive posture balancing module for a humanoid robot auxiliary motor

Abstract

The present application relates to a kind of adaptive posture balancing module for humanoid robot auxiliary motor, including first joint, second joint and balancing cylinder, balancing cylinder includes cylinder body, piston assembly and sealing element, the inside of cylinder body is opened with first cavity, piston assembly includes piston rod and piston part, piston rod is set on piston part, piston part reciprocating motion is set in first cavity, sealing element is respectively set in the two ends of first cavity, cylinder body is equipped with first connecting part, the end of piston rod away from piston part is provided with second connecting part, first connecting part is rotatably arranged on first joint, and second connecting part is rotatably arranged on second joint. By being provided with balancing cylinder between the two joints of first joint and second joint, adaptive adjustment is realized. The load of the drive mechanism between first joint and second joint can be effectively reduced. Make joint movement more stable, enhance dynamic response capability, and provide power-off safety protection to avoid collision damage of first joint and second joint.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to an adaptive attitude balancing module for an auxiliary motor of a humanoid robot. Background Technology

[0002] A humanoid robot is an intelligent mechanical body designed to mimic the appearance and behavior of humans. Humanoid robots typically possess multiple limb joints to achieve flexion, extension, and rotation. Generally, for humanoid robots to operate and move more effectively, they need to be able to adaptively adjust during movement. Adaptive adjustment refers to the robot's ability to automatically adjust control parameters and strategies based on changes in the environment or its own state, without requiring manual recalibration or program modification. Currently, some humanoid robots lack adaptive adjustment capabilities, resulting in insufficient joint flexibility and poor balance. Even those with adaptive adjustment features require complex calculations and the coordination of numerous components, making the entire process extremely complex and leading to increased energy consumption, decreased system reliability, slower response times, and higher costs. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide an adaptive attitude balancing module for an auxiliary motor of a humanoid robot.

[0004] To achieve the above objectives, the present invention provides an adaptive attitude balancing module for an auxiliary motor of a humanoid robot, comprising: The first joint includes a first housing and a first connecting shaft, with the first connecting shaft disposed on the first housing; The second joint includes a second housing and a second connecting shaft, with the second connecting shaft disposed on the second housing; The balance cylinder includes a cylinder body, a piston assembly, and two seals. The cylinder body has a first cavity. The piston assembly includes a piston rod and a piston part. The piston rod is disposed on the piston part, and the piston part reciprocates within the first cavity. The two seals are respectively disposed at both ends of the first cavity. The cylinder body has a first connecting part, and the piston rod is disposed at the end away from the piston part with a second connecting part. The first connecting part is rotatably disposed on a first joint, and the second connecting part is rotatably disposed on a second joint. The rotation axis of the first connecting part and the first joint, and the rotation axis of the second connecting part and the second joint are parallel.

[0005] The beneficial effects of this invention are as follows: An adaptive attitude balancing module for a humanoid robot's auxiliary motor includes a balancing cylinder positioned between the first and second joints. During operation, the piston rod moves relative to the cylinder under the action of the second joint. This causes compression or expansion of the gas in the first chamber, altering the gas volume and pressure within the cylinder. The first chamber adaptively adjusts its output force to regulate the first and second joints. The force generated by the relative movement of the first and second joints acts directly on the piston rod to adaptively adjust and match their movement. This effectively reduces the load on the drive mechanism between the first and second joints, decreasing the gravitational torque generated by their weight and the load they bear. Furthermore, it makes the movement more stable, enhances dynamic response, and, in the event of a power outage or malfunction, the balancing cylinder supports the second joint, preventing damage from collisions caused by power failure or malfunction.

[0006] Preferably, the inner wall of the cylinder is provided with a first protrusion, which is used to axially limit the piston portion.

[0007] Preferably, the sealing element includes a first sealing ring, and the inner wall of the cylinder has a first groove, with the first sealing ring sleeved on the piston rod and located in the first groove.

[0008] Preferably, the sealing element includes a housing, a second sealing ring, and a fixing member. The housing is fixed to one end of the cylinder body near the second connecting part. A first through hole is provided inside the housing for the piston rod to pass through. An assembly groove is provided on the inner wall of the housing. The second sealing ring is disposed in the assembly groove. The fixing member is fixedly connected to the housing and is located on the side of the housing away from the piston part. The second sealing ring is used to seal the gap between the piston rod and the housing.

[0009] Preferably, the balance cylinder further includes a dustproof component, and a second groove is provided on the inner wall of the cylinder body. The dustproof component is sleeved on the piston rod and located in the second groove.

[0010] Preferably, the balance cylinder further includes an inflation valve, which is disposed on the cylinder body and communicates with the first cavity. The inflation valve includes an inflation part and a cover. The inflation part is disposed on the side of the cylinder body, and the central axis of the inflation part intersects with the central axis of the cylinder body. The cover is detachably connected to the end of the inflation part away from the cylinder body.

[0011] Preferably, the first connecting part and / or the second connecting part are detachably connected to the cylinder body and the piston rod, respectively.

[0012] Preferably, the first connecting portion includes a first connecting member, a first extension, and a first bearing. The first connecting member is disposed on the first extension. The first extension has a second through hole extending through the first extension along its thickness direction. The first bearing is disposed in the second through hole and is used to connect with the first connecting shaft. The first connecting member is detachably connected to the cylinder body. The second connecting portion includes a second connecting member, a second extension, and a second bearing. The second connecting member is disposed on the second extension. The second extension has a third through hole extending through the second extension along its thickness direction. The second bearing is disposed in the third through hole and is used to connect with the second connecting shaft. The second connecting member is detachably connected to the piston rod.

[0013] Preferably, the balance cylinder further includes a mounting part, which is located on the side of the first cavity away from the piston assembly. The mounting part has an internal thread, and the first connector has an external thread. The first connector is threadedly connected to the mounting part.

[0014] Preferably, the seal further includes a third sealing ring, which is fitted onto the mounting portion and seals the gap between the mounting portion and the inner wall of the cylinder. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an adaptive attitude balancing module for an auxiliary motor of a humanoid robot according to the present invention; Figure 2 This is a cross-sectional view of an adaptive attitude balancing module for an auxiliary motor of a humanoid robot according to the present invention. Figure 3 for Figure 2 A magnified view of position A; Figure 4 for Figure 2 A magnified view of position B; Figure 5 This is a schematic diagram of another embodiment of the adaptive attitude balancing module for an auxiliary motor of a humanoid robot according to the present invention; Figure 6 This is a cross-sectional view of another embodiment of an adaptive attitude balancing module for an auxiliary motor of a humanoid robot according to the present invention; Figure 7 This is a schematic diagram of the structure of the sealing element of the present invention; Figure 8 This is an exploded structural diagram of the sealing element of the present invention.

[0016] The reference numerals in the figures include: 1. Balance cylinder; 11. Cylinder body; 111. First cavity; 112. First protrusion; 113. First groove; 114. Second groove; 12. Piston assembly; 121. Piston rod; 122. Piston part; 13. Seal; 131. First sealing ring; 132. Housing; 133. Second sealing ring; 134. Fixing member; 135. First through hole; 136. Assembly groove; 137. Third sealing ring; 14. First connecting part; 141. First connecting member; 142. First extension part; 143. First bearing; 144. Second through hole; 15. Second connecting part; 151. Second connecting member; 152. Second extension part; 153. Second bearing; 154. Third through hole; 16. Dustproof component; 17. Inflation valve; 171. Inflation part; 172. Cover; 18. Mounting part. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0018] Please see Figures 1 to 4 As shown, an adaptive attitude balancing module for a humanoid robot auxiliary motor according to the present invention includes a first joint (not shown), a second joint (not shown), and a balancing cylinder 1. The first joint includes a first housing and a first connecting shaft, the first connecting shaft being disposed on the first housing; the second joint includes a second housing and a second connecting shaft, the second connecting shaft being disposed on the second housing; the balancing cylinder 1 includes a cylinder body 11, a piston assembly 12, and two seals 13. The cylinder body 11 has a first cavity 111 inside, and the piston assembly 12 includes a piston rod 121 and a piston portion 1. 22. The piston rod 121 is disposed on the piston part 122. The piston part 122 is reciprocatingly disposed in the first cavity 111. Two seals 13 are respectively disposed at both ends of the first cavity 111. The cylinder body 11 is provided with a first connecting part 14. The end of the piston rod 121 away from the piston part 122 is provided with a second connecting part 15. The first connecting part 14 is rotatably disposed on the first joint, and the second connecting part 15 is rotatably disposed on the second joint. The first connecting part 14 is parallel to the rotation axis of the first joint, and the second connecting part 15 is parallel to the rotation axis of the second joint.

[0019] This invention discloses an adaptive attitude balancing module for an auxiliary motor in a humanoid robot. A balancing cylinder 1 is positioned between the first and second joints. During operation of the two joints, the piston rod 121 moves relative to the cylinder 11 under the action of the second joint. This causes compression or expansion of the gas volume within the first cavity 111, altering the gas volume and pressure. The first cavity 111 adaptively adjusts its output force to regulate the first and second joints. The force generated by the relative movement of the first and second joints acts directly on the piston rod 121 to adaptively adjust and match the movement of the first and second joints. This effectively reduces the load on the drive mechanism between the first and second joints, and decreases the gravitational torque generated by the weight of the first and second joints and the loads they bear. When the first and second joints perform flexion, extension, or rotation, the piston rod 121 reciprocates relative to the cylinder 11, causing gas compression or expansion, which absorbs the impact load generated by the joint movement, achieving flexible joint buffering protection. It also makes the movement more stable and enhances the dynamic response capability. In the event of a power outage or malfunction in the system, the balance cylinder 1 can support the second joint and prevent the two joints from colliding and being damaged due to a power outage or malfunction.

[0020] The fact that the rotation axes of the first connecting part 14 and the first joint are parallel to the rotation axes of the second connecting part 15 and the second joint can ensure the correctness and coordination of the motion trajectory and optimize the direction of force.

[0021] In this embodiment, the piston rod 121 extends from the cylinder body 11 and connects to the second joint, while the other end of the cylinder body 11 connects to the first joint. The gas used in the balance cylinder 1 is nitrogen. Nitrogen is chemically stable and will not oxidize or corrode the metal components inside the balance cylinder 1 (such as the cylinder body 11 and piston assembly 12), ensuring a pure internal environment and thus improving the service life and reliability of the balance cylinder 1. Nitrogen has excellent compressibility; under this characteristic, when the first and second joints move, nitrogen can be rapidly compressed or expanded, absorbing impacts and compensating for load changes at extremely high speeds, making rapid adaptive adjustments, and providing a buffer for the first and second joints. The nitrogen balance cylinder 1 has no risk of leakage or contamination, low maintenance costs, and is directly connected between the first and second joints without altering their structure. It is adaptable to various humanoid robots and is easy to disassemble and maintain.

[0022] Compared to existing technologies that rely on complex electronic control systems or external hydraulic pipelines to achieve adaptive adjustment, this invention relies on a purely mechanical structure and the physical properties of high-pressure nitrogen gas, requiring no external power source, resulting in a simpler structure and more stable and reliable operation.

[0023] In addition to nitrogen, gases such as argon and dry air can also be considered.

[0024] Specifically, the first housing of the first joint and the second housing of the second joint are respectively provided with a drive mechanism. The drive mechanism includes a motor, a reducer, an encoder and a drive circuit board, etc. The first joint and the second joint are driven to move through the motor, reducer, encoder and drive circuit board, etc. The first joint and the second joint are connected by connecting flanges and other connecting parts.

[0025] Understandably, humanoid robots have multiple joints, and the balance cylinder 1 can be applied to multiple joints, not just two.

[0026] To improve coordination between the drive mechanisms of the first and second joints and the balance cylinder 1, a main control module is provided. By adjusting the first joint, the second joint, and the balance cylinder 1 according to the planned expected joint torque, the components are decoupled into the gravity compensation component borne by the balance cylinder 1 and the dynamic response component borne by the motor of the drive mechanism. Through the gravity compensation of the balance cylinder 1, the output of the motor is reduced, eliminating the need for a large torque output to withstand the weight of the joint. The output is mainly used for the dynamic torque required for acceleration and deceleration, overcoming friction, and dealing with sudden external force interference. The cooperation of the balance cylinder 1 significantly reduces the peak torque requirement and heat generation of the motor. Meanwhile, the balance cylinder 1 integrates a high-precision air pressure sensor to monitor the gas pressure in real time. The high-precision air pressure sensor is electrically connected to the main control module to form a closed-loop air pressure detection. The main control module also monitors the position of the piston rod 121 of the balance cylinder 1. Through the pre-established pneumatic position servo model of the balance cylinder 1, it monitors the position of the piston assembly 12 of the balance cylinder 1. By monitoring the position of the piston rod 121 and the pressure of the cylinder body 11, it determines whether the force exerted by the balance cylinder 1 on the two joints can accurately match the current joint angle. When the force exerted by the balance cylinder 1 cannot be fully compensated, the motor is activated to compensate. In addition, more refined control is applied to the motors of the first and second joints. For example, a hybrid control mode is used to ensure the total output torque of the motors equals the feedforward torque plus the PD feedback torque. An impedance control algorithm is also introduced. The feedforward torque refers to the force of gravity, inertia, and friction that the main control module needs to overcome based on the movements of the first and / or second joints. The role of the balance cylinder 1 is to prevent the motor from continuously outputting a large torque to support the joint's weight. Therefore, in cooperation with the balance cylinder 1, the motor's torque value mainly includes the inertial torque required for acceleration and deceleration, overcoming friction, and dealing with external interference, resulting in a significant reduction in the feedforward torque value. This helps improve the motor's lifespan and reduce heat generation. PD feedback is used to eliminate errors not covered by the feedforward torque. The impedance control algorithm adjusts the three parameters—virtual mass, damping, and stiffness—to establish a dynamic relationship between the motor's force and displacement, enabling the humanoid robot to exhibit compliance when interacting with the external environment. Through a hybrid control mode and impedance control algorithm, the feedforward torque, a pre-calculated theoretical torque, is directly transmitted to the motor, avoiding lag, accelerating response, and significantly reducing dynamic tracking error. The PD feedback torque effectively eliminates residuals, ensuring stability. The impedance control algorithm effectively avoids rigid collisions. Combined with the feedforward torque and PD feedback torque, this improves physical interaction safety, achieving high-precision tracking, high dynamic response, and high-safety interaction performance. During operation, the drive mechanisms of the first and second joints work synchronously and collaboratively with the balance cylinder 1. Multiple sensors monitor and provide feedback, forming a closed-loop detection system. Combined with the aforementioned algorithms, the relationship between the drive mechanisms of the first and second joints and the balance cylinder 1 is adjusted in a timely manner, making the humanoid robot's movements more coordinated and flexible.

[0027] The adaptive attitude balancing module for a humanoid robot auxiliary motor of the present invention also includes an annular component. The annular component is sleeved on the piston rod 121 and located inside the cylinder 11. The outer edge of the annular component is in contact with the inner wall of the cylinder 11. The annular component moves along with the piston rod 121 in contact with the inner wall of the cylinder 11. During the movement of the piston rod 121, the annular component plays a role in precise guidance, bearing radial force, preventing the piston rod 121 from directly contacting the inner wall of the cylinder 11, reducing friction, and absorbing vibration. Precise guidance means that the annular component can constrain the movement trajectory of the piston rod 121, preventing the piston rod 121 from shaking or deviating. Bearing radial force means that when the piston rod 121 pushes the second joint, radial force may be generated. By bearing the radial force through the annular component, it avoids direct action on the seal 13, preventing the seal 13 from deforming, being squeezed out, or being damaged due to excessive local stress, thus affecting the sealing performance. The annular component can be made of POM (polyoxymethylene), PTFE (polytetrafluoroethylene), or filled modified PTFE, nylon, or phenolic resin-reinforced fabric, etc. The annular component is made of a material that is softer than that of the cylinder body 11, has a low coefficient of friction and self-lubricating properties, and can replace the cylinder body 11 and piston rod 121 to bear friction. When wear occurs, the annular component will wear first, thus extending the service life of the cylinder body 11 and piston assembly 12.

[0028] Lubricating media are provided between the cylinder body 11 and the piston assembly 12, between the cylinder body 11 and the annular component, and between the piston rod 121 and the annular component to reduce the friction of reciprocating motion. An oil injection hole and an internal flow channel are provided on the balance cylinder 1. Lubricating media are injected through the oil injection hole and flow through the internal flow channel to the positions requiring lubrication.

[0029] Please see Figure 3 The inner wall of the cylinder 11 is provided with a first protrusion 112, which is used to axially limit the piston part 122. The first protrusion 112 on the inner wall of the cylinder 11 restricts the stroke of the piston part 122 within the first cavity 111, preventing the piston assembly 12 from detaching from the first cavity 111. By limiting the stroke of the piston assembly 12 through the first protrusion 112, the maximum extension and retraction stroke of the piston assembly 12 are precisely limited, preventing accidental detachment of the piston assembly 12 during operation and avoiding damage due to overtravel. Furthermore, no additional limiting components are required, making the entire balance cylinder 1 more compact and suitable for applications of humanoid robots with strict space requirements. The first protrusion 112 can be a raised ring surrounding the inner wall of the cylinder 11, or it can be a protrusion or step spaced around the central axis of the cylinder 11. When the piston assembly 12 extends to its stroke limit, the piston part 122 abuts against the first protrusion 112.

[0030] Please see Figure 3The sealing element 13 includes a first sealing ring 131. A first groove 113 is formed on the inner wall of the cylinder 11. The first sealing ring 131 is fitted onto the piston rod 121 and located within the first groove 113. In this embodiment, the first sealing ring 131 is a Y-shaped ring, with its opening facing the first cavity 111. Utilizing the characteristics of the Y-shaped ring, it automatically opens and seals under high pressure, sealing the gap between the piston rod 121 and the inner wall of the cylinder 11, preventing gas leakage from the first cavity 111. Two Y-shaped rings may be included, disposed at both ends of the first cavity 111. It is understood that the type of sealing element 13 disposed at both ends of the first cavity 111 can be the same. In another embodiment, the sealing elements 13 at both ends of the first cavity 111 can also use different types of sealing rings to achieve different sealing requirements and meet different sealing needs.

[0031] Please see Figure 7 and Figure 8 In another embodiment, the sealing element 13 includes a housing 132, a second sealing ring 133, and a fixing member 134. The housing 132 is fixed to one end of the cylinder body 11 near the second connecting part 15. A first through hole 135 for the piston rod 121 to pass through is provided in the housing 132. An assembly groove 136 is provided on the inner wall of the housing 132. The second sealing ring 133 is disposed in the assembly groove 136. The fixing member 134 is fixedly connected to the housing 132 and is located on the side of the housing 132 away from the piston part 122. The second sealing ring 133 is used to seal the gap between the piston rod 121 and the housing 132. In this embodiment, the housing 132, the second sealing ring 133, and the fixing member 134 are used as a sealing assembly. The housing 132 covers the end of the cylinder 11 near the second connecting portion 15, serving as the end cap of the cylinder 11. The second sealing ring 133 is disposed within the mounting groove 136 of the housing 132. The fixing member 134 is fixed to the housing 132, providing a certain degree of dust prevention for the interior of the cylinder 11 and preventing the second sealing ring 133 from detaching from the mounting groove 136. The second sealing ring 133 can be a U-shaped sealing ring, a Y-shaped sealing ring, or a Step seal sealing ring, etc. Furthermore, a sealing ring or gasket is provided in the gap between the housing 132 and the cylinder 11 to further improve the sealing performance.

[0032] In another embodiment, the sealing assembly can be used in conjunction with the first sealing ring 131. The sealing assembly is disposed on the side of the cylinder body 11 near the second connecting portion 15, and the first sealing ring 131 is disposed inside the cylinder body 11, achieving a multi-stage composite seal. This can disperse pressure, as a single sealing ring is prone to rupture under high pressure, affecting sealing performance and leading to gas leakage. Consequently, this affects the adaptive adjustment and buffering functions of the balance cylinder 1. Through the multi-stage composite seal design, even if one stage of the seal fails, the other stages can still maintain the seal, thus ensuring the normal operation of the balance cylinder 1.

[0033] Please see Figure 3 The balance cylinder 1 also includes a dustproof component 16. A second groove 114 is formed on the inner wall of the cylinder body 11. The dustproof component 16 is sleeved on the piston rod 121 and located in the second groove 114. The dustproof component 16 is disposed inside the cylinder body 11 and located at the end of the cylinder body 11. It can effectively prevent dust and moisture from the external environment from entering the interior of the cylinder body 11, and avoid oxidation or corrosion of the components inside the cylinder body 11.

[0034] Please see Figure 1 and Figure 2 The balance cylinder 1 also includes an inflation valve 17, which is disposed on the cylinder body 11 and communicates with the first cavity 111. The inflation valve 17 includes an inflation part 171 and a cover 172. The inflation part 171 is disposed on the side of the cylinder body 11, and the central axis of the inflation part 171 intersects the central axis of the cylinder body 11. The cover 172 is detachably connected to the end of the inflation part 171 away from the cylinder body 11. In this embodiment, the central axis of the inflation part 171 is perpendicular to the central axis of the cylinder body 11, and the inflation valve 17 is disposed perpendicular to the cylinder body 11, avoiding the first connecting part 14 and the second connecting part 15. This avoids interference with the installation and movement of the first and second joints, and also makes the overall structure of the present invention more compact. The inflation section 171 is hollow and connects to the first cavity 111 of the cylinder 11, forming an airflow channel for gas filling and releasing within the cylinder 11. The cover 172 is a nut, and the outer surface of the end of the inflation section 171 away from the cylinder 11 is threaded, with the internal thread of the nut connecting to the thread on the inflation section 171. The cover 172 can prevent foreign objects such as dust and iron filings from entering the interior of the inflation section 171, preventing air leakage. In this embodiment, the inflation section 171 is integrally formed with the cylinder 11 without welding gaps, thus avoiding gas leakage. During inflation, the cover 172 is removed and connected to an external inflation device, connecting the inflation section 171 to replenish air to the cylinder 11. A valve core is provided inside the inflation section 171 for inflation, or an inflation connector is connected for inflation. By providing a valve core inside the inflation section 171, unidirectional inflation is achieved and gas backflow is prevented. The structure is simple, the seal is reliable, and together with the cover 172, a double seal is achieved to prevent leakage. In addition to using a nut as the cover 172, a plug can also be used as the cover 172 to achieve the function of preventing dust and leakage.

[0035] Please see Figure 1 and Figure 2 The first connecting part 14 and / or the second connecting part 15 are detachably connected to the cylinder body 11 and the piston rod 121, respectively. The first connecting part 14 and the second connecting part 15 can be configured to be detachably connected to the cylinder body 11 and the piston rod 121 according to assembly requirements, so as to facilitate assembly and maintenance.

[0036] In this embodiment, the first connecting portion 14 and the second connecting portion 15 are detachably connected to the cylinder body 11 and the piston rod 121, respectively. The first connecting portion 14 includes a first connecting member 141, a first extension 142, and a first bearing 143. The first connecting member 141 is disposed on the first extension 142. The first extension 142 has a second through hole 144 extending through it along its thickness direction. The first bearing 143 is disposed within the second through hole 144 and is used to connect with the first connecting shaft. The connection is as follows: the first connecting member 141 is detachably connected to the cylinder body 11; the second connecting part 15 includes a second connecting member 151, a second extension 152, and a second bearing 153. The second connecting member 151 is disposed on the second extension 152, and the second extension 152 has a third through hole 154 extending through the second extension 152 along its thickness direction. The second bearing 153 is disposed in the third through hole 154 and is used to connect with the second connecting shaft. The second connecting member 151 is detachably connected to the piston rod 121. Connecting the first joint and the second joint using the first bearing 143 and the second bearing 153 can improve motion accuracy and rigidity, withstand complex multi-directional loads, reduce friction and energy consumption, and improve transmission efficiency. In addition to using the first bearing 143 and the second bearing 153 for connection, ball joints, double elbow joints, etc., can also be used for connection.

[0037] Please see Figures 1 to 4Specifically, the balance cylinder 1 also includes a mounting part 18, which is located on the side of the first cavity 111 away from the piston assembly 12. The mounting part 18 has an internal thread, and the first connecting member 141 has an external thread. The first connecting member 141 is threadedly connected to the mounting part 18. The mounting part 18 is fixedly located on the side of the first cavity 111 away from the piston assembly 12. The inner wall of the mounting part 18 has an internal thread, and the first connecting member 141 is threadedly connected to the mounting part 18, thus fixing the first connecting part 14 to the mounting part 18, i.e., fixing the first connecting part 14 to the cylinder body 11. The first joint is mounted on the first bearing 143 of the first connecting part 14 via a first connecting shaft. A nut is provided on the first connecting member 141, passing through it. After the first connecting member 141 is fixedly connected to the mounting part 18, the nut is tightened to abut against the side wall of the cylinder body 11, fixing the first connecting member 141 and preventing the first connecting part 14 from rotating or falling off, thus avoiding affecting the adjustment of the first joint. The locking mechanism uses nuts, resulting in a simple structure that is easy to assemble and disassemble, requiring no special tooling for adjustment. Similarly, a nut is also provided on the second connecting piece 151 to lock it in place, preventing the second connecting piece 151, the second extension 152, and the second bearing 153 from disengaging from the piston rod 121 and thus affecting the adjustment of the second joint. An external thread is provided on the section of the piston rod 121 away from the piston portion 122, and an internal thread is provided on the inner wall of the second connecting piece 151. The second connecting piece 151 is threadedly connected to the piston rod 121 and locked in place by a nut.

[0038] The central axis of the second through hole 144 is collinear with the central axis of the first bearing 143, and the central axis of the third through hole 154 is collinear with the central axis of the second bearing 153. This ensures that the first bearing 143 will not be eccentrically offset within the second through hole 144, and the second bearing 153 will not be eccentrically offset within the third through hole 154. This eliminates off-center loading and stress concentration. When actually assembled on the first and second joints, it ensures the accurate force transmission path of the balance cylinder 1, and reduces energy loss and friction.

[0039] Please see Figure 5 and Figure 6In another embodiment, to accommodate some miniature first and second joint structures, the piston assembly 12 is shortened, and the axial length of the cylinder 11 is shortened simultaneously. All nuts used for locking on the first connecting part 14 and the second connecting part 15 are removed. The first connecting member 141 and the second connecting member 151 are still connected to the cylinder 11 and the piston rod 121 by threaded connection. A spring washer is provided between the contact surfaces of the first connecting member 141 and the mounting part 18, and between the second connecting member 151 and the piston rod 121. The spring washer prevents loosening and locks the first connecting member 141 and the mounting part 18, and the second connecting member 151 and the piston rod 121. It also increases the contact area, disperses pressure, reduces friction, fills the gaps between the first connecting member 141 and the mounting part 18, and between the second connecting member 151 and the piston rod 121, thus improving sealing performance. By using spring washers for locking, the length of the piston assembly 12 and cylinder 11 is shortened while structures such as nuts are eliminated, making the overall structure of the balance cylinder 1 of the present invention more compact and suitable for connecting micro joints.

[0040] Please see Figure 4 The sealing element 13 also includes a third sealing ring 137, which is fitted onto the mounting portion 18 and seals the gap between the mounting portion 18 and the inner wall of the cylinder body 11. The third sealing ring 137 seals the gap between the mounting portion 18 and the inner wall of the cylinder body 11, making the first cavity 111 a sealed chamber, effectively preventing gas leakage. In this embodiment, the third sealing ring 137 is an O-ring. The O-ring seal provides a simple and compact structure and creates a self-sealing effect. More specifically, a groove can be made on the mounting part 18 around its central axis, or on the inner wall of the cylinder 11 around its central axis. The O-ring is fitted onto the mounting part 18 and installed in the groove, resulting in initial compression deformation and initial contact pressure. When the mounting part 18 is placed in the first cavity 111, it exerts pressure on the O-ring. As the installation gradually comes into place, the pressure on the O-ring increases, creating a self-sealing effect of "higher pressure, tighter seal," thus achieving a reliable seal.

[0041] Please see Figure 3In this embodiment, sealing elements 13 are respectively provided at both ends of the cavity (one end seals the gap between the mounting part 18 and the inner wall of the cylinder 11 through an O-ring, and the other end seals the gap between the piston rod 121 and the inner wall of the cylinder 11 through a Y-ring), so that the first cavity 111 forms a sealed chamber, establishes a pressure difference, and ensures the effective operation of the cylinder 11 and the piston assembly 12. In some other embodiments, multiple seals can be provided at the same end, and multiple seals can be provided at both ends to form a more reliable seal and further improve the performance of the balance cylinder 1. In addition, a dustproof element 16 can also be provided on the side where the first connecting part 14 is provided to prevent dust, powder and other substances from entering the interior of the cylinder 11.

[0042] The first connecting part 14 and the second connecting part 15 are made of graphite copper. The advantage of using graphite copper is that it combines the high strength and high thermal and electrical conductivity of copper with the self-lubricating and high-temperature resistance properties of graphite. This allows it to be used in some difficult-to-maintain scenarios, significantly reducing maintenance costs and achieving long-life, high-load-bearing connections and transmissions. The first connecting part 14, the second connecting part 15, and the cylinder body 11 can also be made of Q345 material. Q345 is a low-alloy high-strength structural steel that ensures hardness and extends service life.

[0043] Combination Figures 1 to 4As shown, the working process of an adaptive attitude balancing module for an auxiliary motor of a humanoid robot according to the present invention is as follows: After the first joint, the second joint and the balancing cylinder 1 are connected, the main control module drives the motor in the first joint and the motor in the second joint according to the issued instructions. The first joint and the second joint move, and at the same time, the piston rod 121 of the balancing cylinder 1 stretches or compresses with the movement of the second joint, so that the nitrogen gas in the cylinder body 11 of the balancing cylinder 1 is compressed or expanded. For example, when the second joint is raised, the straight distance between the first joint and the second joint is shortened, so that the piston rod 121 retracts, compressing the nitrogen gas. The effective volume occupied by the nitrogen gas decreases, the pressure increases, the lifting force increases, and the load on the motor in the joint can be reduced; when the second joint lowers... During descent, the linear distance between the first and second joints increases, causing the piston rod 121 to stretch. This increases the effective volume occupied by nitrogen, reduces pressure, and decreases the lifting force, allowing the second joint to perform work naturally under gravity. Gravity essentially provides a "driving force" to the second joint. If the lifting force remains constant, the second joint would be pulled by the force of the balance cylinder 1 during natural descent, requiring the motor to output additional torque to offset the force of the balance cylinder 1. This would result in the motor needing to output additional power, leading to energy waste. However, after the lifting force of the balance cylinder 1 is adaptively reduced, it will not hinder the descent of the second joint. Under the "drive" of gravity, the motor only needs to provide appropriate torque, mainly for controlling the descent speed and positioning accuracy, thus saving energy. Through the adaptive adjustment of the balance cylinder 1, the torque provided by the motors in the first and second joints is reduced, thereby reducing the heat generated by the motors and extending their service life. Based on the adaptive adjustment of the balance cylinder 1, the precise provision of motor load and the precise calculation of the main control module can improve motion accuracy and dynamic response. At the same time, even if the motor loses power or malfunctions, the gas in the balance cylinder 1 can still support the first and second joints, preventing them from falling rapidly and causing injury to personnel or damage to the joints.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An adaptive attitude balancing module for an auxiliary motor of a humanoid robot, characterized in that, include: The first joint includes a first housing and a first connecting shaft, with the first connecting shaft disposed on the first housing; The second joint includes a second housing and a second connecting shaft, with the second connecting shaft disposed on the second housing; The balance cylinder (1) includes a cylinder body (11), a piston assembly (12) and two seals (13). The cylinder body (11) has a first cavity (111) inside. The piston assembly (12) includes a piston rod (121) and a piston part (122). The piston rod (121) is disposed on the piston part (122). The piston part (122) is reciprocatingly disposed in the first cavity (111). The two seals (13) are respectively disposed at both ends of the first cavity (111). The cylinder body (11) is provided with a first connecting part (14). The piston rod (121) is provided with a second connecting part (15) at the end away from the piston part (122). The first connecting part (14) is rotatably disposed on the first joint. The second connecting part (15) is rotatably disposed on the second joint. The first connecting part (14) is parallel to the rotation axis of the first joint and the second connecting part (15) is parallel to the rotation axis of the second joint.

2. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The inner wall of the cylinder (11) is provided with a first protrusion (112), which is used to axially limit the piston part (122).

3. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The sealing element (13) includes a first sealing ring (131), and a first groove (113) is provided on the inner wall of the cylinder (11). The first sealing ring (131) is sleeved on the piston rod (121) and located in the first groove (113).

4. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The sealing element (13) includes a housing (132), a second sealing ring (133), and a fixing element (134). The housing (132) is fixed to one end of the cylinder (11) near the second connecting part (15). A first through hole (135) for the piston rod (121) to pass through is provided in the housing (132). An assembly groove (136) is provided on the inner wall of the housing (132). The second sealing ring (133) is disposed in the assembly groove (136). The fixing element (134) is fixedly connected to the housing (132). The fixing element (134) is located on the side of the housing (132) away from the piston part (122). The second sealing ring (133) is used to seal the gap between the piston rod (121) and the housing (132).

5. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The balance cylinder (1) also includes a dustproof component (16). The inner wall of the cylinder body (11) is provided with a second groove (114). The dustproof component (16) is sleeved on the piston rod (121) and located in the second groove (114).

6. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The balance cylinder (1) also includes an inflation valve (17), which is disposed on the cylinder body (11) and communicates with the first cavity (111). The inflation valve (17) includes an inflation part (171) and a cover (172). The inflation part (171) is disposed on the side of the cylinder body (11), and the central axis of the inflation part (171) intersects with the central axis of the cylinder body (11). The cover (172) is detachably connected to the end of the inflation part (171) away from the cylinder body (11).

7. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 1, characterized in that, The first connecting part (14) and / or the second connecting part (15) are detachably connected to the cylinder body (11) and the piston rod (121), respectively.

8. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 7, characterized in that, The first connecting part (14) includes a first connecting member (141), a first extension (142), and a first bearing (143). The first connecting member (141) is disposed on the first extension (142). The first extension (142) has a second through hole (144) extending through the first extension (142) along the thickness direction. The first bearing (143) is disposed in the second through hole (144) and is used to connect with the first connecting shaft. The first connecting member (141) is detachably connected to the cylinder body (11). The second connecting part (15) includes a second connecting member (151), a second extension (152) and a second bearing (153). The second connecting member (151) is disposed on the second extension (152). The second extension (152) has a third through hole (154) through the second extension (152) along the thickness direction. The second bearing (153) is disposed in the third through hole (154) and is used to connect with the second connecting shaft. The second connecting member (151) is detachably connected to the piston rod (121).

9. The adaptive attitude balancing module for a humanoid robot auxiliary motor according to claim 8, characterized in that, The balance cylinder (1) also includes a mounting part (18), which is located on the side of the first cavity (111) away from the piston assembly (12). The mounting part (18) has an internal thread, and the first connector (141) has an external thread. The first connector (141) is threadedly connected to the mounting part (18).

10. The adaptive attitude balancing module for the auxiliary motor of a humanoid robot according to claim 9, characterized in that, The seal (13) also includes a third sealing ring (137), which is fitted onto the mounting part (18) and seals the gap between the mounting part (18) and the inner wall of the cylinder (11).

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