Waist assembly structure, humanoid robot and robot

Abstract

The utility model relates to the technical field of robots, and discloses a waist assembly structure, a humanoid robot and a robot. According to the waist assembly structure of the humanoid robot, a bearing is arranged on the peripheral side of a transmission flange for bearing. The bearing support is arranged outside the joint module, the overall load capacity of the dynamic support of the assembly structure is improved, the service life of the joint module can be prolonged, the dynamic stability of the assembly structure can be improved, and the overall service life of the assembly structure can be prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a waist assembly structure, a humanoid robot and a robot. Background Art

[0002] In robotics technology, the development of humanoid bipedal robots is a hot topic in the industry. The lower limbs of bipedal robots often have legs that imitate human lower limbs, including thighs, calves, and feet. The entire leg structure can usually swing left and right and rotate around the vertical direction. The thighs, calves and feet can all rotate independently. In this way, through the coordinated movement of various parts, the bipedal robot can achieve humanoid walking.

[0003] For example, a robot waist joint assembly structure disclosed in a Chinese utility model patent with authorization announcement number CN220408778U has a waist twist joint located at the lowermost side of the waist, and a waist twist joint module is used to support the entire waist structure and the upper body of the robot on the lower side. In the structure, the waist twist joint module directly supports the upper structure. When there is a bias that deviates from the direction of the rotating axis of the waist twist joint module, it may cause biased stress on the joint module, and push the rotating axis in the joint module in the direction that deviates from the rotating axis, resulting in increased wear or structural damage to the gears or rotating parts in the joint module. It is relatively easy to cause increased wear of the joint module, thereby shortening the service life. Utility Model Content

[0004] The present application provides a waist assembly structure, a humanoid robot and a robot, aiming to solve the technical problem of bias in the support structure of the existing waist joint assembly structure.

[0005] In one scheme, a waist assembly structure of a humanoid robot is provided, including a support frame, a bearing, a bearing cover and a first joint module; the support frame includes an assembly flange and an assembly cavity inside the assembly flange, and a bearing position is arranged on the inner wall of the assembly cavity; the bearing is assembled in the bearing position; the bearing cover is assembled and connected to the assembly flange, and the bearing cover abuts the bearing; the first joint module includes an output flange, one end of the output flange of the first joint module is assembled and connected to the lower side of the support frame, and the output flange is located in the assembly cavity, and the output flange is used to assemble the bending joint connecting part connected to the upper side of the support frame.

[0006] In one embodiment, the bearing is a cross roller bearing, including an inner ring and an outer ring, the outer ring is assembled and fixed to the bearing position, and the bearing cover abuts the outer ring with its inner edge, and the inner ring is used to assemble the bending joint connector connected to the upper side of the carrier.

[0007] In one embodiment, the bearing seat includes a retaining ring and an inner wall surface, wherein the retaining ring supports the bearing at the lower side, and the bearing is assembled on the inner wall surface with an outer side wall.

[0008] In one solution, the mounting flange includes a plurality of first fixing holes, the bearing cover includes a first through hole, and each of the first through holes is aligned with each of the first fixing holes.

[0009] In one embodiment, the carrier frame includes a plurality of fourth through holes, and the plurality of fourth through holes are located at one end of the output flange of the first joint module.

[0010] In one solution, the mounting flange includes an annular flange and a flange portion, wherein the flange portion is disposed on a top surface of the annular flange.

[0011] In one embodiment, the outer ring side wall of the annular flange is provided with at least two limiting protrusions, and a preset stroke is defined between the two limiting protrusions.

[0012] In one embodiment, the support frame further includes a first connection end and a second connection end, the first connection end and the second connection end are respectively located at two ends of the support frame, the first connection end includes a plurality of second via holes, and the second connection end includes a plurality of third via holes.

[0013] In one solution, the first connection end or the second connection end is provided with a slot structure, and the slot structure is used to be engaged with the support plate body at the lower side.

[0014] In one embodiment, a humanoid robot is provided, comprising:

[0015] The waist assembly structure of the humanoid robot in the aforementioned scheme, as well as a bending joint assembly, a first support plate and a second support plate; the bending joint assembly includes a connecting flange, the connecting flange includes an outer wall surface, the connecting flange is assembled with the inner ring of the bearing, the outer wall surface abuts against the inner wall of the inner ring of the bearing, the connecting flange is assembled and connected to the output flange, the first support plate and the second support plate are roughly parallel, and the first support plate and the second support plate are respectively assembled and connected to the two ends of the carrier frame.

[0016] In one embodiment, a robot is provided, comprising: the waist assembly structure of the humanoid robot of the aforementioned embodiment, or a humanoid robot.

[0017] Beneficial effects of this application:

[0018] In order to solve the bias problem of the support structure of the waist joint assembly structure in the prior art, the present application discloses a waist assembly structure of a humanoid robot in an embodiment, which forms a stable and reliable support structure by setting a carrier, a bearing and a bearing cover, wherein the bearing is added to radially support the rotating parts in the assembly cavity, which can avoid the bias stress from being directly transmitted to the first joint module, thereby extending the life of the first joint module. This design not only improves the stability and reliability of the waist joint of the humanoid robot, but also provides a solid foundation for the subsequent bending joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 is a three-dimensional structural schematic diagram of the waist assembly structure of a humanoid robot in an embodiment of the present application in an assembled state;

[0021] Figure 2 is a three-dimensional structural schematic diagram of the waist assembly structure of the humanoid robot in one embodiment of the present application in another perspective of the assembled state;

[0022] Figure 3 is a schematic structural diagram of the exploded components of the waist assembly structure of a humanoid robot in one embodiment of the present application from a first viewing angle;

[0023] Figure 4 is a schematic structural diagram of the exploded components of the waist assembly structure of a humanoid robot in one embodiment of the present application from a second viewing angle;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of a support frame of the waist assembly structure of a humanoid robot in one embodiment of the present application;

[0025] Figure 6 is a schematic structural diagram of the bottom surface of the waist assembly structure of a humanoid robot in one embodiment of the present application;

[0026] Figure 7 is a partial cross-sectional structural diagram of a waist assembly structure of a humanoid robot in one embodiment of the present application;

[0027] Figure 8 is a schematic structural diagram of the lower body of a robot in one embodiment of the present application;

[0028] Fig. 9 It is a three-dimensional schematic diagram of a robot or a humanoid robot in one embodiment of the present application.

[0029] Reference numerals in the figures:

[0030] 1. Carrying frame; 11. Assembly flange; 111. First fixing hole; 112. Annular flange; 113. Flange portion; 12. Assembly cavity; 13. Bearing position; 131. Retaining ring; 132. Inner wall surface; 14. Position limiting protrusion; 15. First connecting end; 151. Second through hole; 16. Second connecting end; 161. Third through hole; 17. Slot structure; 18. Fourth through hole;

[0031] 2. Bearing; 21. Inner ring; 22. Outer ring;

[0032] 3. bearing cover; 31. first through hole;

[0033] 4. First joint module; 41. Output flange;

[0034] 5. Bending joint assembly; 51. Bending joint module; 52. Bending joint connector; 521. Connecting flange; 53. Limiting block;

[0035] 6. First fastener; 7. Second fastener;

[0036] 91. First support plate; 92. Second support plate; 93. Lower limbs.

[0037] Axis A is defined as the rotation axis of the output flange of the bending joint; axis B is defined as the rotation axis of the output flange of the first joint module. DETAILED DESCRIPTION

[0038] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0045] In order to solve the technical problem of bias in the support structure of the existing waist joint assembly structure, a waist assembly structure of a humanoid robot is disclosed in the embodiment of the present application. In order to avoid bias load on the rotating components in the joint module of the waist joint assembly structure, a bearing is mainly provided outside the joint module to radially support the waist component, so as to increase the overall load capacity of the dynamic support of the assembly structure, which can not only improve the life of the joint module, but also improve the dynamic stability and overall life of the assembly structure.

[0046] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0047] In one embodiment, referring to Figure 1 , 2 Indicated, Figure 1 is a three-dimensional structural diagram of the waist assembly structure of a humanoid robot in an embodiment of the present application in an assembled state, Figure 2 It is a three-dimensional structural diagram of another perspective of the waist assembly structure of a humanoid robot in an embodiment of the present application. The waist assembly structure of the humanoid robot is provided in an embodiment of the present application, and mainly includes a support frame 1, a bearing 2, a bearing cover 3 and a first joint module 4. In order to support the upper bending joint assembly 5 at the bottom, it is obvious to those skilled in the art that the bending joint assembly 5 is an assembly composed of a bending joint module 51 and a bending joint connector 52.

[0048] In the embodiment of the present application, a waist assembly structure of a humanoid robot is disclosed. By setting a carrier, a bearing and a bearing cover, a stable and reliable support structure is formed. The bearing is added to radially support the rotating parts in the assembly cavity, which can avoid the bias stress from being directly transmitted to the first joint module, and can avoid the wear or structural damage of the gears or rotating parts in the joint module, thereby extending the life of the first joint module. This design not only improves the stability and reliability of the waist joint of the humanoid robot, but also provides a solid foundation for the subsequent bending joint.

[0049] Among them, the carrier frame 1 mainly includes an assembly flange 11 and an assembly cavity 12 inside the assembly flange 11. The assembly cavity 12 runs through the upper and lower surfaces of the carrier frame 1 so that the first joint module 4 can be transmitted and assembled through the assembly cavity 12. The inner wall of the assembly cavity 12 is provided with a bearing position 13. The assembly flange 11 is provided on the upper surface of the carrier frame 1. The assembly opening of the bearing position 13 is located on the upper surface of the carrier frame 1. It can be understood that the assembly opening mentioned here refers to an opening for the bearing 2 to be assembled. In this embodiment, the assembly opening of the bearing position 13 can be open upward along the rotation axis B.

[0050] The bearing 2 can be assembled in the bearing position 13, and is assembled and connected with the mounting flange 11 through the bearing cover 3, so that the inner edge of the bearing cover 3 abuts against the bearing 2, thereby fixing the bearing 2 to the inner side of the mounting flange 11. In this embodiment, the bearing 2 can be selected as a ball bearing with only radial load-bearing capacity, but here, in order to support the upper joint body on the inner ring side of the bearing 2, the inner ring of the bearing 2 can also be selected to have both axial and radial support capabilities, such as a tapered roller bearing or a cross roller bearing.

[0051] In one embodiment, the support frame 1 may be rectangular, so as to provide sufficient assembly space for the two joint assemblies in the middle thereof. Since the support frame 1 is an important support for the waist, the support frame 1 needs to have sufficient structural strength. The support frame 1 may be made of titanium alloy, and the structure and components thereof may be integrally formed to achieve an ideal structural strength.

[0052] In one embodiment, referring to Figure 6 and Figure 7 Indicated, Figure 7 It is a partial cross-sectional structural diagram of the waist assembly structure of the humanoid robot in one embodiment of the present application. The first joint module 4 mainly includes an output flange 41. One end face of the output flange 41 of the first joint module 4 is directly assembled and connected to the lower surface of the carrier frame 1, and the output flange 41 is opposite to the assembly cavity 12. The output flange 41 is used to assemble the bending joint connector 52 on the upper side of the carrier frame 1. The first joint module 4 can be understood as a waist rotation drive, and its output flange 41 is connected to the upper bending joint assembly 5, which can directly drive the bending joint assembly 5 to rotate around the rotation axis B (generally located in the vertical direction). At the same time, the output flange 41 at this position also needs to bear the static or dynamic load of the upper body carried by the bending joint assembly 5.

[0053] In one embodiment, the bearing 2 is a crossed roller bearing, including an inner ring 21 and an outer ring 22, the outer ring 22 is assembled and fixed to the bearing position 13, and the bearing cover 3 abuts the outer ring 22 with the inner edge, and the inner ring 21 is used to assemble the bending joint connector 52 connected to the upper side of the support frame 1. Among them, the crossed roller bearing is formed by arranging the rollers crosswise to form two rows of rollers between the inner ring and the outer ring. This arrangement allows the bearing to withstand radial loads and axial loads at the same time, and can also withstand overturning moments. The cross-arranged rollers can provide very stable support during rotation, reduce friction and wear, and thus increase the service life of the bearing. On the other hand, the crossed roller bearing can withstand bidirectional axial loads at the same time, so the bearing 2 also plays a supporting role in the reaction force load acting from the direction of the lower limb 93.

[0054] In one embodiment, the main reference Figure 5As shown, the bearing seat 13 includes a retaining ring 131 and an inner wall surface 132. The retaining ring 131 supports the bearing at the lower side, and the bearing is assembled with the outer wall on the inner wall surface 132. Here, the retaining ring and the inner wall surface form the bearing seat, which ensures the correct installation and positioning of the bearing and avoids the bearing from being offset or damaged during operation.

[0055] In one embodiment, referring to Figure 3 , Figure 4 As shown, the mounting flange 11 includes a plurality of first fixing holes 111, and the bearing cover 3 includes a first through hole 31, and each first through hole 31 is aligned with each first fixing hole 111. By providing the first fixing holes 111 and the first through holes 31, a plurality of first fasteners 6 can pass through the first through holes 31 and be fastened to the first fixing holes 111, so that the bearing cover can be tightly connected to the mounting flange, thereby ensuring the fixing and sealing of the bearing, reducing the possibility of external impurities entering the interior of the bearing, and improving the service life of the bearing.

[0056] In one embodiment, referring to Figure 3 , Figure 4 , Figure 5 As shown, the carrier frame 1 also includes a plurality of fourth through holes 18, and the plurality of fourth through holes 18 are distributed around the assembly flange 11. This is mainly because the plurality of fourth through holes 18 need to be located at one end of the output flange 41 of the first joint module 4, so as to use fasteners to fix the outer shell (stator part) of the first joint module 4 to the carrier frame 1.

[0057] In one embodiment, referring to Figure 3 , Figure 4 , Figure 5 As shown, the mounting flange 11 includes an annular flange 112 and a flange portion 113, wherein the flange portion 113 is disposed on the top surface of the annular flange 112. The outer ring side wall of the annular flange 112 is provided with at least two limiting protrusions 14, and a preset stroke is defined between the two limiting protrusions 14.

[0058] Correspondingly, see Figure 1 and Figure 4 As shown, a limit block 53 facing the support frame 1 is arranged on the lower side of the bending joint connecting member 52, and the position of the limit block 53 is adjacent to the outer edge of the annular flange 112. In this way, the two limit protrusions 14 limit the maximum rotation range of the bending joint assembly 5 around the rotation axis B, limit the rotation range of the bending joint, avoid structural damage caused by excessive movement, and improve the safety and reliability of the system.

[0059] In one embodiment, the carrier frame 1 further includes a first connection end 15 and a second connection end 16, which are respectively located at two ends of the carrier frame 1, and the first connection end 15 includes a plurality of second vias 151, and the second connection end 16 includes a plurality of third vias 161. By providing the second vias and the third vias on the first connection end and the second connection end, accurate connection with other components is ensured, the assembly process is simplified, and production efficiency is improved.

[0060] In one embodiment, the first connection end 15 or the second connection end 16 is provided with a slot structure 17, and the slot structure 17 is used to engage with the support plate body at the lower side. By providing the slot structure, the support frame can be quickly connected to the support plate body at the lower side, which simplifies the installation process and improves the stability and reliability of the overall structure.

[0061] In one embodiment, see Figure 8 , Fig. 9 As shown, a humanoid robot is provided, comprising the waist assembly structure, the bending joint assembly 5, a first support plate 91 and a second support plate 92. The first support plate 91 and the second support plate 92 are substantially located at the front and rear sides of the torso, and are both installed vertically.

[0062] Among them, the first support plate 91 and the second support plate 92 can be connected and assembled at the two ends of the lower side of the carrier frame 1 for support, and the first connection end 15 and the second connection end 16 of the carrier frame 1 can be connected to the first support plate 91 and the second support plate 92 respectively, and the connection method can be to first directly clamp the upper edge of the first support plate 91 and the second support plate 92 with the slot structure 17. This is because the slot structure 17 of this embodiment is actually similar to a corner structure, which can be directly buckled on the upper side edge of the first support plate 91 and the second support plate 92, and can also cooperate with other locking structures to align the assembly cavity. In this way, there is no need for manual alignment and support during the tightening assembly stage, which actually greatly improves the assembly efficiency.

[0063] The bending joint assembly 5 includes a connecting flange 521, which includes an outer wall surface and a lower engaging wall. The connecting flange 521 can be assembled with the inner ring 21 of the bearing 2. The connecting flange 521 abuts against the inner wall of the inner ring 21 of the bearing 2 at least with the outer wall surface. In this way, the bearing 2 can radially support the connecting flange 521 by using the abutting outer wall surface and the inner wall of the inner ring 21, thereby avoiding the bias pressure from being applied to the joint module when bias occurs. The connecting flange 521 can be assembled and connected to the output flange 41 through a plurality of second fasteners 7, wherein the second fasteners should be assembled from the connecting flange 521 to the output flange 41, the first support plate 91 is roughly parallel to the second support plate 92, and the first support plate 91 and the second support plate 92 are respectively assembled and connected to the two ends of the carrier frame 1.

[0064] So, refer to Figure 8 In this embodiment, the support frame 1 obtains two balanced front and rear supports (the first support plate 91 and the second support plate 92), and the first support plate 91 and the second support plate 92 are actually dynamically supported on the front and rear sides of the lower limb 93, thus forming a stable support structure with four-side support.

[0065] In one embodiment, a robot is provided, comprising: the waist assembly structure of the humanoid robot of the aforementioned scheme, or a humanoid robot.

[0066] In order to solve the problem of supporting structure defects of waist joint assembly structure in the prior art, in the embodiment of the present application, a waist assembly structure of a humanoid robot is disclosed, and a stable and reliable supporting structure is formed by setting a bearing frame 1, a bearing and a bearing cover 3, wherein the bearing support is added between the bearing plate and the upper load, which can prevent the dynamic impact from being directly transmitted to the first joint module 4, thereby extending the life of the first joint module 4. This design not only improves the stability and reliability of the waist joint of the humanoid robot, but also provides a solid foundation for the subsequent bending joint.

[0067] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present utility model. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present utility model.

Claims

1. A waist assembly structure of a humanoid robot, characterized in that: include: The bearing frame comprises a mounting flange and a mounting cavity inside the mounting flange, wherein a bearing position is arranged on the inner wall of the mounting cavity; A bearing, assembled in the bearing position; A bearing cover is assembled and connected with the mounting flange, and the bearing cover abuts against the bearing; The first joint module includes an output flange, one end of which is assembled and connected to the lower side of the support frame, and the output flange is located in the assembly cavity. The output flange is used to assemble the bending joint connecting part connected to the upper side of the support frame.

2. The waist assembly structure of a humanoid robot according to claim 1, characterized in that: The bearing is a cross roller bearing, including an inner ring and an outer ring, the outer ring is assembled and fixed to the bearing position, and the inner edge of the bearing cover abuts against the outer ring, and the inner ring is used to assemble the bending joint connector connected to the upper side of the support frame.

3. The waist assembly structure of a humanoid robot according to claim 2, characterized in that: The bearing seat includes a retaining ring and an inner wall surface. The retaining ring supports the bearing at the lower side, and the bearing is assembled on the inner wall surface with an outer side wall.

4. The waist assembly structure of a humanoid robot according to claim 1, characterized in that: The mounting flange includes a plurality of first fixing holes, the bearing cover includes a first through hole, and each of the first through holes is aligned with each of the first fixing holes.

5. The waist assembly structure of a humanoid robot according to claim 1, characterized in that: The carrier frame includes a plurality of fourth through holes, and the plurality of fourth through holes are located at one end of the output flange of the first joint module.

6. The waist assembly structure of a humanoid robot according to claim 1, characterized in that: The mounting flange includes an annular flange and a flange portion, and the flange portion is arranged on the top surface of the annular flange.

7. The waist assembly structure of a humanoid robot according to claim 6, characterized in that: The outer ring side wall of the annular flange is provided with at least two limiting protrusions, and a preset stroke is defined between the two limiting protrusions.

8. The waist assembly structure of a humanoid robot according to claim 6, characterized in that: The support frame further includes a first connection end and a second connection end, the first connection end and the second connection end are respectively located at two ends of the support frame, the first connection end includes a plurality of second via holes, and the second connection end includes a plurality of third via holes.

9. The waist assembly structure of a humanoid robot according to claim 8, characterized in that: The first connection end or the second connection end is provided with a slot structure, and the slot structure is used to be engaged with the support plate body at the lower side.

10. A humanoid robot, characterized in that include: The waist assembly structure of a humanoid robot as described in any one of claims 1 to 9, and a bending joint assembly; the bending joint assembly includes a connecting flange, the connecting flange includes an outer wall surface, the connecting flange is assembled with the inner ring of the bearing, the outer wall surface abuts against the inner wall of the inner ring of the bearing, and the connecting flange assembly is connected to the output flange.

11. The humanoid robot according to claim 10, characterized in that: It also includes a first support plate and a second support plate, wherein the first support plate is substantially parallel to the second support plate, and the first support plate and the second support plate are respectively assembled and connected to two ends of the supporting frame.

12. A robot, characterized in that include: The waist assembly structure of a humanoid robot as claimed in any one of claims 1 to 9, or the humanoid robot as claimed in claim 10.

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