Supporting structure of leg rolling joint, robot and humanoid robot

Abstract

The utility model relates to the technical field of robots, and discloses a supporting structure of a leg rolling joint, a robot and a humanoid robot, and the supporting structure of the leg rolling joint mainly comprises a first connecting piece, a second connecting piece, a bearing and a leg rolling joint module. A first connecting seat on the first connecting piece comprises a bearing part which is roughly in a hollow circular ring shape, and a bearing is arranged between the bearing part and a pivoting end, deviating from the output flange, of the leg rolling joint module for supporting. Due to the arrangement, the phenomenon that the main shaft is biased when the leg rolling joint is stressed is avoided, the speed reducer of the leg rolling joint is effectively protected, and the problem that the main shaft is damaged due to the biased pressure is avoided.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a support structure for a leg rolling joint, a robot, and a humanoid robot. Background Technology

[0002] In the field of robotics, humanoid robots have always been a research focus. These robots are typically designed with a head, neck, torso, arms, waist, hips, legs, and feet, with the flexibility of each part controlled by corresponding joint modules. Through the collaboration of these joint modules, humanoid robots can simulate many human movements and postures, such as walking, standing, bending, and carrying objects, thus achieving a high degree of imitation of human behavior.

[0003] In humanoid robot structures, the robot's legs typically control the position and movement of the thighs simultaneously with three degrees of freedom: pitch, roll, and yaw, thereby enabling actions such as walking, squatting, and standing. The leg roll joint module, which enables the thigh's roll motion, is usually supported by a bearing within a reducer on the output flange side of the joint module. However, the force environment of the leg is complex, and unilateral support can easily lead to spindle bias, causing wear or even damage to gears or transmission components in the leg roll joint. Utility Model Content

[0004] This application provides a support structure for a leg rolling joint, a robot, and a humanoid robot, aiming to solve the problem that the reducer of the leg rolling joint in existing robots is prone to damage due to spindle bias.

[0005] In one embodiment, a support structure for a leg rolling joint is provided, which mainly includes a first connector, a second connector, a bearing, and a leg rolling joint module. The first connector has a generally disc-shaped first connecting seat, which includes a generally hollow annular bearing portion, which is coaxially arranged with the first connecting seat. The end of the leg rolling joint module facing away from the output flange is a pivot end, which is adjacent to the first connector. The leg rolling joint module is assembled between the first connector and the second connector, and the bearing has its inner ring embedded in the outer wall of the pivot end, with the inner wall of the bearing portion abutting against the outer ring of the bearing.

[0006] In one embodiment, the first connecting seat further includes a shoulder, which is located radially inside the bearing portion and abuts against the outer ring of the bearing in the axial direction.

[0007] The pivot end also includes a shoulder, which is located radially outward of the pivot end and abuts against the inner ring of the bearing in the axial direction; the shaft shoulder and the shoulder are located on opposite sides of the bearing in the axial direction.

[0008] In one embodiment, the first connector further includes a second connector connected to the first connector, the second connector being located radially outside the first connector, and the second connector having a plurality of first mounting holes extending axially.

[0009] In one embodiment, the second connector includes a third connector and a fourth connector that are perpendicularly connected to each other. The fourth connector is parallel to the first connector. The end of the third connector away from the fourth connector is provided with a plurality of second mounting holes. Fasteners are used to assemble and connect the third connector and the second connector by passing through the aligned first and second mounting holes. The fourth connector is assembled and connected to the output end of the leg roll joint module, which is provided with an output flange.

[0010] In one embodiment, the fourth connector includes a first flange portion located on the side of the fourth connector facing the output flange, and the first flange portion is assembled and connected to the output flange.

[0011] In one design, a through hole is provided in the middle of the fourth connector, and the through hole extends through the fourth connector axially.

[0012] In one embodiment, the leg roll joint module includes a first housing and a second housing that are assembled together. The first housing is located on the side adjacent to the pivot end of the leg roll joint module, and the second housing is located on the side adjacent to the output flange. The outer wall of the end of the first housing opposite to the output flange is provided with a bearing mounting groove for assembling the inner ring of a bearing.

[0013] In one embodiment, the fourth connector further includes a second flange portion located inside the first flange portion, and the second flange portion is connected to a synchronous shaft inside the output flange.

[0014] In one embodiment, a robot is provided, which mainly includes a support structure for the leg rolling joint as described above.

[0015] In one embodiment, a humanoid robot is provided, which mainly includes a support structure for leg rolling joints as described above.

[0016] The beneficial effects of this application are:

[0017] This application discloses a support structure for a leg rolling joint, and in robots and humanoid robots, the support structure for the leg rolling joint mainly includes a first connector, a second connector, a bearing, and a leg rolling joint module. When the leg rolling joint is subjected to external forces during operation, the bearing provides support, distributing the force to the first connector and the pivot end, thereby preventing spindle bias and effectively protecting the reducer in the leg rolling joint from excessive wear or damage due to spindle bias. This support system not only improves the stability and reliability of the robot's leg rolling joint module but also extends its service life, enabling more efficient operation in complex application scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a cross-sectional schematic diagram of the support structure of the leg rolling joint module in one embodiment of this application;

[0020] Figure 2 This is an exploded cross-sectional view of the support structure of the leg rolling joint module in one embodiment of this application.

[0021] Figure 3 This is an exploded three-dimensional schematic diagram of the support structure of the leg rolling joint module in one embodiment of this application;

[0022] Figure 4 This is a three-dimensional structural diagram of the first connecting member of the support structure of the leg rolling joint module in one embodiment of this application;

[0023] Figure 5 This is a three-dimensional structural diagram of the second connector of the support structure of the leg rolling joint module in one embodiment of this application;

[0024] Figure 6 This is a three-dimensional structural diagram of the robot after the hip and leg joints are combined in one embodiment of this application;

[0025] Figure 7 This is a three-dimensional structural diagram of a humanoid robot in one embodiment of this application.

[0026] Labels for each item in the figure:

[0027] 1. First connecting member; 11. First connecting seat; 111. Bearing portion; 112. Shoulder; 12. Second connecting seat; 121. First mounting hole; 2. Bearing;

[0028] 3. Leg rolling joint module; 31. Output flange;

[0029] 32. Pivot end; 321. Shoulder;

[0030] 33. First housing; 331. Bearing assembly slot;

[0031] 34. Second shell;

[0032] 35. Synchronous shaft;

[0033] 4. Second connecting piece; 41. Third connecting seat; 411. Second assembly hole;

[0034] 42. Fourth connecting seat; 421. First flange; 422. Second flange; 423. Through hole;

[0035] 51. First pressure cap; 52. Second pressure cap;

[0036] 6. Hip connector;

[0037] 7. Leg structure; 71. Hip pitch joint module; 73. Leg yaw joint module; 74. Thigh; 75. Knee joint; 76. Lower leg; 77. Foot-driven joint; 78. Foot.

[0038] X is the first horizontal direction; Y is the second horizontal direction; Z is the vertical direction. Detailed Implementation

[0039] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] In this invention, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cube" means that the overall shape of the object is cube, but there are differences in some non-functional details.

[0046] In some embodiments, please refer to Figures 1 to 3 A support structure for a leg rolling joint is provided, which mainly includes a first connector 1, a bearing 2, a leg rolling joint module 3, and a second connector 4. The first connector 1 has a generally disc-shaped first connecting seat 11, which includes a generally hollow annular bearing portion 111, and the bearing portion 111 is coaxially arranged with the first connecting seat 11. The end of the leg rolling joint module 3 facing away from the output flange 31 is a pivot end 32, which is adjacent to the first connector 1. The leg rolling joint module 3 is assembled between the first connector 1 and the second connector 4, and the bearing 2 is embedded in the outer wall of the pivot end 32 with its inner ring, and the inner wall of the bearing portion 111 abuts against the outer ring of the bearing 2.

[0047] In the above configuration, when the leg rolling joint is subjected to external forces during operation, the bearing 2 provides support, distributing the force to the first connecting member 1 and the pivot end 32. This prevents bias pressure on the main shaft and effectively protects the reducer in the leg rolling joint, preventing excessive wear or damage due to main shaft bias. This support system not only improves the stability and reliability of the robot's leg rolling joint module 3 but also extends its service life, enabling more efficient operation in complex application scenarios.

[0048] In some embodiments, a disc-shaped first connecting seat 11 provides the structural foundation. A generally hollow annular bearing portion 111 protrudes axially from the main body of the first connecting seat 11, forming an annular wall surface to fit the outer ring of the bearing 2. This arrangement increases the tightness of the connection with the bearing 2. This tight connection effectively prevents relative sliding between the outer ring and the bearing portion 111, avoiding wear of the outer ring due to sliding friction. This structural design not only improves the reliability and durability of the entire support structure but also provides a strong guarantee for the long-term stable operation of the robot leg rolling joint module 3.

[0049] In some embodiments, the pivot end 32 is the end of one end of the leg rolling joint module 3, and is a stationary component relative to the rotating parts within the module. The main purpose of this design is to provide a stable mounting position for the inner ring of the bearing 2, thereby laying a solid foundation for the entire joint's support structure. This ensures that the inner ring of the bearing 2 remains stable during joint movement, avoiding loosening or misalignment due to interference from moving parts. This stable support foundation not only helps improve the joint's motion accuracy but also effectively reduces wear and malfunctions that may be caused by component wobbling or loosening, further enhancing the reliability and service life of the entire robot leg joint system.

[0050] In some embodiments, please refer to Figures 2 to 4 The first connecting seat 11 also includes a shoulder 112, which is located radially inside the bearing portion 111 and abuts against the outer ring of the bearing 2 in the axial direction; the pivot end 32 also includes a retaining shoulder 321, which is located radially outside the pivot end 32 and abuts against the inner ring of the bearing 2 in the axial direction; the shoulder 112 and the retaining shoulder 321 are located on opposite sides of the bearing 2 in the axial direction, forming a clamping structural layout.

[0051] The shoulder 112 is designed to precisely define the position of the outer ring of bearing 2 in the axial direction, ensuring that the outer ring does not undergo axial displacement during operation. The retaining shoulder 321 is used to define the position of the inner ring of bearing 2 in the axial direction, preventing the inner ring from moving due to external forces. Through the cooperation of the shoulder 112 and retaining shoulder 321, omnidirectional positioning of bearing 2 in the axial direction is achieved, thus providing precise positioning for bearing 2. This design not only effectively avoids motion interference problems that may be caused by movement of the inner and outer rings of bearing 2, but also significantly improves the stability and reliability of the entire support structure.

[0052] Since the shoulder 112 and the retaining shoulder 321 abut against the outer and inner rings of the bearing 2 respectively, simultaneous contact between the inner and outer rings of the bearing 2 is avoided, thus preventing wear caused by motion interference. In some embodiments, such as Figure 1As shown, the bearing 2 is precisely positioned between the shoulder 112 and the retaining shoulder 321. The radial span of the shoulder 112 is approximately equal to the thickness of the outer ring of the bearing 2, while the radial span of the retaining shoulder 321 is approximately equal to the thickness of the inner ring of the bearing 2. This dimensional design further ensures that the shoulder 112 and the retaining shoulder 321 do not simultaneously contact the inner and outer rings of the bearing 2, thereby avoiding motion interference and ensuring the smoothness and durability of the bearing 2 during operation.

[0053] In some embodiments, please refer to Figure 1 , Figure 2 as well as Figure 4 The first connector 1 also includes a second connector 12 connected to the first connector 11. The second connector 12 is located on the radially outer side of the first connector 11, and the second connector 12 has a plurality of first mounting holes 121 extending axially.

[0054] The second connecting seat 12 is designed to extend radially to avoid the first connecting seat 11. On the one hand, the connection between the two has good positional accuracy, which is convenient for assembly. On the other hand, it expands the radial space of the first connecting seat 11, which is convenient for the assembly of other components.

[0055] In some embodiments, please refer to Figure 1 , Figure 2 as well as Figure 4 The second connector 4 includes a third connector 41 and a fourth connector 42 that are perpendicularly connected to each other. The fourth connector 42 is parallel to the first connector 11. The end of the third connector 41 away from the fourth connector 42 is provided with a plurality of second mounting holes 411. The third connector 41 and the second connector 12 are assembled and connected by fasteners through the aligned first mounting holes 121 and second mounting holes 411. The fourth connector 42 is assembled and connected to the output end of the leg roll joint module 3, which is provided with an output flange 31.

[0056] The first connector 1 and the second connector 4 are configured to hold the leg rolling joint module 3, and the leg rolling action is output through the assembly of the output flange 31 and the fourth connector 42. The perpendicular relationship between the third connector 41 and the fourth connector 42 ensures that the extension direction of the fourth connector 42 is parallel to the axis of the leg rolling joint module 3. Combined with the configuration of the second connector 12, the first connector 1 and the second connector 4 can be assembled from the leg rolling joint module 3.

[0057] In some embodiments, please refer to Figure 1After the first connector 1 and the second connector 4 are connected, the power output of the leg rolling joint module 3 drives the second connector 4 to rotate. The second connector 4 transmits the motion to the first connector 1 through the fourth connector 42. The first connector 1 can rotate relative to the pivot end 32 of the leg rolling joint module 3 through the setting of the bearing 2.

[0058] In the above configuration, a supporting bearing is provided between the output flange 31 of the leg roll joint module 3 and the internal reducer, and the axis of the bearing coincides with the axis of the leg roll joint module 3. The pivot end 32, which is away from the leg roll joint module 3, is also provided with a bearing 2. It is equivalent to the leg roll joint module 3 having bearing support at both ends. This effectively avoids spindle bias, provides good protection for the output flange 31 and the reducer, thereby extending the service life of the leg roll joint module 3 and reducing maintenance costs and frequency.

[0059] In some embodiments, please refer to Figure 1 , Figure 2 as well as Figure 5 The fourth connecting seat 42 includes a first flange portion 421, which is located on the side of the fourth connecting seat 42 facing the output flange 31, and the first flange portion 421 is assembled and connected to the output flange 31.

[0060] The design of the first flange 421 is intended to provide a flat and stable contact surface so as to fit tightly with the output flange 31 of the leg roll joint module 3, which not only ensures the connection strength between the two, but also achieves efficient torque transmission through precise assembly relationship.

[0061] In some embodiments, the first flange portion 421 and the output flange 31 are connected by fasteners. The connection between the first flange portion 421 and the output flange 31 can be secured using bolts, screws, or other fasteners. The fastener connection between the first flange portion 421 and the output flange 31 not only enables quick and precise connection during assembly but also facilitates disassembly and maintenance when necessary.

[0062] In some embodiments, please refer to Figure 1 as well as Figure 5 A through hole 423 is provided in the middle of the fourth connector 42, and the through hole 423 extends through the fourth connector 42 axially. The design of the through hole 423 provides a dedicated channel for the wire harness, allowing the wire harness to pass through the fourth connector 42 axially, thereby realizing the electrical connection from the inside of the joint module to the outside. This design not only avoids the messy arrangement of the wire harness in the external space, but also reduces the risk of damage to the wire harness due to external forces, and improves the overall safety of the system.

[0063] In some embodiments, please refer to Figures 1 to 3 The first connecting seat 11 is provided with a first pressure cover 51 on the side away from the leg rolling joint module 3, and the fourth connecting seat 42 is provided with a first pressure cover 51 on the side away from the leg rolling joint module 3. The first pressure cover 51 and the second pressure cover 52 are used to cover the assembly hole and also play a certain aesthetic role.

[0064] In some embodiments, please refer to Figures 1 to 3 The leg roll joint module 3 includes a first housing 33 and a second housing 34 that are assembled together. The first housing 33 is located on the side adjacent to the pivot end 32 of the leg roll joint module 3, and the second housing 34 is located on the side adjacent to the output flange 31. The outer wall of the end of the first housing 33 facing away from the output flange 31 is constructed with a bearing mounting groove 331, and the bearing mounting groove 331 is used to assemble the inner ring of the bearing 2.

[0065] The split housing design facilitates modular assembly and maintenance of the module, while optimizing the use of internal space. The bearing mounting slot 331 is used to assemble the inner ring of the bearing 2. This design ensures a precise fit between the inner ring of the bearing 2 and the first housing 33, while providing stable support for the bearing 2. This ensures that the joint module can withstand large loads and maintain high-precision rotational movement during operation. The pivot end 32 is the end of the first housing 33 furthest from the second housing 34.

[0066] In some embodiments, please refer to Figure 1 as well as Figure 5 The fourth connecting seat 42 also includes a second flange portion 422, which is located inside the first flange portion 421 and is connected to a synchronous shaft 35 inside the output flange 31.

[0067] During operation, the rotational speed of the first flange 421 is equal to that of the output flange 31. The speed of the output flange 31 is transmitted through the connection between the second flange 422 inside the first flange 421 and the synchronous shaft 35 of the leg yaw joint module 73. This allows the leg yaw joint module 73 to record the output rotational speed more accurately. In the complex motion control process of the robot, accurate rotational speed recording provides accurate data feedback to the control system, making the robot's waist joint movement more coordinated and precise, thus enabling it to better complete various complex tasks.

[0068] Furthermore, this design boasts a simplified structure. In traditional designs, directly connecting or assembling the synchronous shaft 35 and output flange 31 requires a high degree of fit between the two, demanding extremely high machining precision. Connecting the synchronous shaft 35 and output flange 31 using separate end caps or similar methods necessitates additional parts and connectors, undoubtedly increasing the number of components in the waist joint. This is detrimental to assembly and overall weight reduction. The design in this patent effectively avoids these problems and optimizes the overall structure.

[0069] In some embodiments, please refer to Figure 1 The synchronous shaft 35 has a radially extending mounting flange on its end face facing the second flange portion 422. The mounting flange is connected to the second flange portion 422 by fasteners, which can be threaded fasteners. The mounting flange provides a position for mating with the second flange portion 422, avoiding machining of the hollow shaft portion, which would affect the structural strength of the synchronous shaft 35, thus improving production yield and enhancing the balance of the synchronous shaft 35.

[0070] In some embodiments, please refer to Figure 6 A robot leg structure 7 is provided, which mainly includes a leg rolling joint module 3 and a support structure for the leg rolling joint as described in any of the above embodiments. The beneficial effects of the support structure for the leg rolling joint are detailed in the above embodiments and will not be repeated here.

[0071] In some embodiments, please refer to Figure 6 In the robot's leg structure 7, the hip connector 6 is arranged at an inclined angle on both sides, followed by the hip pitch joint module 71, the leg roll joint module 3, and the leg yaw joint module 73. This makes the waist and hip position structure more compact and more flexible.

[0072] In some embodiments, a robot is provided that primarily includes a support structure for a leg rolling joint as described in any of the above embodiments. The beneficial effects of the support structure for the leg rolling joint are detailed in the above embodiments and will not be repeated here.

[0073] In some embodiments, please refer to Figure 7 A humanoid robot is provided, which mainly includes a support structure for the leg rolling joint as described in any of the above embodiments. The beneficial effects of the support structure for the leg rolling joint are detailed in the above embodiments and will not be repeated here.

[0074] Please see Figure 7The humanoid robot includes a head, neck, torso, waist, hips, arms, and legs. The hips include a hip connector 6, which connects to the waist and leg structures 7. The waist connects two waist joint modules through an omnidirectional hinge structure, enabling movements such as bending or tilting. The leg structure 7 includes a hip pitch joint module 71, a leg roll joint module 3, and a leg yaw joint module 73 connected in sequence. The hip pitch joint module 71 is connected to the hip connector 6. The thigh 74 of the leg is connected to the output end of the leg yaw joint module 73. The hip pitch joint module 71, the leg roll joint module 3, and the leg yaw joint module 73 realize the pitch, roll, and yaw movements of the thigh 74. A knee joint 75 is set between the thigh 74 and the lower leg 76 to directly drive the movement of the lower leg 76. The lower leg 76 drives the rocker arm through the foot drive joint 77 to realize the omnidirectional movement of the foot 78. Such a multi-degree-of-freedom robot can realize human-like walking, standing, bending and other actions. Combined with the arm, it can also realize complex behaviors such as carrying and climbing.

[0075] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.

Claims

1. A support structure of a leg roll joint, characterized in that, it comprises a first connecting member, a second connecting member, a bearing and a leg roll joint module, the first connecting member is configured with a first connecting seat in a substantially disc shape, the first connecting seat comprises a substantially hollow annular shaft portion, and the shaft portion is coaxially arranged with the first connecting seat; one end of the leg roll joint module away from an output flange is a pivoting end; wherein the leg roll joint module is assembled between the first connecting member and the second connecting member, the bearing is embedded in the outer wall of the pivoting end with the inner ring, and the inner wall of the shaft portion abuts against the outer ring of the bearing. 2.A support structure of a leg roll joint according to claim 1, characterized in that, the first connecting seat further comprises a shaft shoulder, the shaft shoulder is arranged on the radial inner side of the shaft portion, and the shaft shoulder abuts against the outer ring of the bearing in the axial direction; the pivoting end further comprises a clamping shoulder, the clamping shoulder is arranged on the radial outer side of the pivoting end, and the clamping shoulder abuts against the inner ring of the bearing in the axial direction; the shaft shoulder and the clamping shoulder are respectively located on the opposite sides of the bearing in the axial direction. 3.A support structure of a leg roll joint according to claim 1, characterized in that, the first connecting member further comprises a second connecting seat connected with the first connecting seat, the second connecting seat is located on the radial outer side of the first connecting seat, and the second connecting seat is provided with a plurality of first assembly holes extending in the axial direction. 4.A support structure of a leg roll joint according to claim 3, characterized in that, the second connecting member comprises a third connecting seat and a fourth connecting seat connected with each other perpendicularly, the fourth connecting seat is parallel to the first connecting seat, and the third connecting seat is provided with a plurality of second assembly holes at an end away from the fourth connecting seat; the third connecting seat and the second connecting seat are assembled and connected by fasteners through the first assembly holes and the second assembly holes; and the fourth connecting seat is assembled and connected to the output end of the leg roll joint module provided with an output flange. 5.A support structure of a leg roll joint according to claim 4, characterized in that, the fourth connecting seat comprises a first flange portion on a side of the fourth connecting seat facing the output flange, and the first flange portion is assembled and connected with the output flange. 6.A support structure of a leg roll joint according to claim 4, characterized in that, a through hole is provided in the middle of the fourth connecting seat, and the through hole penetrates the fourth connecting seat in the axial direction. 7.A support structure of a leg roll joint according to claim 1, characterized in that, the leg roll joint module comprises a first housing and a second housing assembled and connected, the first housing is located on a side adjacent to the pivoting end of the leg roll joint module, the second housing is located on a side adjacent to the output flange, and an outer wall of an end of the first housing away from the output flange is configured with a bearing assembly groove, and the bearing assembly groove is assembled with the inner ring of the bearing. 8.A support structure of a leg roll joint according to claim 5, characterized in that, The fourth connecting seat further comprises a second flange part, which is located inside the first flange part and is connected to a synchronizing shaft inside the output flange.

9. A robot, characterized in that A support structure comprising a leg roll joint as claimed in any of claims 1 to 8.

10. A humanoid robot, characterized by, A support structure comprising a leg roll joint as claimed in any of claims 1 to 8.

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