Connecting piece, joint structure and robot

Abstract

The utility model relates to a connecting piece, a joint structure and a robot, the connecting piece is used for connecting a joint actuator and a base body and comprises a first connecting body and a second connecting body, the first connecting body comprises an actuator connecting part and a brake connecting part, the actuator connecting part is used for connecting the joint actuator, and the brake connecting part is used for connecting the joint actuator. The brake connecting part is adjacent to the actuator connecting part and is used for being connected with a brake for braking the joint actuator; the second connecting body is connected with the first connecting body and used for being connected with the base body. According to the technical scheme, the connecting part used for installing the brake is designed on the connecting piece, the joint actuator is braked through the installed brake, the possibility of redundant motion of the joint is reduced, and when the connecting piece is applied to the humanoid robot exemplarily, the posture stability of the humanoid robot can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a connector, a joint structure, and a robot. Background Technology

[0002] In related technologies, the hip structure of humanoid robots is the core structure connecting the upper and lower limbs, enabling the robot to perform various spatial movements, such as rotation, swinging, and bending. However, after a power outage, the robot is prone to problems such as insufficient holding force, which can lead to the upper limbs becoming uncontrollable and causing it to tip over. Utility Model Content

[0003] The purpose of this disclosure is to provide a connector, joint structure, and robot that can maintain good posture stability, thereby at least partially solving the aforementioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this disclosure, a connector is provided for connecting a joint actuator and a base, the connector comprising:

[0005] A first connecting body includes an actuator connecting portion and a brake connecting portion. The actuator connecting portion is used to connect the joint actuator, and the brake connecting portion is adjacent to the actuator connecting portion and used to connect a brake for braking the joint actuator; and

[0006] The second connector, connected to the first connector, has a connecting surface for connecting the base.

[0007] Optionally, the first connecting body includes an annular body, and the actuator connecting portion and the brake connecting portion are respectively formed along the annular body.

[0008] Optionally, the actuator connection and the brake connection are concentrically arranged on the annular body, with the brake connection located radially inside the actuator connection, so that the brake can pass through the central hole of the annular body to brake the joint actuator.

[0009] Optionally, the actuator connection and the brake connection are respectively configured as an annular plate and a plurality of fastening holes distributed in a ring on the annular plate.

[0010] Optionally, the second connecting body includes a first plate and a second plate. The first plate is connected to the first connecting body and forms a first connecting surface. The second plate is connected to the first plate at an angle to form a second connecting surface at an angle to the first connecting surface. The second plate is a bent plate so that the second connecting surface has multiple angled abutment surfaces. At least one of the first connecting surface and the second connecting surface is provided with a connecting structure.

[0011] Optionally, the second plate is perpendicular to the first plate and includes a first plate segment, a second plate segment, and a third plate segment arranged sequentially. The first plate segment and the third plate segment extend away from the second plate at the same angle and together with the second plate form a surrounding structure that at least partially surrounds the actuator connection portion and the brake connection portion. At least the first plate segment and the third plate segment are provided with the connecting structure.

[0012] Optionally, the first connecting body is an annular body, and the first plate body is at least partially connected around the outer periphery of the annular body and has a bend structure, such that the first connecting surface is offset from the annular surface of the annular body along the axis of the annular body, the first connecting surface is perpendicular to the axis of the annular body, and the second connecting surface is parallel to the axis of the annular body.

[0013] Optionally, the connection structure includes a fastening hole, the edge of the first plate is formed into a wavy structure, and the fastening hole is formed on the protrusion of the wavy structure.

[0014] According to a second aspect of this disclosure, a joint structure is provided, including a joint actuator, a base, and a brake. The joint actuator includes a first waist actuator, and further includes a first connector and a second connector. The first connector and the second connector are spaced apart and located on both sides of the first waist actuator for connecting the first waist actuator to the base. The first connector is the aforementioned connector. The brake is mounted on the brake connection portion for braking the first waist actuator.

[0015] Optionally, the second connector includes a third connector and a fourth connector. The third connector includes an annular body, coaxially arranged with the first connector, for rotatably connecting the first waist actuator via a bearing. The fourth connector has a connecting surface that is the same as the connecting surface of the second connector of the first connector and is symmetrically arranged about the first waist actuator.

[0016] Optionally, it also includes a third connector, which is perpendicularly connected between the first connector and the second connector.

[0017] Optionally, the third connector is provided with a first inertial detection unit for monitoring the first waist actuator, and at least one of the first connector and the second connector is provided with a clearance corresponding to the line crossing of the first inertial detection unit.

[0018] Optionally, the base includes a first hip joint actuator and a second hip joint actuator, the axes of the first hip joint actuator and the second hip joint actuator being perpendicular to the axis of the first lumbar actuator, and symmetrically distributed on both sides of the first lumbar actuator about the axis of the first lumbar actuator. The first hip joint actuator is connected to the same side of the first connector and the second connector, and the second hip joint actuator is connected to the other side of the first connector and the second connector; or,

[0019] The base includes a base, and the base includes a first support frame and a second support frame spaced apart. The first connector is connected to the first support frame, and the second connector is connected to the second support frame.

[0020] Optionally, the first hip joint actuator is coaxially fixedly connected to the first fixed ring, and the second hip joint actuator is coaxially fixedly connected to the second fixed ring. The axes of the first fixed ring and the second fixed ring are arranged at an angle and their bottoms are connected to each other. A fourth connector is connected between the first fixed ring and the second fixed ring, and a second inertial detection unit is provided on the fourth connector.

[0021] Optionally, the brake includes a brake body and a brake shaft assembly. The brake body is fixed to the side of the first connector away from the first waist actuator via the brake shaft assembly. The brake shaft assembly is rotatably locked to the brake body and passes through the brake body through the first connector to the first waist actuator.

[0022] Optionally, the brake shaft assembly includes a brake disc, a brake shaft, a locking disc, and fasteners. The brake disc is vertically fixed to a first end of the brake shaft for fixed connection with the wave generator of the first waist actuator. The locking disc is vertically fixed to a second end of the brake shaft by the fasteners. The locking disc has a non-circular outer circumferential profile for releasably locking with the brake body.

[0023] According to a third aspect of this disclosure, a robot is provided, including the aforementioned connector or the aforementioned joint structure.

[0024] Through the above technical solution, the connector is suitable for connecting the joint actuator and the base. By designing a connecting part on the connector for mounting a brake, the joint actuator can be braked by the installed brake, reducing the possibility of redundant joint movement. Thus, when the connector is applied to a humanoid robot, for example, the connector can be used to connect the hip and waist of the humanoid robot, so as to reduce the possibility that the waist will continue to move after the humanoid robot is powered off, thereby reducing the possibility of the humanoid robot tipping over and improving the posture stability of the humanoid robot.

[0025] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is an exploded structural diagram of the joint structure provided in an exemplary embodiment of this disclosure;

[0028] Figure 2 This is a schematic diagram of a joint structure provided by an exemplary embodiment of the present disclosure, wherein the base is a first hip joint actuator and a second hip joint actuator;

[0029] Figure 3 This is yet another schematic diagram of the joint structure provided in the exemplary embodiments of this disclosure;

[0030] Figure 4 This is a schematic diagram of the structure of the brake disc and brake shaft provided in an exemplary embodiment of this disclosure;

[0031] Figure 5 This is a schematic diagram of the structure of the locking disk provided in an exemplary embodiment of this disclosure;

[0032] Figure 6 This is an exploded view of the joint structure provided in an exemplary embodiment of this disclosure from another angle;

[0033] Figure 7 This is a schematic diagram of the structure of the third connector connected to the first connector and the second connector according to an exemplary embodiment of this disclosure;

[0034] Figure 8 This is a schematic diagram of the structure of the third connector provided in an exemplary embodiment of this disclosure;

[0035] Figure 9 This is a schematic diagram of a joint structure provided by an exemplary embodiment of the present disclosure, wherein the base is a base.

[0036] Explanation of reference numerals in the attached figures

[0037] 1. Connectors;

[0038] 11. First connecting body; 111. Actuator connecting part; 112. Brake connecting part; 12. Second connecting body; 121. First plate; 1211. First connecting surface; 122. Second plate; 1221. Second connecting surface; 1222. First plate segment; 1223. Second plate segment; 1224. Third plate segment;

[0039] 2. Joint structure;

[0040] 21. Joint actuator; 211. First waist actuator; 2111. Housing frame; 212. Wave generator; 22. Brake; 221. Brake body; 2211. Brake body; 222. Brake shaft assembly; 2221. Brake disc; 2222. Brake shaft; 22221. Limiting surface; 2223. Locking disc; 22231. Stepped hole; 2224. Fastener; 23. Base; 231. First hip joint actuator; 2311. First retaining ring; 232. Second hip joint actuator; 23 21. Second fixing ring; 233. Base; 24. First connecting piece; 25. Second connecting piece; 251. Third connecting body; 252. Fourth connecting body; 253. Clearance opening; 26. Third connecting piece; 261. First inertial detection unit; 262. First connecting structure; 263. Second connecting structure; 27. Fourth connecting piece; 28. Second waist actuator; 281. Adapter; 29. ​​Connecting frame; 291. Fifth connecting piece; 200. Encoder permanent magnet; 210. Bearing; 220. Fixing sleeve. Detailed Implementation

[0041] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0042] In this disclosure, unless otherwise stated, "inner" and "outer" refer to the interior and exterior of the outline of the corresponding component; "far" and "near" refer to the distance of the corresponding component relative to another component in terms of spatial position. Furthermore, the terms "first," "second," etc., used in this disclosure are for distinguishing one element from another and do not have sequential or importance. When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0043] According to the first aspect of this disclosure, reference to Figures 1 to 9 As shown, this disclosure provides a connector 1 for connecting a joint actuator 21 and a base 23. The connector 1 includes a first connector 11 and a second connector 12.

[0044] The first connecting body 11 includes an actuator connecting part 111 and a brake connecting part 112. The actuator connecting part 111 is used to connect the joint actuator 21. The brake connecting part 112 is adjacent to the actuator connecting part 111 and is used to connect the brake 22 that brakes the joint actuator 21. The second connecting body 12 is connected to the first connecting body 11 and has a connecting surface for connecting the base 23.

[0045] Through the above technical solution, the connector 1 is suitable for connecting the joint actuator 21 and the base 23. By designing a connecting part on the connector 1 for mounting the brake 22, the joint actuator 21 is braked by the installed brake 22, reducing the possibility of redundant joint movement. Thus, when the connector 1 is applied to a humanoid robot, for example, the connector 1 can be used to connect the hip and waist of the humanoid robot, so as to reduce the possibility that the waist will continue to move after the humanoid robot is powered off, thereby causing the humanoid robot to tip over and improving the posture stability of the humanoid robot.

[0046] Specifically, the first connector 11 of the connector 1 can be adapted to form the joint structure 2 of the humanoid robot. For example, the joint actuator 21 may include a first waist actuator 211, the base 23 may include the hip structure of the humanoid robot, the actuator connection 111 may be connected to the first waist actuator 211 of the humanoid robot, the brake connection 112 may be connected to a brake 22 for braking the first waist actuator 211, and the second connector 12 may be connected to the hip structure of the humanoid robot. Thus, by integrating the brake 22 onto the first connector 11, the first waist actuator 211 can be braked by the brake 22 at least when the humanoid robot is powered off, thereby reducing the possibility of the humanoid robot's upper body tipping over uncontrollably due to insufficient waist support.

[0047] For example, refer to Figure 1 and Figure 2 As shown, the base 23 may include a first hip joint actuator 231 and a second hip joint actuator 232 forming the hip structure. In this case, the connector 1 can be adapted to connect the first hip joint actuator 231 and the second hip joint actuator 232, and is adapted to form a connection structure 2 for connecting the waist and hip of the humanoid robot. Alternatively, refer to... Figure 9 As shown, the base 23 may include a base 233, which includes a first support frame and a second support frame spaced apart. In this case, the connector 1 can be adapted to form a joint structure 2 for connecting the moving part of, for example, an industrial assembly robot or a medical surgical robot to the base 233.

[0048] Furthermore, in some exemplary embodiments, reference is made to Figure 1 and Figure 2As shown, the joint structure 2 including the connector 1 may also include a second waist actuator 28 connected above the first waist actuator 211 via an adapter 281. The axis of the second waist actuator 28 is perpendicular to the axis of the first waist actuator 211 and both extend horizontally. In this way, the second waist actuator 28 can provide different rotational degrees of freedom for the humanoid robot and the first waist actuator 211, so as to cooperate with the first waist actuator 211 to adjust the robot's posture in different degrees of freedom, thereby ensuring the stability of the robot's posture.

[0049] It is understood that the adapter 281 has a first hollow portion and a second hollow portion. The first hollow portion is used to house the first waist actuator 211, and the second hollow portion is used to house the second waist actuator 28, so that the first waist actuator 211 and the second waist actuator 28 can be connected in series through the adapter 281. The adapter 281 may be provided with a connecting structure such as an end cap to fix the first waist actuator 211 and the second waist actuator 28 to the first hollow portion and the second hollow portion, respectively. This disclosure is not limited thereto.

[0050] Additionally, the base 23 may include a connecting frame 29 adapted to connect to the second waist actuator 28. A fifth connector 291 is provided between the second waist actuator 28 and the connecting frame 29. The connecting frame 29 is rotatable relative to the fifth connector 291, wherein the fifth connector 291 may include a first connector 11. Thus, the connection between the waist structure and the chest structure can be achieved through the connecting frame 29. The first connector 11 of the fifth connector 291 can be used to mount a brake 22 adapted to brake the second waist actuator 28, enabling the second waist actuator 28 to be locked in a power outage or emergency. It is understood that the brake 22 may be the same as or different from the brake 22 used to brake the first waist actuator 211, and this disclosure does not specifically limit it in this regard.

[0051] It is understood that in some other possible embodiments, the connector 1 can also be connected between the torso and upper limbs of the humanoid robot. In this case, the joint actuator 21 can include the upper limb actuator of the humanoid robot, and the base can include the torso of the humanoid robot. For example, the first connector 11 of the connector 1 can be connected to the upper limb of the humanoid robot, wherein the actuator connection portion 111 can be connected to the upper limb actuator of the humanoid robot, and the brake connection portion 112 can be connected to a brake 22 for braking the upper limb actuator. The second connector 12 can be connected to the torso of the humanoid robot. Similarly, the brake 22 is integrated on the first connector 11 so that, at least when the humanoid robot is powered off, the upper limb actuator can be braked by the brake 22 to reduce the possibility that the upper body of the humanoid robot will tip over uncontrollably due to insufficient holding force. This disclosure is not limited thereto.

[0052] In an exemplary embodiment, the brake 22 described above can be configured as a holding brake, wherein the holding brake can be manual or electric. In some application scenarios, the lower part of the robot can be fixed, such as in industrial assembly robots or medical surgical robots. Figure 9 As shown, brake 22 can be a manual brake, used in scenarios where the robot stands for extended periods, for manual locking, such as using a locking pin. In other applications, such as walking or climbing of humanoid robots, brake 22 can be an electric brake or other joint brakes known in the art. Of course, the brake 22 used in the aforementioned industrial assembly robots or medical surgical robots can also be an electric brake, and the brake 22 used in humanoid robots can also be a manual brake; this disclosure is not limited thereto.

[0053] In an exemplary embodiment, the joint actuator 21 may include a harmonic reducer for joint transmission and control. The harmonic reducer is a precision transmission device that achieves motion and power transmission through the interaction of a flexible wheel, a rigid wheel, and a wave generator. Its principle is well known in the art and will not be elaborated upon here. (Reference) Figure 3 This exemplary embodiment will illustrate how the brake 22 is installed and operated, taking the brake 22 as an example of an electric holding brake and the joint actuator 21 used for cooperation including a harmonic reducer.

[0054] Among them, reference Figures 3 to 5 As shown, the brake 22 may include a brake body 221 and a brake shaft assembly 222. The brake body 221 is fixed to the side of the first connecting body 11 away from the first waist actuator 211 via the brake shaft assembly 222. The brake shaft assembly 222 is rotatably locked onto the brake body 221, passes through the brake body 221 through the first connecting body 11, and is connected to the first waist actuator 211. In this way, the brake 22 can be connected to the waist actuator 211 via the connector 1. The first connecting body 11 can be used to mount the brake body 221, and the brake shaft assembly 222 can pass through the first connecting body 11 and the brake body 221 to connect to the waist actuator 211 so as to rotate synchronously with the first waist actuator 211. The brake body 221 can brake the rotation of the first waist actuator 211 relative to the first connecting body 11 by locking the brake shaft assembly 222 to ensure posture stability.

[0055] In some embodiments, reference Figures 3 to 5As shown, the brake body 221 may include a brake holding body 2211, and the brake shaft assembly 222 may include a brake disc 2221, a brake shaft 2222, a locking disc 2223, and fasteners 2224. The brake disc 2221 is vertically fixed to the first end of the brake shaft 2222 for fixed connection with the wave generator 212 of the first waist actuator 211. The locking disc 2223 is vertically fixed to the second end of the brake shaft 2222 by the fasteners 2224. The locking disc 2223 has a non-circular outer circumferential profile to releasably lock into the brake body 221. The brake shaft 2222 is provided with a limiting surface 22221 along the radial direction. The limiting surface 22221 may be a reference surface. Figure 4 As shown, a plane formed on the outer periphery of the brake shaft 2222 and extending radially along the brake shaft 2222, the locking disc 2223 has a stepped hole 22231. The stepped hole 22231 is constructed as a two-section hole, wherein the side of the stepped hole 22231 near the brake shaft 2222 is a non-circular hole adapted to the vertical axial section of the brake shaft 2222, for circumferentially locking the relative rotation of the brake shaft 2222 and the locking disc 2223, and the side of the stepped hole 22231 near the fastener 2224 is a circular hole. The fastener 2224 is used to pass through the circular hole to connect to the brake shaft 2222, so as to axially fix the locking disc 2223 to the brake shaft 2222, so that the locking disc 2223 can rotate synchronously with the brake shaft 2222.

[0056] It is understood that the number of the above-mentioned limiting surfaces can be set to multiple. This disclosure exemplarily sets two limiting surfaces to be arranged opposite each other. The inner wall of the limiting hole of the locking disc 2223 is in contact with the circumferential outer wall of the brake shaft 2222. The fastener 2224 can be constructed as a connecting bolt to thread the locking disc 2223 and the brake shaft 2222.

[0057] For example, the brake body 2211 may be provided with a mounting groove suitable for connecting the locking disc 2223. The inner wall surface of the mounting groove is adapted to fit against the outer wall surface of the locking disc 2223. The brake body 2211 has two working states for locking and releasing the locking disc 2223 respectively, so as to lock or release the first waist actuator 211 (joint actuator 21) accordingly. For example, the brake body 2211 can lock to brake the locking disc 2223, so as to establish a stable locking relationship between the connector 1, the brake 22 and the wave generator 212, thereby locking the first waist actuator 211 (joint actuator 21) and ensuring the robot's posture stability. After the brake body 2211 releases the locking disc 2223, relative rotation can occur between the wave generator 212 and the first connector 24, thereby restoring the rotational execution function of the first waist actuator 211 (joint actuator 21) and restoring the robot's joint movement.

[0058] The state switching of the brake body 2211 can be any manner known in the art. For example, it may have a braking structure that can move radially inside, such as relatively arranged arc-shaped brake friction pads that can be controlled by electromagnetic force and spring force, so that the locking disc 2223 is released in the radial direction when energized and locked in the radial direction when de-energized.

[0059] Specifically, in an exemplary embodiment, the flexure of the harmonic reducer can be connected to the moving parts of the robot joint (such as...) via a flange or shaft. Figure 3 The adapter 281 and the connecting frame 29) are connected to drive the robot's waist to rotate relative to the hips. The first waist actuator 211 can control the robot's waist to rotate in the forward and backward direction, and the second waist actuator 28 can control the robot's waist to rotate in the left and right direction. The actuator connecting part 111 can be connected to the housing of the harmonic reducer of the first waist actuator 211, and the fifth connecting part 291 can be connected to the housing of the harmonic reducer of the second waist actuator 28.

[0060] Therefore, when the robot loses power or needs to stop urgently, the brake body 2211 is activated. The brake body 2211 can brake the locking disc 2223, preventing the brake disc 2221 and the brake shaft 2222 from rotating. This causes the flex wheel to stop moving through the locking wave generator 212. At this time, the meshing position of the rigid wheel and the flex wheel is fixed, and the joint is completely locked to ensure joint stability.

[0061] It is understood that the description of the brake 22 in this disclosure is merely exemplary, and any suitable brake 22 may be selected according to the usage requirements; this disclosure is not limited thereto.

[0062] In some embodiments, reference Figure 1 and Figure 2 As shown, the first connecting body 11 may include an annular body, with the actuator connecting part 111 and the brake connecting part 112 respectively formed along the annular body. It can be understood that the robot is mostly equipped with rotary joints, which mainly include components such as drivers, frameless torque motors, harmonic reducers, encoders, mechanical clutches and bearings. Therefore, the first connecting body 11 is set as an annular body to accommodate the connection of the above-mentioned rotary joints, and also to facilitate the connection of the brake 22 (such as the above-mentioned holding brake).

[0063] Furthermore, the actuator connecting part 111 and the brake connecting part 112 can be integrated into the annular body to reduce the space occupied and improve the integration. In some other possible alternative embodiments not shown in the figures, the first connecting body 11 may also include a square body or a polygonal body, etc., and this disclosure is not limited thereto.

[0064] In some embodiments, reference Figure 1 As shown, the actuator connection portion 111 and the brake connection portion 112 are concentrically arranged on the annular body. For example, the brake 22 can be connected to the wave generator. Therefore, this concentric arrangement facilitates the connection between the brake 22 and the joint actuator 21, as well as the locking and releasing of the brake 22 on the joint actuator 21. In addition, the concentric arrangement of the actuator connection portion 111 and the brake connection portion 112 on the annular body can also reduce the envelope space during joint movement, which facilitates the structural integration of the robot.

[0065] The brake connection portion 112 can be located radially inside the actuator connection portion 111. The brake 22 and the joint actuator 21 are disposed on both sides of the annular body, so that the brake 22 can pass through the central hole of the annular body to brake the joint actuator 21. It can be understood that the central hole of the annular body is suitable for positioning the brake 22. Taking the brake 22 as an example of the above-mentioned electric brake, the central hole of the annular body can be used to position the brake disc 2221 so that the brake disc 2221 can be connected to the wave generator 212.

[0066] In some embodiments, reference Figure 1 As shown, the actuator connection portion 111 and the brake connection portion 112 can be respectively constructed as an annular plate and a plurality of fastening holes arranged in a ring on the annular plate. The actuator connection portion 111 may include a first annular plate and a plurality of first fastening holes formed on the first annular plate, the plurality of first fastening holes being arranged circumferentially spaced along at least a portion of the central hole of the first annular plate. The brake connection portion 112 may include a second annular plate and a plurality of second fastening holes formed on the second annular plate, the plurality of second fastening holes being arranged circumferentially spaced along at least a portion of the central hole of the second annular plate. The second annular plate is adapted to connect to the central hole of the first annular plate, and the central hole of the second annular plate is used for positioning the brake 22.

[0067] In this way, the actuator connecting part 111 and the brake connecting part 112 are arranged in a ring on the annular body, that is, the annular body is connected to the joint actuator 21 in a ring, and the brake 22 is connected to the annular body in a ring. For example, the brake body 2211 can be connected to the annular body of the brake connecting part 112 through the aforementioned multiple fastening holes. This improves the stability of the connection between the annular body and the joint actuator 21, and between the brake 22 and the annular body. In addition, it can also evenly distribute the force between the annular body and the joint actuator 21, and between the brake 22 and the annular body.

[0068] It is understood that by providing multiple fastening holes, the annular body can be connected to the joint actuator 21 through multiple connection points, and the brake 22 can be connected to the annular body through multiple connection points. This improves the stability of the connection between the annular body and the joint actuator 21, as well as between the brake 22 and the annular body. The connection can be a bolt connection or a pin connection, etc., and this disclosure does not specifically limit it.

[0069] In some embodiments, reference Figure 1 As shown, the second connector 12 may include a first plate 121 and a second plate 122. The first plate 121 is connected to the first connector 11 and forms a first connecting surface 1211. The second plate 122 is connected to the first plate 121 at an angle to form a second connecting surface 1221 at an angle to the first connecting surface 1211. In this way, the second connector 12 is connected to the base 23 through the first connecting surface 1211 and the second connecting surface 1221, thereby improving the stability of the connection between the connector 1 and the base 23. It is understood that the connecting surfaces of the second connector 12 for connecting to the base 23 include the first connecting surface 1211 and the second connecting surface 1221.

[0070] Furthermore, the second plate 122 is a bent plate so that the second connecting surface 1221 has multiple angled abutment surfaces. At least one of the first connecting surface 1211 and the second connecting surface 1221 is provided with a connecting structure, that is, one of the first connecting surface 1211 and the second connecting surface 1221 can be connected to the base 23, and the other can only be in contact with the base 23. Of course, the first connecting surface 1211 and the second connecting surface 1221 can both be connected to the base 23.

[0071] This disclosure is illustrated by taking the application of the connector 1 to a humanoid robot as an example. The first connecting surface 1211 can be configured as a connecting surface parallel to a vertical plane. Therefore, the connection between the first connecting surface 1211 and the base 23 can provide attitude stability, at least in the forward-backward direction of the humanoid robot. The second connecting surface 1221 is at an angle to the first connecting surface 1211, and the second connecting surface 1221 has multiple angled abutment surfaces. Therefore, the connection between the second connecting surface 1221 and the base 23 can provide attitude stability, at least in the vertical and horizontal directions of the humanoid robot.

[0072] It is understood that the above-mentioned first connecting surface 1211 and second connecting surface 1221 provide posture stabilization for the humanoid robot in the corresponding directions when they contact and abut against the base 23. In addition, the first connecting surface 1211 and second connecting surface 1221 can be connected to the base 23 through a connecting structure, which can be a fastening bolt or a snap-fit ​​structure, etc. Therefore, through the connecting structure, the first connecting surface 1211 can provide posture stabilization in the vertical and horizontal directions of the humanoid robot, and the second connecting surface 1221 can provide posture stabilization in the front-back direction of the humanoid robot.

[0073] In some other possible embodiments not shown in the accompanying drawings, the first connecting surface 1211 may also be inclined to a vertical plane so that there is an interaction force between the humanoid robot and the base 23 in the corresponding directions (i.e., up and down, left and right, and left and right directions), but this disclosure is not limited thereto.

[0074] In some embodiments, reference Figure 1 As shown, the second plate 122 can be perpendicular to the first plate 121 and includes a first plate segment 1222, a second plate segment 1223, and a third plate segment 1224 arranged sequentially. The first plate segment 1222 and the third plate segment 1224 extend away from the second plate segment 1223 at the same angle and together with the second plate segment 1223 form a surrounding structure that at least partially surrounds the actuator connection portion 111 and the brake connection portion 112. In this way, on the one hand, the first plate segment 1222 and the third plate segment 1224 are symmetrically arranged with respect to the second plate segment 1223, so that the first plate segment 1222 and the third plate segment 1224 are subjected to uniform force when connected to the base 23, thereby improving the connection stability; on the other hand, the surrounding structure formed by the second plate 122 can at least partially enclose the installation space for protecting the brake 22.

[0075] It is understood that, in other embodiments, the second plate 122 may also include, for example, two, four, or five more plate segments. Furthermore, the angle between the second plate 122 and the first plate 121 may be an obtuse angle or an acute angle, and this disclosure is not limited thereto.

[0076] At least the first plate segment 1222 and the third plate segment 1224 are provided with connecting structures, thus at least the first plate segment 1222 and the third plate segment 1224 can be used to provide posture stabilization in the vertical, horizontal, and forward / backward directions of the humanoid robot. Exemplarily, the second plate segment 1223 can be arranged parallel to the horizontal plane, so that both the first plate segment 1222 and the third plate segment 1224 are angled to the horizontal plane. This disclosure exemplarily adapts this angle to the setting angle of the hip joint actuators (described below), wherein the two hip joint actuators are arranged at an angle, thus narrowing the hip space and reducing the volume of the hip structure, at least improving the robot's compactness in the lateral space, which is beneficial for robot miniaturization. In this case, the angle is an acute angle, and the central axes of the two hip joint actuators are perpendicular to the first plate segment 1222 and the second plate segment 1223, respectively. It is understood that in other embodiments not shown in the figures, this angle can also be a right angle or an obtuse angle, and this disclosure is not limited thereto.

[0077] In some embodiments, reference Figure 1 As shown, the first connecting body 11 can be an annular body to facilitate the positioning and installation of the brake 22. The first plate 121 is at least partially connected around the outer periphery of the annular body and has a bend structure, so that the first connecting surface 1211 is offset from the annular surface of the annular body along the axis of the annular surface. In this way, the bend structure formed by the first plate 121 can also form the required installation space for the brake 22. In addition, the bend structure formed by the first plate 121 can also be used to avoid the joint actuator 21 or other related structures. Of course, the bend setting of the first plate 121 can also facilitate the connection between the second plate 122 connected to the first plate 121 and the base 23.

[0078] Furthermore, the first connecting surface 1211 can be perpendicular to the axis of the annular body, and the second connecting surface 1221 can be parallel to the axis of the annular body. The axis of the annular body can be parallel to the central axis of the output end of the joint actuator 21 and also parallel to the central axis of the brake 22. Thus, the first connecting surface 1211 and the second connecting surface 1221 cooperate to connect with the base 23 in the vertical, horizontal, and front-back directions of the humanoid robot, ensuring that the central axis of the brake 22 is parallel to the central axis of the output end of the joint actuator 21, and guaranteeing the limiting and locking effect of the brake 22 on the joint actuator 21.

[0079] In some embodiments, reference Figure 1As shown, the connection structure includes fastening holes, and the edge of the first plate 121 is formed into a wavy structure, with fastening holes formed on the protrusions of the wavy structure. This wavy structure allows for weight reduction of the connector 1. The fastening holes can be used for bolted or pin-connected connections between the connector 1 and the joint actuator 21, and between the connector 1 and the brake 22. It is understood that the connection structure may also include, for example, a snap-fit ​​structure; this disclosure is not limited thereto.

[0080] According to a second aspect of this disclosure, a joint structure 2 is provided, including a first waist actuator 211, a base 23, and a brake 22. It also includes a first connector 24 and a second connector 25, which are spaced apart and located on opposite sides of the first waist actuator 211 for connecting the first waist actuator 211 to the base 23. The first connector 24 is the aforementioned connector 1, and the brake 22 is mounted on a brake connection portion 112 for braking the first waist actuator 211. This allows a portion of the first waist actuator 211 to be positioned between the first connector 24 and the second connector 25, which support the first waist actuator 211. Furthermore, the brake 22 can brake the first waist actuator 211 in the event of a power outage or emergency stop, reducing the possibility of the humanoid robot's upper body tipping over uncontrollably due to insufficient waist support.

[0081] In some embodiments, reference Figure 1 and Figure 2 As shown, the second connector 25 and the first connector 24 can be symmetrically arranged about the first waist actuator 211, so that the first waist actuator 211 can be located in the middle part between the second connector 25 and the first connector 24, or in the center of the joint structure 2, which helps to improve the overall stability of the robot.

[0082] The second connector 25 may include a third connector 251, which includes an annular body, such as... Figure 6 As shown, a bearing 210 is used to rotatably connect the first waist actuator 211. Thus, the third connecting body 251 can be used to support the first waist actuator 211, and the annular body facilitates the positioning and installation of the bearing 210. Figure 6As shown, the outer ring of the bearing 210 can be fixedly connected to the center hole of the annular body of the second connector 25, and the inner ring is fixedly connected to a fixing sleeve 220 for mounting the encoder permanent magnet 200 (described below). The fixing sleeve 220 can be fixed to the housing frame 2111 of the first waist actuator 211 away from the output end by means of, for example, bolts, thereby realizing that the second connector 25 is rotatably connected to the housing frame 2111 of the first waist actuator 211. In addition, the third connector 251 is coaxially arranged with the first connector 11 to ensure the normal rotation of the first waist actuator 211 about the axis.

[0083] As is well known, encoders are core components for achieving precise motion control of robots, ensuring the motion performance of joints. Specifically, encoders can be used to detect the absolute position of joint rotation (absolute encoder) or relative displacement (incremental encoder) in real time, providing accurate position feedback to the control system. In an exemplary embodiment, such as Figure 6 As shown, the encoder can be used to measure the rotation angle of the first waist actuator 211. The encoder may include an encoder permanent magnet 200 and an encoder circuit board (not shown in the figure). The encoder permanent magnet 200 can be installed in the fixed sleeve 220, and the encoder circuit board can be connected to the second connector 25. The encoder permanent magnet 200 rotates coaxially with the first waist actuator 211. In this way, the encoder chip on the encoder circuit board can measure the alternating magnetic field information generated by the rotation of the permanent magnet, thereby realizing the measurement of the rotation angle of the first waist actuator 211.

[0084] Furthermore, the second connector 25 may also include a fourth connector 252, which is connected to the third connector 251. The fourth connector 252 has a connecting surface that is the same as the connecting surface of the second connector 12 of the first connector 24 and is symmetrically arranged about the first waist actuator 211. The fourth connector 252 has a third plate similar to the first plate 121 of the second connector 12, and a fourth plate similar to the second plate 122 of the second connector 12. The third plate is a flat plate structure, and the fourth plate is perpendicular to the third plate. The fourth plate is a bent plate with three sequentially arranged plate segments.

[0085] It is understood that the third plate has a third connecting surface, the fourth plate has a fourth connecting surface, the third connecting surface and the first connecting surface 1211 are symmetrically arranged about the first waist actuator 211, and the fourth connecting surface and the second connecting surface 1221 are symmetrically arranged about the first waist actuator 211.

[0086] In some embodiments, reference Figure 1 , Figure 7 and Figure 8As shown, the joint structure 2 may also include a third connector 26, which is vertically connected between the first connector 24 and the second connector 25, so as to improve the connection stability between the first connector 24 and the second connector 25 and the base 23, and between the first connector 24 and the second connector 25 and the first waist actuator 211.

[0087] In addition, the third connector 26 is connected to the first connector 24 and the second connector 25 at a location away from the first waist actuator 211, in order to avoid the first waist actuator 211.

[0088] In some embodiments, reference Figure 1 , Figure 7 and Figure 8 As shown, the third connector 26 is provided with a first inertial detection unit 261 for monitoring the first waist actuator 211. The first inertial detection unit 261 can be installed at the origin of the mechanical coordinate system of the first waist actuator 211, that is, directly above the center of rotation of the hip joint, to ensure that the accelerometer and gyroscope measurement axes are aligned with the waist joint axis.

[0089] For example, the first inertial detection unit 261 first acquires raw data. An accelerometer can be used to measure the linear acceleration of the robot's waist in the inertial coordinate system, and a gyroscope can be used to measure the angular velocity of the robot's waist around its own axis. Additionally, a magnetometer can be installed to measure the magnetic field vector in an environment with a geomagnetic field, assisting in correcting heading angle drift. Preprocessing and error correction are then performed, such as removing filtering and installation calibration errors. Subsequently, attitude and motion state calculations are performed, including attitude angle calculations and kinematic parameter calculations. Finally, dynamic parameter inversion is performed to calculate inertial torque and compensation torque. Thus, the inertial data is combined with the actuator dynamic model to provide high-precision feedback for the control algorithm.

[0090] In addition, at least one of the first connector 24 and the second connector 25 is provided with a clearance opening 253 corresponding to the routing of the first inertial detection unit 261. It is understood that the clearance opening 253 can be used for routing of the first inertial detection unit 261 on the one hand, and for observing the first inertial detection unit 261 on the other hand, such as observing the surface integrity of the first inertial detection unit 261.

[0091] In some embodiments, reference Figure 1 As shown, the clearance 253 is formed on the third plate of the fourth connector 252. The third plate is a flat plate structure. In this way, the fourth connector 252 can be used to avoid the first inertial detection unit 261. Of course, the clearance 253 can also be formed on the second connector 12 of the first connector 24. This disclosure is not limited to this.

[0092] In some embodiments, reference Figure 1 , Figure 7 and Figure 8 As shown, the third connector 26 can be a plate-shaped body. The two ends of the plate-shaped body have a first connecting structure 262 connected to the first connector 24 and a second connecting structure 263 connected to the second connector 25, respectively. One end of the plate-shaped body extends vertically to form an abutment plate for abutting against the second connector 12. The first connecting structure 262 is formed on the abutment plate, and the second connecting structure 263 is formed at the end of the plate-shaped body and is staggered from the clearance opening 253.

[0093] In this way, the first inertial measurement unit can be connected to the plate-shaped body to monitor the movement of the first waist actuator 211 more stably. The abutment plate is used to connect to the second connector 12 to increase the connection area between the third connector 26 and the first connector 24 and improve the connection stability between the third connector 26 and the first connector 24. The second connection structure 263 is used to connect to the fourth connector 252 and is staggered from the avoidance opening 253 to avoid the wiring of the first inertial detection unit 261.

[0094] In some embodiments, reference Figure 1 , Figure 7 and Figure 8 As shown, the clearance opening 253 opens downwards to facilitate the forming of the second connector 25. At this time, the first inertial detection unit 261 is connected to the lower surface of the plate-shaped body, that is, the first inertial detection unit 261 is connected to the side of the plate-shaped body away from the first waist actuator 211. The second connecting structure 263 is connected above the clearance opening 253, and the abutment plate extends downwards from the plate-shaped body. Thus, the plate-shaped body is an L-shaped plate. The L-shaped plate has a large moment of inertia, which can significantly improve the bending and torsional resistance of the third connector 26. Furthermore, it allows the third connector 26 to simultaneously withstand vertical and horizontal loads.

[0095] In some other possible embodiments not shown in the accompanying drawings, the clearance 253 may be a clearance hole formed in the fourth connector 252, so that the first inertial detection unit 261 may be connected to the upper surface of the plate-shaped body, but this disclosure is not limited thereto.

[0096] For example, the first connecting structure 262 and the second connecting structure 263 may each include fastening holes, so that the first connector 24 and the third connector 26, as well as the second connector 25 and the third connector 26, can be detachably bolted or pin-connected through the fastening holes, facilitating replacement in case of possible damage to the first inertial detection unit 261. Of course, the first connecting structure 262 and the second connecting structure 263 may also include, for example, snap-fit ​​structures or adhesive structures, and this disclosure is not limited thereto.

[0097] In some embodiments, reference Figure 1 and Figure 2 As shown, the robot can be a humanoid robot, i.e., with a bipedal structure. In this case, the base 23 can include a first hip joint actuator 231 and a second hip joint actuator 232. The axes of the first hip joint actuator 231 and the second hip joint actuator 232 are respectively perpendicular to the axis of the first waist actuator 211, and are distributed on both sides of the first waist actuator 211 about its axis. In this way, the two hip joint actuators can be used to control one of the two feet respectively. In this embodiment, the first hip joint actuator 231 is connected to the same side of the first connector 24 and the second connector 25, and the second hip joint actuator 232 is connected to the other side of the first connector 24 and the second connector 25. That is, the two connectors are used to fix the two actuators simultaneously.

[0098] Specifically, the axes of the first hip joint actuator 231 and the second hip joint actuator 232 can be set at a certain angle, such as... Figure 1 and Figure 2 As shown, the two axes intersect, and the angle formed can be determined according to the actual situation. This allows the hip space to be narrowed and makes it easier to connect the bipedal structure, thus reducing the volume of the hip structure and improving the robot's compactness in the lateral space, which is beneficial for robot miniaturization. The first connector 24 and the second connector 25 can be used to connect the first hip joint actuator 231 and the second hip joint actuator 232.

[0099] For example, a portion of the first connecting surface 1211 and the second connecting surface 1221 of the second connecting body 12 of the first connector 24 can be fitted to the first hip joint actuator 231, and another portion of the first connecting surface 1211 and the second connecting surface 1221 can be fitted to the second hip joint actuator 232. A portion of the third connecting surface and the fourth connecting surface of the fourth connecting body 252 of the second connector 25 can be fitted to the first hip joint actuator 231, and another portion of the third connecting surface and the fourth connecting surface can be fitted to the second hip joint actuator 232.

[0100] The first connecting surface 1211 and the second connecting surface 1221 are perpendicular to each other, and the third connecting surface and the fourth connecting surface are perpendicular to each other, so as to improve the stability of the connection between the first hip joint actuator 231 and the second hip joint actuator 232, thereby improving the stability of the first connecting member 24 and the second connecting member 25 for connecting the joint actuator 21 to the base 23, and the stability of the connection between the first hip joint actuator 231 and the second hip joint actuator 232.

[0101] It is understood that one of the first connecting surface 1211 and the second connecting surface 1221 can be bolted to the first hip joint actuator 231 and the second hip joint actuator 232, and the other can abut against the first hip joint actuator 231 and the second hip joint actuator 232, or both can be bolted to the first hip joint actuator 231 and the second hip joint actuator 232. This disclosure does not specifically limit this. In addition, the connection of the third connecting surface and the fourth connecting surface to the first hip joint actuator 231 and the second hip joint actuator 232 is similar to the above connection method, and this disclosure will not repeat it here.

[0102] Or, refer to Figure 9 As shown, the base 23 may include a base 233, which includes a first support frame and a second support frame spaced apart. A first connector 24 is connected to the first support frame, and a second connector 25 is connected to the second support frame. Thus, the first waist actuator 211 can be connected to the base 233 through the first connector 24 and the second connector 25. At this time, the joint structure 2 can be applied to, for example, industrial assembly robots or medical surgical robots.

[0103] In some embodiments, reference Figure 1 and Figure 2 As shown, the first hip joint actuator 231 is coaxially connected to the first fixed ring 2311, and the second hip joint actuator 232 is coaxially connected to the second fixed ring 2321. The axes of the first fixed ring 2311 and the second fixed ring 2321 are arranged at an angle and their bottoms are connected to each other. The first connecting piece 24 and the second connecting piece 25 can be connected to the first fixed ring 2311 and the second fixed ring 2321, respectively. This reduces the hip space, thereby decreasing the volume of the hip structure and improving the robot's compactness in the lateral space, which is beneficial for robot miniaturization. Furthermore, other actuators can be connected below the tilted first hip joint actuator 231 and the second hip joint actuator 232, further reducing their occupancy in the robot's lateral space, improving the utilization rate of the hip space, and thus reducing interference between the actuators' range of motion.

[0104] In addition, a fourth connector 27 is connected between the first fixing ring 2311 and the second fixing ring 2321. The fourth connector 27 is connected to the side of the first fixing ring 2311 and the second fixing ring 2321 that is opposite to the first connector 24 and the second connector 25, so as to improve the stability of the connection between the first hip joint actuator 231 and the second hip joint actuator 232 by cooperating with the first connector 24 and the second connector 25.

[0105] In some embodiments, reference Figure 1 and Figure 2As shown, the bottom ring surfaces of the first fixing ring 2311 and the second fixing ring 2321 are respectively formed with mating surfaces that can fit together, and fastening holes are formed on the bottom ring surfaces. The fourth connector 27 is formed with a first arc-shaped mating surface and a second arc-shaped mating surface. The first arc-shaped mating surface fits the bottom ring surface of the first fixing ring 2311, and the second arc-shaped mating surface fits the bottom ring surface of the second fixing ring 2321. Fastening holes are formed on the first arc-shaped mating surface and the second arc-shaped mating surface, respectively.

[0106] In this way, by setting the arc-shaped contact surface, the connection area between the fourth connecting member 27 and the first fixing ring 2311, and between the fourth connecting member 27 and the second fixing ring 2321, can be increased, thereby improving the connection stability between the fourth connecting member 27 and the first fixing ring 2311, and between the fourth connecting member 27 and the second fixing ring 2321, respectively. It is understood that, for ease of installation and disassembly, the fourth connecting member 27 and the first fixing ring 2311, and between the fourth connecting member 27 and the second fixing ring 2321, can be connected by bolts or pins through fastening holes. Of course, the fourth connecting member 27 and the first fixing ring 2311, and between the fourth connecting member 27 and the second fixing ring 2321, can also be detachably connected by snap-fit, but this disclosure is not limited to this.

[0107] In some embodiments, the joint structure 2 may further include a second inertial detection unit (not shown in the figure) disposed on the fourth connector 27. This exposed second inertial detection unit facilitates wiring connections and debugging, thereby improving monitoring efficiency and accuracy. Of course, the second inertial detection unit can be used in conjunction with the first inertial measurement unit for comparison, thus achieving more precise and effective monitoring of the robot.

[0108] According to a third aspect of this disclosure, a robot is provided, including the aforementioned connector 1 or the aforementioned joint structure 2. This robot possesses all the beneficial effects of the aforementioned connector 1 or the aforementioned joint structure 2, which will not be elaborated further herein. Furthermore, this robot can be a humanoid robot, an industrial assembly robot, or a medical surgical robot, etc., and this disclosure is not limited thereto.

[0109] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0110] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0111] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A connector for connecting a joint actuator and a base, characterized in that, The connector includes: A first connecting body includes an actuator connecting portion and a brake connecting portion. The actuator connecting portion is used to connect the joint actuator, and the brake connecting portion is adjacent to the actuator connecting portion and used to connect a brake for braking the joint actuator; and The second connector, connected to the first connector, has a connecting surface for connecting the base.

2. The connection of claim 1, wherein The first connector includes an annular body, and the actuator connector and the brake connector are respectively formed along the annular body.

3. The connection of claim 2, wherein The actuator connection and the brake connection are concentrically arranged on the annular body, with the brake connection located radially inside the actuator connection, so that the brake can pass through the central hole of the annular body to brake the joint actuator.

4. A connection according to any one of claims 1-3, characterized in that The actuator connection and the brake connection are respectively constructed as annular plates and a plurality of fastening holes distributed in a circle on the annular plates.

5. The connection of claim 1, wherein The second connector includes a first plate and a second plate. The first plate is connected to the first connector and forms a first connecting surface. The second plate is connected to the first plate at an angle to form a second connecting surface at an angle to the first connecting surface. The second plate is a bent plate so that the second connecting surface has multiple angled abutment surfaces. At least one of the first connecting surface and the second connecting surface is provided with a connecting structure.

6. The connection of claim 5, wherein The second plate is perpendicular to the first plate and includes a first plate segment, a second plate segment and a third plate segment arranged sequentially. The first plate segment and the third plate segment extend away from the second plate segment at the same angle and together with the second plate segment form a surrounding structure that at least partially surrounds the actuator connection portion and the brake connection portion. At least the first plate segment and the third plate segment are provided with the connecting structure.

7. A connection according to claim 5 or 6, characterised in that The first connecting body is an annular body. The first plate body is at least partially connected around the outer periphery of the annular body and has a bend structure, so that the first connecting surface is offset from the annular surface of the annular body along the axis of the annular body. The first connecting surface is perpendicular to the axis of the annular body, and the second connecting surface is parallel to the axis of the annular body.

8. The connection of claim 5, wherein The connection structure includes a fastening hole, and the edge of the first plate is formed into a wavy structure, with the fastening hole formed on the protrusion of the wavy structure.

9. A joint structure comprising a joint actuator, a base and a brake, the joint actuator comprising a first waist actuator, characterized in that, It also includes a first connector and a second connector, which are spaced apart and located on both sides of the first waist actuator for connecting the first waist actuator to the base. The first connector is a connector according to any one of claims 1-8, and the brake is mounted on the brake connection for braking the first waist actuator.

10. The joint structure of claim 9, wherein The second connector includes a third connector and a fourth connector. The third connector includes an annular body, which is coaxially arranged with the first connector and is used to rotatably connect the first waist actuator via a bearing. The fourth connector has a connecting surface that is the same as the connecting surface of the second connector of the first connector and is symmetrically arranged about the first waist actuator.

11. The joint structure according to claim 9 or 10, characterized in that, It also includes a third connector, which is perpendicularly connected between the first connector and the second connector.

12. The joint structure of claim 11, wherein, The third connector is provided with a first inertial detection unit for monitoring the first waist actuator, and at least one of the first connector and the second connector is provided with a clearance corresponding to the line crossing of the first inertial detection unit.

13. The joint structure of claim 9, wherein The base includes a first hip joint actuator and a second hip joint actuator. The axes of the first and second hip joint actuators are respectively perpendicular to the axis of the first lumbar actuator and are symmetrically distributed on both sides of the first lumbar actuator about its axis. The first hip joint actuator is connected to the same side of the first and second connecting members, and the second hip joint actuator is connected to the other side of the first and second connecting members; or, The base includes a base, and the base includes a first support frame and a second support frame spaced apart. The first connector is connected to the first support frame, and the second connector is connected to the second support frame.

14. The joint structure of claim 13, wherein The first hip joint actuator is coaxially fixedly connected to the first fixed ring, and the second hip joint actuator is coaxially fixedly connected to the second fixed ring. The axes of the first fixed ring and the second fixed ring are arranged at an angle and their bottoms are connected to each other. A fourth connector is connected between the first fixed ring and the second fixed ring, and a second inertial detection unit is provided on the fourth connector.

15. The joint structure of claim 9, wherein, The brake includes a brake body and a brake shaft assembly. The brake body is fixed to the side of the first connector away from the first waist actuator via the brake shaft assembly. The brake shaft assembly is rotatably locked to the brake body and passes through the brake body through the first connector to the first waist actuator.

16. The joint structure of claim 15, wherein The brake shaft assembly includes a brake disc, a brake shaft, a locking disc, and fasteners. The brake disc is vertically fixed to the first end of the brake shaft for fixed connection with the wave generator of the first waist actuator. The locking disc is vertically fixed to the second end of the brake shaft by the fasteners. The locking disc has a non-circular outer circumferential profile to releasably lock into the brake body.

17. A robot, characterized in that It includes the connector as described in any one of claims 1-8, or the joint structure as described in any one of claims 9-16.

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