Waist and hip component of humanoid robot

Abstract

The utility model discloses a humanoid robot waist and hip component which comprises a rear plate, a waist side turning module and two hip side turning modules. The middle driving fixing piece is detachably connected with the rear plate; the output end of the waist side-turning module is connected with a waist side-turning turnover connecting piece penetrating through the axial direction of the waist side-turning module, and the output ends of the two hip side-turning modules are respectively connected with hip side-turning turnover connecting pieces penetrating through the axial direction of the hip side-turning modules; the front plate is connected with the end, away from the rear plate, of the middle driving fixing piece and forms a sandwich structure together with the rear plate. The double-side supporting structure and the deep groove ball bearing disperse axial loads to the front plate and the rear plate, the overturning moment borne by a motor bearing is reduced, the service life of key components is prolonged, and the assembly is convenient to install and improves coordination and expansibility of upper limbs and lower limbs of the robot.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a hip and waist assembly for a humanoid robot. Background Technology

[0002] The hip joint of a humanoid robot, as the core unit for power transmission and motion control, directly affects the overall load capacity and motion stability of the robot. Current mainstream solutions generally adopt a single-sided support configuration, with the waist and hip modules directly connected via an output flange, allowing the motor output bearing to directly bear the entire axial load. For example, the Chinese patent document "A Hip-Waist Joint for a Bipedal Robot" (publication number CN221364846U) includes a support assembly, a first rotary motor group, and two second rotary motor groups. One end of the first rotary motor group is connected to the support assembly, and the other end is rotatably connected to the support assembly. The first rotary motor group controls the movement of the waist. One end of each of the two second rotary motor groups is connected to both sides of the support assembly, and the other end is rotatably connected to both sides of the support assembly. The two second rotary motor groups control the movement of the hips. The first rotary motor group is located between the two second rotary motor groups, and both the first and second rotary motor groups have rotational and lateral degrees of freedom.

[0003] While this design may meet requirements in light-load scenarios, in heavy-load applications such as industrial handling and disaster relief, the insufficient rigidity of unilateral support makes the structure prone to deformation. Prolonged high overturning moment conditions accelerate motor bearing wear, significantly shortening its service life. Specifically, the entire load of the robot's upper body acts on the axial direction of the waist-mounted lateral motor, while the high impact force from the feet to the ground is transmitted through the legs to the hip-mounted lateral motor. Traditional direct-drive methods cause the motor bearings to simultaneously bear the combined stress of radial torque and axial load, significantly increasing the risk of bearing fatigue failure, especially under frequent start-stop or sudden impact conditions.

[0004] In existing technologies, driver layout issues further exacerbate system complexity. High-power joint modules typically require external drivers to ensure heat dissipation efficiency, but external solutions require power and signal lines to follow complex paths, increasing the risk of electromagnetic interference and hindering maintenance. Some improved solutions attempt to integrate drivers to shorten wiring distances, but the internal space of the module makes it difficult to accommodate large-size drivers, and maintenance requires disassembling the entire structure, which is time-consuming. In addition, traditional structures lack scalability, making it difficult to integrate auxiliary equipment such as inertial measurement units (IMUs) or debugging interfaces, thus limiting the potential for functional expansion.

[0005] To address these issues, the industry has attempted to improve load-bearing capacity by strengthening bearing specifications or optimizing materials, but this has resulted in significantly increased costs and failed to resolve the fundamental structural defects. Another solution employs multi-stage reduction mechanisms to distribute the load, but this leads to increased transmission chain complexity and decreased efficiency. Currently, no solution exists that can achieve both high-rigidity double-sided support and convenient actuator integration and maintenance. This technological bottleneck severely restricts the reliability of humanoid robots in heavy-duty, high-dynamic scenarios, necessitating breakthroughs through structural innovation. Utility Model Content

[0006] To address the problem of high overturning moment in motor bearings caused by traditional single-sided support, this invention provides a hip and waist component for a humanoid robot. While improving load capacity and extending motor life, it also achieves the comprehensive effects of enhanced structural strength, optimized electromagnetic compatibility, and improved maintenance convenience.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A humanoid robot hip assembly includes: a rear plate on which a waist lateral rotation module and two hip lateral rotation modules are fixed; a central drive fixing member detachably connected to the rear plate; the output end of each waist lateral rotation module is connected to a waist lateral rotation rotatable connector extending through its axis, and the output ends of each of the two hip lateral rotation modules are respectively connected to hip lateral rotation rotatable connectors extending through their axes; and a front plate connected to the end of the central drive fixing member away from the rear plate, forming a sandwich structure together with the rear plate.

[0009] This design constructs the core architecture of the hip and lumbar region component. The rear plate serves as the load-bearing base, securing the lumbar and hip lateral rotation modules. The intermediate drive fixing component enables modular assembly through detachable connections, while the front and rear plates form a sandwich structure. This sandwich layout, through the rigid constraints of the front and rear plates and the separation effect of the intermediate component, distributes the axial load, originally concentrated on one side, to both sides of the structure. The lumbar and hip lateral rotation connecting components pass through the output ends of their respective modules, forming torque transmission paths. Compared to the traditional direct-connection configuration, this structure allows the motor output bearing to bear only radial torque, while the axial load is borne by the clamping structure between the front and rear plates, effectively reducing the overturning moment of the motor bearing. The detachable nature of the intermediate drive fixing component provides the physical space basis for subsequent functional expansion. This component facilitates installation and improves the coordination and expandability of the robot's upper and lower limbs.

[0010] Preferably, the front plate has three bearing mounting holes, each hole containing a bearing. The first bearing is fitted onto the shoulder of the waist-side rotating connector, and the other two bearings are fitted onto the shoulders of the two hip-side rotating connectors, respectively.

[0011] Preferably, all three bearings are deep groove ball bearings, with the inner ring of the first bearing having an interference fit with the shoulder of the side rotating connecting piece on the waist, and the outer ring having a transition fit with the bearing mounting hole on the front plate.

[0012] Preferably, the intermediate drive fixing member is vertically installed between the parallel front plate and the rear plate, and the intermediate drive fixing member separates the waist side rotation module and the two hip side rotation modules.

[0013] Preferably, the two hip lateral rotation connectors are symmetrically distributed relative to the waist lateral rotation connectors, and the axes of the three are located in the same coronal plane.

[0014] Preferably, the waist lateral turning and turning connector is provided with a waist turning module, and both hip lateral turning and turning connectors are also provided with a waist turning module.

[0015] Preferably, the intermediate drive fixing member is provided with a driver fixing plate on each of its three sides, and a mounting position is provided on the top of each driver fixing plate, on which a motor driver corresponding to each module is fixed.

[0016] Preferably, the waist-side turning module and the hip-side turning module are provided with hollow channels inside, through which power lines and communication lines for connecting the corresponding motor drivers can be threaded.

[0017] Preferably, the rear plate is connected to the intermediate drive fixing member, and the intermediate drive fixing member is connected to the front plate using circumferentially distributed hexagonal bolts.

[0018] Therefore, this utility model has the following beneficial effects.

[0019] The dual-sided support structure and deep groove ball bearings distribute the axial load to the front and rear plates, reducing the overturning moment on the motor bearings and extending the service life of key components. This component facilitates installation and improves the coordination and expandability of the robot's upper and lower limbs.

[0020] The sandwich-style interlayer layout, combined with the detachable connection method, allows for quick module replacement by simply removing and installing the front panel, significantly improving maintenance efficiency.

[0021] Hollow channel cabling and driver installation design shorten electrical connection distances, reduce line impedance, optimize heat dissipation airflow paths, and improve system reliability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model.

[0023] Figure 2 This is a top view of the present invention.

[0024] Figure 3 yes Figure 2Sectional view at point AA.

[0025] Figure 4 This is a bottom view of the present invention.

[0026] Figure 5 This is a structural schematic diagram of the intermediate drive fixing component of this utility model.

[0027] In the figure: Rear plate 1, intermediate drive fixing piece 2, mounting position 21, front plate 3, hip side rotation module 8, motor driver 9, waist side rotation module 10, waist side rotation turnover connecting piece 11, waist turnover module 12, hip side rotation turnover connecting piece 13, hip turnover module 14, driver fixing plate 15. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0029] Example 1

[0030] like Figure 1 , 2 As shown, this embodiment proposes a humanoid robot hip and waist assembly, comprising: a rear plate on which a waist lateral rotation module and two hip lateral rotation modules are fixed; a central drive fixing member detachably connected to the rear plate; the output end of the waist lateral rotation module is connected to a waist lateral rotation rotatable connector penetrating its axis, and the output ends of the two hip lateral rotation modules are respectively connected to hip lateral rotation rotatable connectors penetrating their axes; and a front plate connected to the end of the central drive fixing member away from the rear plate, forming a sandwich structure together with the rear plate. The central drive fixing member is vertically installed between the parallel front plate and the rear plate, and the central drive fixing member 13 separates the waist lateral rotation module 10 and the two hip lateral rotation modules 8. The rear plate 1 and the central drive fixing member 2, and the central drive fixing member 2 and the front plate 3 are connected by internal hexagon bolts evenly distributed along the edges.

[0031] The lumbar lateral turning and turning connector 11 is provided with a lumbar turning module 12, and the two hip lateral turning and turning connectors 13 are also provided with lumbar turning modules 12. The two hip lateral turning and turning connectors 13 are symmetrically distributed with respect to the lumbar lateral turning and turning connector 11, and the axes of the three are located in the same coronal plane.

[0032] The front plate 3 has three bearing mounting holes, each containing a bearing. The first bearing is fitted onto the shoulder of the waist-side rotating connector 11, and the other two bearings are fitted onto the shoulders of the two hip-side rotating connectors 13. All three bearings are deep groove ball bearings. The inner ring of the first bearing has an interference fit with the shoulder of the waist-side rotating connector 11, while the outer ring has a transition fit with the bearing mounting hole of the front plate 3.

[0033] Specifically, the humanoid robot's hip and waist assembly consists of a sandwich-like structure formed by a rear plate, a central drive fixture, and a front plate. The rear plate, serving as the main load-bearing surface, secures the waist and two hip side-turning modules with bolts. The output ends of these modules connect to the waist and hip side-turning revolving connectors, respectively. The central drive fixture is vertically mounted between the rear and front plates, orthogonal to the front and rear plate planes along its thickness, forming a three-dimensional support frame. The front plate is connected to the central drive fixture via hexagonal bolts evenly distributed along its perimeter. Three deep groove ball bearings are press-fitted into the bearing mounting holes of the front plate, respectively engaging with the shoulders of the waist and hip side-turning revolving connectors. The waist-side rotation connector runs through the axial direction of the waist-side rotation module and integrates the waist-side rotation module inside, forming an integrated drive-transmission structure; the hip-side rotation connector adopts the same design and integrates the hip-side rotation module inside. The two hip-side rotation connectors are symmetrically distributed in a coronal plane with the axis of the waist-side rotation connector as the reference.

[0034] The rear plate is a metal base plate with locating bosses and an array of threaded holes machined on its surface. The mounting flanges of the waist and hip side-turning modules are rigidly connected to the rear plate via countersunk bolts. The intermediate drive fixing component has a Z-shaped structure, with three sides having an I-shaped cross-section and mounting positions 21 on each side for mounting the motor driver. The bearing mounting holes on the front plate adopt a stepped hole design, with an annular locating step machined at the bottom of the hole. The outer ring end face of the deep groove ball bearing contacts this step to achieve axial positioning, and the interference fit between the inner ring and the shoulder of the rotating connecting component is achieved through a heat fitting process.

[0035] like Figure 3 , 4 As shown in Figure 5, in this embodiment, two motor drivers are installed at the mounting positions at the bottom of the intermediate drive fixing member, corresponding to the waist side rotation module and the waist rotation module, respectively. Motor drivers corresponding to the two hip side rotation modules are installed at the mounting positions on both sides of the intermediate drive fixing member. Hip rotation modules 14 are each provided within the hip side rotation rotation connecting members on both hip rotation modules, and driver fixing plates are provided on both hip rotation modules 14 for installing the other two motor drivers. In summary, all six motor drivers are placed close to their corresponding motor modules within a short distance, further simplifying the wiring.

[0036] The mechanical transmission path of the sandwich structure is as follows: axial loads from the robot's upper body are transferred to the front plate bearings via the waist-side rotation connector. The front plate, connected by bolts, distributes the load to the intermediate drive fixing unit and the rear plate. The ground reaction force borne by the hip joint is diverted to the bearings on both sides via the hip-side rotation connector, forming a symmetrical load path. The vertical installation orientation of the intermediate drive fixing unit divides the internal structure into three independent chambers, accommodating the waist-side rotation module and two hip-side rotation modules respectively, avoiding motion interference while forming natural heat dissipation channels. The circumferentially distributed design of the bolt connection points ensures uniform pressure on the joint surfaces. The number of bolts on each connection surface is determined based on shear load calculations, and the bolt preload is controlled by torque to ensure the overall rigidity of the structure.

[0037] The selection of deep groove ball bearings is based on axial load and speed parameters. Their double-row raceway structure can simultaneously withstand combined radial and axial loads, and the raceway curvature radius is optimized to reduce contact stress. The interference fit between the bearing inner ring and the shoulder of the rotating connection eliminates relative slippage, while the transition fit between the outer ring and the front plate bore allows for slight displacement to release assembly stress.

[0038] The symmetrical design of the coronal plane layout creates a torque couple in the plane from the inertial forces generated by hip movements, which is balanced by the front plate structure. The axis of the lumbar lateral rotation connector is coplanar with the axes of the two hip lateral rotation connectors, ensuring consistency of kinematic parameters. This plane forms a 90° angle with the robot's sagittal plane, conforming to ergonomic principles. Bolted connections employ a double-locking method using anti-loosening washers and thread-locking adhesive. The bolt spacing is determined based on the plate deflection calculation, and edge bolts are kept at least 1.5 times the bolt diameter away from the outer edge of the plate to prevent edge tearing.

[0039] Additionally, those skilled in the art can replace the intermediate drive fixing component with a truss structure to further reduce weight, or use tapered roller bearings instead of deep groove ball bearings to improve axial load capacity. Auxiliary support ribs can also be added to the front panel.

[0040] This solution strikes a balance between structural strength, ease of maintenance, and manufacturing cost. Through double-sided support and load diversion design, the axial load on the motor bearing is reduced compared to the traditional single-sided support structure, while keeping the overall structural weight increase controllable.

[0041] In this embodiment, the assembly process of the lumbar and hip assembly begins with the module installation stage of the rear plate. The operator first aligns the mounting flanges of the lumbar side-turning module and the two hip side-turning modules with the pre-set positioning bosses on the rear plate, and uses a torque wrench to tighten the M8 hex socket bolts diagonally to the set torque value. After the modules are fixed, the connecting flange of the intermediate drive fixing component is aligned with the stop edge of the rear plate, and the positioning pin is inserted for initial positioning. Then, the circumferentially distributed M6 bolts are installed, and the pre-tightening force is increased in three stages, with a 5-minute interval between each pre-tightening to release assembly stress. At this point, the lumbar side-turning and hip side-turning revolving connectors at the module output end have penetrated the corresponding through holes of the intermediate drive fixing component. The operator needs to check whether the radial clearance between the revolving connectors and the through holes remains within the preset range.

[0042] Before assembling the front plate, a bearing press-fitting process is required. The deep groove ball bearing is cooled to -196°C with liquid nitrogen and then quickly inserted into the stepped hole of the front plate, utilizing thermal expansion and contraction to achieve a transition fit between the outer ring and the hole wall. Once the bearing temperature returns to room temperature, the front plate is moved closer to the intermediate drive fixture, allowing the shoulders of the three rotating connectors to slowly insert into the corresponding bearing inner rings. During this process, a dial indicator must be used to monitor the coaxiality deviation, ensuring it does not exceed 0.05mm. The bolt connection between the front plate and the intermediate drive fixture uses a star-shaped tightening sequence. Each bolt is tightened in two stages: the first stage reaches 60% of the final value to eliminate clearance, and the second stage completes the final locking.

[0043] In addition, the deep groove ball bearing in this embodiment can be replaced with an angular contact ball bearing assembly, using a back-to-back mounting method to withstand greater axial loads, and a deeper bearing housing hole can be machined in the front plate with the addition of a preload spring. The bolt connection can be replaced with a tapered pin positioning and wedge block locking structure. Furthermore, heat-conducting fins can be added to the inner wall of the intermediate drive fixing component to improve heat dissipation efficiency through forced air cooling; the airflow channel can be redesigned and a protective mesh cover added.

[0044] Example 2

[0045] In this embodiment, driver fixing plates 15 are provided on three sides of the intermediate drive fixing member 2, and mounting positions are provided on the top of each driver fixing plate 15. Motor drivers 9 corresponding to each module are fixed on the mounting positions. The waist side rotation module 10 and hip side rotation module 8 are provided with hollow channels inside, through which power lines and communication lines connecting the corresponding motor drivers 9 can be passed.

[0046] Specifically, this embodiment, based on the sandwich structure of Embodiment 1, forms a compact integrated drive control unit by setting driver mounting plates on the three inner side walls of the intermediate drive fixing component. The three-dimensional frame structure of the intermediate drive fixing component forms mounting planes on the left, right, and top sides, each plane being bolted to a driver mounting plate with a heat dissipation structure. Hollow channels are axially oriented inside the waist-side turning module and the hip-side turning module, with insulating protective layers on the inner walls of the channels. Power lines and communication lines are directly connected to the corresponding motor drivers through these channels. The motor drivers are arranged near the mounting positions on the fixing plates, with their output terminals facing the corresponding module direction, forming the shortest path electrical connection.

[0047] The three-sided layout of the central drive fixture positions the six motor drivers close to their respective motion modules. Motor drivers for the two hip-side rotation modules are mounted on the mounting positions on the left and right sides. Hip-side rotation modules 14 are housed within the hip-side rotation connecting parts of each of the two hip-side rotation modules, and driver mounting plates are provided on these modules for mounting the other two motor drivers. All six motor drivers are placed close to their respective motor modules within a short distance. Each driver mounting plate has an array of mounting holes, the spacing of which matches the mounting flange of the driver housing, and is reliably secured using anti-loosening bolts. The edges of the mounting plates have cable guide structures that group the driver output cables to the hollow channel entrance of the corresponding module. A wear-resistant sleeve is installed at the hollow channel entrance; the channel passes through the module body and exits from the output flange, remaining flush with the external device connection interface.

[0048] The metal substrate of the driver mounting plate is parallel to the inner wall of the intermediate driver mounting component, forming a natural heat dissipation space between them. The mounting plate surface is machined with a reinforcing rib network, which improves structural rigidity and increases the heat dissipation surface area. The insulation layer within the hollow channel adopts a multi-layer composite structure: the inner layer is a wear-resistant material, the middle layer is an electromagnetic shielding layer, and the outer layer is an anti-oxidation coating. The cables run in a straight line within the channel to avoid stress concentration caused by bending, and the channel diameter ensures adequate clearance for cable bundles after bundling.

[0049] This layout minimizes the electrical connection path between the driver and the corresponding module, clearly separating power and signal lines. The metal body of the driver mounting plate provides electromagnetic shielding, effectively suppressing high-frequency interference. The continuous hollow channel structure allows for fully concealed cabling, with only necessary interfaces remaining externally. The detachable connection between the mounting plate and the intermediate driver fixture allows for adjustments to the installation position based on driver size, maintaining accessibility for maintenance of all components.

[0050] Furthermore, those skilled in the art can add modular slot structures to the surface of the fixed plate to facilitate quick replacement of driver models; or set cable dividers in the hollow channel to achieve classified cable management. This embodiment's existing solution achieves compact integration of the drive system through space optimization. Compared to traditional external driver layouts, it reduces cable usage and improves electromagnetic compatibility performance, while maintaining the easy-to-maintain characteristics of the sandwich structure. The close-range arrangement of the drivers also improves the quality of control signal transmission, which is beneficial for improving the response speed and synchronization accuracy of the motion control system.

Claims

1. A hip and waist assembly for a humanoid robot, characterized in that, include: The rear plate (1) is fixed with a waist lateral rotation module (10) and two hip lateral rotation modules (8). The intermediate drive fixing member (2) is detachably connected to the rear plate (1); The output end of the waist side rotation module (10) is connected to a waist side rotation rotatable connector (11) that runs through its axis, and the output ends of the two hip side rotation modules (8) are respectively connected to hip side rotation rotatable connectors (13) that run through their axes. The front plate (3) is connected to the end of the intermediate drive fixing member (2) away from the rear plate (1), and together with the rear plate (1) forms a sandwich structure.

2. The hip and lumbar assembly according to claim 1, characterized in that: The front plate (3) has three bearing mounting holes, each hole is press-fitted with a bearing, wherein the first bearing is sleeved on the shoulder of the waist side rotating connector (11), and the other two bearings are respectively sleeved on the shoulders of the two hip side rotating connectors (13).

3. The lumbar and hip assembly according to claim 2, characterized in that: All three bearings are deep groove ball bearings. The inner ring of the first bearing forms an interference fit with the shoulder of the waist-side rotating connecting piece (11), and the outer ring forms a transition fit with the bearing mounting hole of the front plate (3).

4. The hip and lumbar assembly according to claim 1, characterized in that: The intermediate drive fixing component (2) is vertically installed between the parallel front plate and the rear plate, and the intermediate drive fixing component (2) separates the waist side rotation module (10) and the two hip side rotation modules (8).

5. The lumbar and hip assembly according to claim 1, characterized in that: The two hip lateral rotation connectors (13) are symmetrically distributed relative to the waist lateral rotation connectors (11), and the axes of the three are located in the same coronal plane.

6. The lumbar and hip assembly according to any one of claims 1-5, characterized in that: The waist lateral turning and turning connector (11) is provided with a waist turning module (12), and the two hip lateral turning and turning connectors (13) are also provided with waist turning modules (12).

7. The lumbar and hip assembly according to claim 6, characterized in that: The intermediate drive fixing member (2) is provided with a driver fixing plate (15) on three sides. The driver fixing plate (15) is provided with a mounting position on the top of each mounting position, and a motor driver (9) corresponding to each module is fixed on the mounting position.

8. The lumbar and hip assembly according to claim 7, characterized in that: The waist-side rotation module (10) and hip-side rotation module (8) are provided with hollow channels inside, through which power lines and communication lines connecting the corresponding motor drivers (9) can be threaded.

9. The lumbar and hip assembly according to claim 1, characterized in that: The rear plate (1) and the intermediate drive fixing member (2) are connected by internal hex bolts evenly distributed along the edge, as are the intermediate drive fixing member (2) and the front plate (3).

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