Assembly structure of hip pitch joint and thigh structure of humanoid robot and humanoid robot

Abstract

This application relates to the field of robotics, disclosing an assembly structure for the hip pitch joint and thigh structure of a humanoid robot, as well as the humanoid robot itself. The assembly structure mainly includes an output connector and a connecting seat. A first and second snap-fit ​​portion extending along a first direction are snapped together to form limits in a second and third direction. Multiple fasteners are then used for secure assembly, achieving the limit in the first direction and completing the assembly of the hip pitch joint and thigh structure. The snap-fit ​​mechanism combined with the multiple fasteners provides a matrix of connection points, capable of withstanding complex forces on the hip and leg, and meeting connection requirements. After meeting basic usage requirements, the assembly process involves sliding the output connector relative to the connecting seat along the first direction, followed by fastener installation. The disassembly and assembly processes are reversed, making it highly practical.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to an assembly structure for the hip pitch joint and thigh structure of a humanoid robot, and the humanoid robot itself. Background Technology

[0002] In the field of humanoid robot technology, the hip joint is used to connect the legs and realize multiple degrees of freedom of the legs. Multiple joints need to be stacked and cooperate with each other to achieve multiple degrees of freedom of the legs in order to achieve the requirement of mimicking a human figure.

[0003] In current humanoid robots that use joint modules as drive mechanisms, the output end of the joint module is often connected to the thigh structure, typically using a docking flange. However, with the development of humanoid robots, the flange docking method results in excessive leg spacing, leading to a wider humanoid robot. Therefore, a new solution, such as the hip pitch joint tilting arrangement in Chinese Patent 202510480654.7, has been proposed.

[0004] However, in the tilt arrangement of the hip pitch joint, due to the angle setting, the mating flange needs to be adapted to the angle between the joints, which not only increases the difficulty of processing the assembly structure, but also makes it difficult to quickly assemble and position the angle, resulting in greater assembly difficulty. Utility Model Content

[0005] This application provides an assembly structure for the hip pitch joint and thigh structure of a humanoid robot, and the humanoid robot itself, aiming to solve the problem in the prior art that the assembly difficulty between the hip pitch joint and the thigh increases after the hip pitch joint is tilted, which is not conducive to rapid assembly.

[0006] In one technical solution, an assembly structure for the hip pitch joint and thigh structure of a humanoid robot is provided, which mainly includes: an output connector and a connecting seat. The output connector includes a flange and a mating end. The flange is used to connect to the output flange of the hip pitch joint. The mating end is provided with a first snap-fit ​​portion extending along a first direction. The connecting seat is disposed on the thigh structure. The connecting seat has a second snap-fit ​​portion extending along the first direction. In the projection along the first direction, the cross-sectional shapes of the first snap-fit ​​portion and the second snap-fit ​​portion are complementary and adapted. After the first snap-fit ​​portion and the second snap-fit ​​portion are snapped together, they form a limit in a second direction and a third direction. The mating end and the connecting seat are fastened together with multiple fasteners. The first direction, the second direction, and the third direction are perpendicular to each other.

[0007] In one technical solution, the first latching portion includes a first latching block extending along the first direction, and the second latching portion includes two second latching blocks extending along the first direction, with a first latching groove formed between the two second latching blocks, and the first latching block slidably located within the first latching groove.

[0008] In one technical solution, the first card block is provided with a first mounting hole extending in a third direction, and the second carding part includes a base shell. The base shell is provided with a second mounting hole corresponding to the first mounting hole, and the output connector and the connector are fastened together by the fastener passing through the first mounting hole and the second mounting hole in sequence.

[0009] In one technical solution, the first latching portion is provided with two side plates extending along the first direction, and the second latching block is located between the first latching block and the side plates, with the side plates fixedly connected to the second latching block.

[0010] In one technical solution, the side plate is provided with a third mounting hole extending along a second direction, and the second card block is provided with a corresponding fourth mounting hole on the side opposite to the first card block, so that the fastener passes through the third mounting hole and the fourth mounting hole in sequence to fasten the output connector and the connector seat.

[0011] In one technical solution, in a first direction, the first mounting hole and the second mounting hole are configured in multiple groups in a one-to-one correspondence, and / or the third mounting hole and the fourth mounting hole are configured in multiple groups in a one-to-one correspondence.

[0012] In one technical solution, the first assembly hole includes a first hole segment and a second hole segment arranged sequentially along a third direction, wherein the diameter of the first hole segment is larger than the diameter of the second hole segment, and the diameter of the second hole segment is larger than the diameter of the second assembly hole.

[0013] In one technical solution, the base shell is generally hollow cylindrical, and a motor and reducer for the leg rolling joint are arranged inside it. The base shell is provided with a receiving groove extending in a first direction corresponding to the side plate. After the output connector is assembled with the connecting seat, at least part of the side plate is located in the receiving groove.

[0014] In one technical solution, the first locking block is a dovetail tenon extending along the first direction, and the first locking groove is a dovetail groove extending along the first direction.

[0015] In one technical solution, a plurality of connecting ribs are provided on the side of the flange portion away from the output flange, and the connecting ribs are integrally formed on the side of the mating end away from the connecting seat.

[0016] In one technical solution, the flange portion is a plate-shaped structure, the mating end includes a connecting plate, the two connecting surfaces of the connecting rib are set at an angle, and the flange portion and the connecting plate are respectively fixedly connected to the two connecting surfaces.

[0017] In one technical solution, the first latching portion includes two third latching blocks extending along the first direction, and the second latching portion includes a fourth latching block extending along the first direction. A second latching groove is formed between the two third latching blocks, and the fourth latching block is slidably located within the second latching groove.

[0018] In one technical solution, the third card block is a T-shaped card block extending along the first direction, and the second card slot is a T-shaped card slot extending along the first direction.

[0019] In one technical solution, a humanoid robot mainly includes an assembly structure of the hip pitch joint and thigh structure of the humanoid robot as described above.

[0020] This application provides an assembly structure for the hip pitch joint and thigh structure of a humanoid robot, as well as the humanoid robot itself. The assembly structure mainly includes an output connector and a connecting seat. A first and second snap-fit ​​portion extending along a first direction are snapped together to form limits in a second and third direction. Multiple fasteners are then used for fastening, thereby achieving the limit in the first direction and completing the assembly of the hip pitch joint and thigh structure. The snap-fit ​​method in the above configuration forms the assembly foundation, providing high connection accuracy and suitability for humanoid robot applications. The multiple fasteners provide a matrix of connection points, capable of withstanding complex forces on the hip and leg, meeting connection requirements. After meeting basic usage requirements, the assembly process involves sliding the output connector relative to the connecting seat along the first direction, followed by fastener installation. The disassembly and assembly processes are reversed, making it highly practical.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the assembly structure of the hip pitch joint and thigh structure of a humanoid robot according to one embodiment of this application.

[0024] Figure 2 This is a schematic diagram of the assembly of the output connector and the connector in one embodiment of this application.

[0025] Figure 3 This is a cross-sectional schematic diagram of the hip pitching joint and thigh structure after assembly in one embodiment of this application.

[0026] Figure 4 yes Figure 3 Enlarged diagram of point A in the middle.

[0027] Figure 5 This is a perspective view of the output connector in one embodiment of this application.

[0028] Figure 6 This is a bottom view of the output connector in one embodiment of this application.

[0029] Figure 7 This is a three-dimensional structural schematic diagram of a humanoid robot according to one embodiment of this application.

[0030] Labels for each item in the figure:

[0031] 1. Output connector; 11. Flange;

[0032] 12. Connecting end; 121. First snap-fit ​​part; 1211. First snap-fit ​​block; 1212. Side plate; 1213. First assembly hole; 1213a. First hole section; 1213b. Second hole section; 1214. Third assembly hole;

[0033] 13. Connecting ribs;

[0034] 2. Connecting base;

[0035] 21. Second snap-fit ​​part; 211. Second snap-fit ​​block; 212. First snap-fit ​​groove; 213. Second mounting hole; 214. Fourth mounting hole;

[0036] 215. Base shell; 2151. Receiving groove;

[0037] 3. Fasteners;

[0038] 100. Hip flexion / extension joint; 110. Output flange;

[0039] 200. Leg rolling joint;

[0040] 41. Head; 42. Torso; 43. Arm;

[0041] 44. Lumbar joint; 45. Lumbar lateral joint; 46. Thigh structure; 47. Knee joint; 48. Lower leg structure; 49. Ankle joint;

[0042] X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0043] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] In this invention, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cubic" means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0050] In the embodiments of this application, the assembly structure of the hip pitch joint and thigh structure of the humanoid robot and the humanoid robot are described in detail.

[0051] In one embodiment, please refer to Figure 1 and Figure 2An assembly structure for the hip pitch joint and thigh structure of a humanoid robot is provided, which mainly includes: an output connector 1 and a connecting seat 2. The output connector 1 includes a flange 11 and a docking end 12. The flange 11 is used to connect the output flange 110 of the hip pitch joint. The docking end 12 is provided with a first snap-fit ​​portion 121 extending along the first direction X. The connecting seat 2 is disposed on the thigh structure 46. The connecting seat 2 has a second snap-fit ​​portion 21 extending along the first direction X. In the projection along the first direction X, the cross-sectional shapes of the first snap-fit ​​portion 121 and the second snap-fit ​​portion 21 are complementary and compatible. After the first snap-fit ​​portion 121 and the second snap-fit ​​portion 21 are snapped together, they form a limit in the second direction Y and the third direction Z. The docking end 12 and the connecting seat 2 are fastened together with a plurality of fasteners 3. The first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0052] In the above configuration, the first snap-fit ​​part 121 and the second snap-fit ​​part 21 extend and snap-fit ​​along the first direction X, forming a limit in the second direction Y and the third direction Z. Multiple fasteners 3 are used for fastening to achieve the limit in the first direction X, completing the assembly of the hip pitch joint and the thigh structure 46. The snap-fit ​​method lays the foundation for assembly, has high connection accuracy, and is suitable for the application scenarios of humanoid robots. The multiple fasteners 3 provide a matrix of connection points, capable of withstanding complex forces on the hip and leg, meeting connection requirements. Under the premise of meeting basic functional requirements, assembly only requires sliding the output connector 1 relative to the connecting seat 2 along the first direction X, and then installing the fasteners 3. The disassembly process is the opposite: first remove the fasteners 3, and then separate the output connector 1 from the connecting seat 2 by sliding.

[0053] In addition, the snap-fit ​​structure design avoids the limitation of flange docking angle positioning. The flange part 11 and the docking end 12 only need to be set according to the hip joint mating angle. The structural design is simple and reliable, and its practicality is outstanding.

[0054] In one embodiment, the first direction X can be the horizontal direction of the humanoid robot in its standing state, the second direction Y can be the horizontal direction of the humanoid robot in its standing state, and the third direction Z can be the vertical direction of the humanoid robot in its standing state.

[0055] In one embodiment, please refer to Figures 2 to 4 The first latching portion 121 includes a first latching block 1211 extending along a first direction X, and the second latching portion 21 includes two second latching blocks 211 extending along two first directions X. A first latching groove 212 is formed between the two second latching blocks 211, and the first latching block 1211 is slidably located in the first latching groove 212.

[0056] The first locking slot 212 and the first locking block 1211 are perfectly matched in shape, making the assembly process as precise and efficient as assembling a jigsaw puzzle. In actual production, the operator only needs to smoothly slide the first locking block 1211 into the first locking slot 212 along the first direction X to quickly complete the initial positioning, significantly shortening the assembly time. This matching design has relatively relaxed requirements for the assembly angle, eliminating the need for complex angle calibration steps and reducing the assembly difficulty.

[0057] Meanwhile, when the humanoid robot moves, the two second locking blocks 211 can share the complex forces from the hip and leg from both sides, forming a stable clamping effect. They closely cooperate with the first locking block 1211, reducing the displacement and swaying of the component in the second direction Y and the third direction Z. The small gap between the second locking block 211 and the first locking groove 212 ensures a tight connection, effectively reducing wear caused by loosening, improving the service life of the component, and laying a good foundation for the stable connection between the hip pitch joint and the thigh structure 46.

[0058] In some embodiments, both the first card slot 212 and the first card block 1211 are linear structures.

[0059] In some embodiments, the second latching portion 21 includes a fourth latching block extending along a first direction X, and the first latching portion 121 includes two fourth latching blocks extending along two first directions X, forming a second latching groove between the two fourth latching blocks, and a third latching block slidably located within the second latching groove. The structure of this embodiment is the opposite of the above embodiment, but the beneficial effects and principles are consistent with the above solution.

[0060] In one embodiment, please refer to Figures 4 to 6 The first locking block 1211 is provided with a first mounting hole 1213 extending in the third direction Z. The second locking part 21 includes a base shell 215. The base shell 215 is provided with a second mounting hole 213 corresponding to the first mounting hole 1213. The output connector 1 and the connector 2 are fastened by fasteners 3 passing through the first mounting hole 1213 and the second mounting hole 213 in sequence.

[0061] This fastening connection method provides a reliable connection guarantee for the assembly of the hip flexion / extension joint and the thigh structure 46. In actual use, after the fastener 3 passes through the first assembly hole 1213 and the second assembly hole 213, it can form a stable constraint in the third direction Z. It cooperates with the first locking block 1211 and the first locking groove 212 in the second and third directions to limit the relative displacement between the components in all directions, making the connection structure more stable.

[0062] In one embodiment, please refer to Figures 4 to 6The first latching part 121 is provided with two side plates 1212 extending along the first direction X, and the second latching block 211 is located between the first latching block 1211 and the side plates 1212, and the side plates 1212 are fixedly connected to the second latching block 211.

[0063] The two side plates 1212 extend along the first direction X and cooperate with the second locking block 211 to form a more stable clamping structure for the first locking block 1211 in the second direction Y. This structure complements the limiting of the first locking block 1211 and the first locking groove 212 in the second and third directions, further enhancing the stability of the overall connection.

[0064] In one embodiment, please refer to Figures 4 to 6 The side plate 1212 is provided with a third mounting hole 1214 extending along the second direction Y. The second locking block 211 is provided with a corresponding fourth mounting hole 214 on the side opposite to the first locking block 1211. The output connector 1 and the connector 2 are fastened by fasteners 3 passing through the third mounting hole 1214 and the fourth mounting hole 214 in sequence.

[0065] The side plate 1212 and the second locking block 211 are fastened together by fasteners 3, increasing the connection points and force paths. When the robot is subjected to external impact forces or complex loads, this connection method can distribute the force to multiple parts, avoid excessive local stress, and improve structural strength.

[0066] In addition, this design using mounting holes and fasteners facilitates positioning and processing, and also provides convenience during manufacturing. During assembly, simply align the third mounting hole 1214 with the fourth mounting hole 214 and tighten it with the fastener 3 to complete the connection. Disassembly can be performed by reversing the operation.

[0067] In one embodiment, please refer to Figures 4 to 6 In the first direction X, multiple sets of first mounting holes 1213 and second mounting holes 213 are arranged in a one-to-one correspondence. This arrangement further enhances the connection performance between the hip flexion / extension joint and the thigh structure 46. Specifically, the increased number of connection points in the first direction X allows forces to be transmitted and dispersed through more paths, preventing structural failure caused by excessive load on a single connection point, thereby significantly improving the connection strength in the first direction X. Simultaneously, the multiple sets of fasteners 3 mutually limit each other, and each fastener 3 not only bears its own load but also provides support and stability to adjacent fasteners 3, enhancing the rigidity and stability of the overall structure.

[0068] In one embodiment, please refer to Figures 4 to 6 In the first direction X, the third mounting hole 1214 and the fourth mounting hole 214 are set in multiple sets in a one-to-one correspondence.

[0069] In one embodiment, please refer to Figures 4 to 6 In the first direction X, the first mounting hole 1213 and the second mounting hole 213 are configured in multiple groups in a one-to-one correspondence, and the third mounting hole 1214 and the fourth mounting hole 214 are configured in multiple groups in a one-to-one correspondence.

[0070] In one embodiment, please refer to Figures 4 to 6 In the first direction X, the first mounting hole 1213 and the second mounting hole 213 are set in three groups in a one-to-one correspondence, and the third mounting hole 1214 and the fourth mounting hole 214 are set in three groups in a one-to-one correspondence.

[0071] In one embodiment, please refer to Figure 4 The first assembly hole 1213 includes a first hole segment 1213a and a second hole segment 1213b arranged sequentially along the third direction Z. The diameter of the first hole segment 1213a is larger than the diameter of the second hole segment 1213b, and the diameter of the second hole segment 1213b is larger than the diameter of the second assembly hole 213.

[0072] The first hole segment 1213a and the second hole segment 1213b form a countersunk hole structure, allowing the driving end of the fastener 3 to be completely hidden within the first hole segment 1213a, preventing the driving end from protruding from the surface of the first locking block 1211. The second hole segment 1213b matches the diameter of the second mounting hole 213, ensuring that the fastener 3 can smoothly pass through the second hole segment 1213b and connect to the second mounting hole 213, thus fastening the output connector 1 to the connector 2. Furthermore, the structural design of the second hole segment 1213b enhances the overall strength of the first mounting hole 1213.

[0073] In one embodiment, please refer to Figures 1 to 4 The base shell 215 is roughly hollow cylindrical, and a motor and reducer for the leg rolling joint 200 are arranged inside it. The base shell 215 is provided with a receiving groove 2151 extending along the first direction X for the side plate 1212. After the output connector 1 and the connecting seat 2 are assembled, at least part of the side plate 1212 is located in the receiving groove 2151.

[0074] After the output connector 1 and the connector 2 are assembled, at least part of the side plate 1212 is located in the receiving groove 2151. This increases the contact area between the connector 2 and the output connector 1, adds more force points for the connection between the two, and can more evenly distribute the force from all directions, thereby increasing the connection strength.

[0075] In one embodiment, please refer to Figure 4The first locking block 1211 is a dovetail tenon extending along the first direction X, and the first locking groove 212 is a dovetail groove extending along the first direction X. The dovetail tenon is a roughly trapezoidal protruding structure with a cross-sectional shape that is narrower at the top and wider at the bottom. The dovetail groove is a corresponding roughly trapezoidal recess, and the two shapes are precisely complementary. This structural design allows the dovetail tenon to form constraints in multiple directions after sliding into the dovetail groove, significantly enhancing the stability and reliability of the connection.

[0076] The dovetail tenon and dovetail groove have a self-locking property. When the two are assembled along the first direction X, the inclined surfaces of the trapezoidal structure will generate a mutual squeezing force, so that the dovetail tenon and dovetail groove fit tightly together, which can effectively resist the displacement and shaking in the second direction Y and the third direction Z.

[0077] The dovetail joint and dovetail groove connection provides a larger contact area. Compared to the traditional straight-line snap-fit ​​structure, the trapezoidal surface contact area of ​​the dovetail joint and dovetail groove is larger. This allows the force to be distributed more evenly across the entire contact surface when subjected to external forces, avoiding stress concentration.

[0078] Furthermore, the dovetail joint and dovetail groove design also provide guidance during assembly. Since both extend along the first direction X, and the inclined surface of the trapezoidal structure has a natural guiding effect, the assembly process is simpler and faster.

[0079] In one embodiment, the first card block 1211 is a T-shaped card block extending along the first direction X, and the first card slot 212 is a T-shaped card slot extending along the first direction X. The T-shaped card block is roughly "T" shaped, consisting of a vertical main body and a laterally extending flange, and the corresponding T-shaped card slot has a groove structure that can just accommodate the T-shaped card block.

[0080] The T-shaped locking block can be directly embedded into the T-shaped slot along the first direction X. Thanks to the tight fit between the transverse flange and the inner wall of the slot, precise positioning in the second direction Y and the third direction Z is achieved, a process that is simple and efficient. Simultaneously, the complementary shape of the T-shaped structure and its multiple mating surfaces ensure a tight fit between the locking block and the slot with minimal gaps, effectively reducing relative wobble between components and improving connection reliability. Furthermore, its regular geometry facilitates precise machining, thus guaranteeing positioning accuracy during assembly without the need for complex positioning operations.

[0081] In one embodiment, please refer to Figures 1 to 6 Multiple connecting ribs 13 are provided on the side of the flange 11 opposite to the output flange 110. The connecting ribs 13 are integrally formed on the side of the mating end 12 opposite to the connecting seat 2. The connecting ribs 13 act as reinforcing beams, tightly connecting the flange 11 and the mating end 12, providing solid support for both and effectively enhancing the overall rigidity of the output connector 1.

[0082] Meanwhile, the connecting rib 13 improves the positional accuracy of the flange 11 and the mating end 12. Using the connecting rib 13 as a reference during manufacturing ensures the accuracy of the relative positions of the flange 11 and the mating end 12, allowing for precise alignment of the output connector 1 during assembly. This high-precision connection method is adaptable to different angle fits and is suitable for the angled hip pitch joint 100. When the hip pitch joint 100 is installed at a specific tilt angle, the connecting rib 13 ensures that the flange 11 and the mating end 12 maintain a stable and precise connection, eliminating the need for additional complex positioning structures, simplifying the assembly process, improving assembly efficiency, and enhancing the overall structure's applicability and stability under different working conditions.

[0083] In some embodiments, please refer to Figure 5 and Figure 6 The flange 11 has a plate-like structure, and the mating end 12 includes a connecting plate. The two connecting surfaces of the connecting rib 13 are angled, and the flange 11 and the connecting plate are fixedly connected to the two connecting surfaces respectively. This arrangement is designed to accommodate the tilted hip extension joint 100.

[0084] In some embodiments, along the second direction Y, there are multiple first latching portions 121 and multiple second latching portions 21, or multiple first latching blocks 1211 are provided, and multiple second latching blocks 211 form multiple first latching slots 212, with each first latching slot 212 corresponding to a first latching block 1211.

[0085] In one embodiment, the output connector and the connector base are both integral structural components. This design avoids complex assembly, offers good machinability, can be processed using machine tools and other tools while maintaining accuracy, and provides good stability.

[0086] In one embodiment, the first latching portion includes two third latching blocks extending along a first direction, and the second latching portion includes a fourth latching block extending along the first direction. A second latching groove is formed between the two third latching blocks, and the fourth latching block is slidably located within the second latching groove.

[0087] In one embodiment, the third card block is a T-shaped card block extending along the first direction, and the second card slot is a T-shaped card slot extending along the first direction.

[0088] In one embodiment, please refer to Figure 7 A humanoid robot is provided, which mainly includes the assembly structure of the hip pitch joint and thigh structure of the humanoid robot in any of the above embodiments. The beneficial effects of the assembly structure of the hip pitch joint and thigh structure of the humanoid robot are detailed in the above embodiments and will not be repeated here.

[0089] In one embodiment, please refer to Figure 7The humanoid robot's torso assembly includes a head 41, neck, torso 42, waist, and arms 43. The hip is connected to the torso assembly via a lumbar yaw joint mount. The hip pitch joint is connected to the legs. The legs also include a leg roll joint, a leg yaw joint, a thigh structure 46, a lower leg structure 48, a knee joint 47, a foot and ankle drive joint, and a foot and ankle joint 49.

[0090] The head 41, neck, and torso 42 are connected in sequence. Two arms 43 are connected to opposite sides of the torso 42. The waist includes a lumbar omnidirectional joint 44 connected to the lower part of the torso 42, which is connected to a lumbar yaw joint mounting position below. The lumbar yaw joint 45 is connected to the connecting seat of the lumbar omnidirectional joint 44 through a transmission assembly to realize omnidirectional movement of the waist.

[0091] The output end of the hip pitch joint 100 is connected to the leg roll joint 200 via an output connector 1, and the rotation axis of the hip pitch joint 100 does not intersect with the rotation axis of the leg roll joint 200. The leg roll joint 200 is connected to the leg yaw joint via a connector. The hip pitch joint 100, the leg roll joint 200, and the leg yaw joint simultaneously drive the thigh structure 46 to achieve leg movement.

[0092] The thigh structure 46 of the leg is connected to the leg yaw joint. A knee joint 47 is set between the thigh structure 46 and the lower leg structure 48 to directly drive the movement of the lower leg structure 48. An ankle drive joint is set on the lower leg structure 48, which drives the rocker arm to realize the omnidirectional movement of the ankle joint 49, and drives the foot to rotate to adapt to different ground surface requirements. Such a multi-degree-of-freedom robot can realize human-like walking, standing, bending and other actions. Combined with the arm 43, it can also realize complex behaviors such as carrying and climbing.

[0093] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.

Claims

1. An assembly structure for the hip pitch joint and thigh structure of a humanoid robot, characterized in that, include: An output connector, the output connector including a flange portion and a mating end, the flange portion being used to connect to the output flange of the hip flexion joint, and the mating end being provided with a first snap-fit ​​portion extending in a first direction; as well as A connecting seat is disposed on the thigh structure, and the connecting seat has a second snap-fit ​​portion extending along the first direction; In the projection along the first direction, the cross-sectional shapes of the first snap-fit ​​portion and the second snap-fit ​​portion are complementary and compatible. After the first snap-fit ​​portion and the second snap-fit ​​portion snap together, they form a limit in the second direction and the third direction. The mating end and the connecting seat are fastened together by multiple fasteners. The first direction, the second direction and the third direction are perpendicular to each other.

2. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 1, characterized in that, The first latching portion includes a first latching block extending along the first direction, and the second latching portion includes two second latching blocks extending along the first direction, with a first latching groove formed between the two second latching blocks, and the first latching block slidably located within the first latching groove.

3. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 2, characterized in that, The first locking block is provided with a first mounting hole extending in a third direction. The second locking part includes a base shell, and the base shell is provided with a second mounting hole corresponding to the first mounting hole. The output connector and the connector are fastened together by the fastener passing through the first mounting hole and the second mounting hole in sequence.

4. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 3, characterized in that, The first latching part is provided with two side plates extending along the first direction, and the second latching block is located between the first latching block and the side plates, and the side plates are fixedly connected to the second latching block.

5. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 4, characterized in that, The side plate is provided with a third mounting hole extending in the second direction, and the second card block is provided with a corresponding fourth mounting hole on the side opposite to the first card block. The fastener passes through the third mounting hole and the fourth mounting hole in sequence to fasten the output connector and the connector seat.

6. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 5, characterized in that, In the first direction, the first mounting hole and the second mounting hole are configured in multiple groups in a one-to-one correspondence, and / or the third mounting hole and the fourth mounting hole are configured in multiple groups in a one-to-one correspondence.

7. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 3, characterized in that, The first assembly hole includes a first hole segment and a second hole segment arranged sequentially along a third direction. The diameter of the first hole segment is larger than the diameter of the second hole segment, and the diameter of the second hole segment is larger than the diameter of the second assembly hole.

8. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 4, characterized in that, The base shell is generally hollow cylindrical, and a motor and reducer for the leg rolling joint are arranged inside it. The base shell is provided with a receiving groove extending in a first direction corresponding to the side plate. After the output connector is assembled with the connecting seat, at least part of the side plate is located in the receiving groove.

9. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 2, characterized in that, The first locking block is a dovetail tenon extending along the first direction, and the first locking groove is a dovetail groove extending along the first direction.

10. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 1, characterized in that, The flange portion has multiple connecting ribs on the side opposite to the output flange, and the connecting ribs are integrally formed on the mating end on the side opposite to the connecting seat.

11. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 10, characterized in that, The flange is a plate-shaped structure, the mating end includes a connecting plate, the two connecting surfaces of the connecting rib are set at an angle, and the flange and the connecting plate are respectively fixedly connected to the two connecting surfaces.

12. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 1 or 2, characterized in that, The first latching portion includes two third latching blocks extending along the first direction, and the second latching portion includes a fourth latching block extending along the first direction. A second latching groove is formed between the two third latching blocks, and the fourth latching block is slidably located within the second latching groove.

13. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 12, characterized in that, The third card block is a T-shaped card block extending along the first direction, and the second card slot is a T-shaped card slot extending along the first direction.

14. The assembly structure of the hip pitch joint and thigh structure of the humanoid robot according to claim 1, characterized in that, The output connector and the connector base are both integral structural components.

15. A humanoid robot, characterized in that, The assembly structure of the hip pitch joint and thigh structure of the humanoid robot as described in any one of claims 1 to 14.

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