Leg assembly, leg structure and humanoid robot

Abstract

The utility model discloses a leg assembly, leg structure and humanoid robot of humanoid robot belongs to humanoid robot field, has solved the problem that the hinge of traditional robot leg assembly exists easy wear and tear and poor impact resistance, and the technical scheme of solving this problem mainly includes support and motor, and the motor is fixed in the bottom of support, and the motor includes motor body, gear box and connecting piece, and the gear box is fixed in the bottom of motor body, and the motor body is equipped with first boss, and the gear box is equipped with second boss, and the connecting piece is equipped with connecting groove, and first boss and second boss jointly insert into connecting groove, and the rotating shaft is equipped with adapter, and the top of support forms the hinge seat, and the adapter is transmission connection with hinge seat and is equipped with buffer pad between both, and the adapter passes through buffer pad and transmits the torque to hinge seat, and the hinge seat is installed with support pad, and support pad forms the sliding support to the gear box articulated with hinge seat. The utility model is helpful to reduce the wear degree and service life of leg assembly.

Description

Technical Field

[0001] This utility model demonstrates the leg components, leg structure, and humanoid robot of a humanoid robot, belonging to the field of humanoid robot technology. Background Technology

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, humanoid robots have a higher degree of simulation. As the most important supporting and moving parts of the robot, the leg structure of humanoid robots has received increasing attention and research. The research on the leg structure not only has great scientific significance, but also shows great potential in practical applications.

[0003] For example, prior art CN118810959A discloses a bipedal humanoid robot, including a pelvic structure and two leg structures. The pelvic structure has a right thigh motor and a left thigh motor at both ends. The output end of the right thigh motor is connected to the right leg structure. The right thigh motor drives the right thigh to swing back and forth. The right thigh has a right knee joint motor and a right knee joint linkage. The output end of the right knee joint motor is connected to one end of the right knee joint linkage. The other end of the right knee joint linkage is rotatably connected to the upper end of the right lower leg. The right knee joint motor drives the right lower leg to swing back and forth. The right lower leg has a right lower leg motor and a right ankle joint rotatably connected. The right lower leg motor drives the right ankle joint linkage to move the right foot.

[0004] In the aforementioned patent, the thigh and lower leg rotate via a hinge axis. During the operation of the humanoid robot, the lower leg not only needs to swing around the hinge axis but also needs to withstand the pressure from the thigh. In existing technologies, the lower leg only supports the thigh mechanism through the rotational engagement of the hinge axis and the shaft hole. However, the shaft hole itself is relatively narrow, and the pressure of the hinge axis mainly acts on the bottom surface of the shaft hole. Therefore, the support area of ​​the shaft hole on the hinge axis is very small, resulting in a large load per unit area on the shaft hole, which in turn makes the shaft hole prone to deformation. Furthermore, during the movement of the humanoid robot, the hinge axis also rotates relative to the shaft hole, generating additional force on the shaft hole, which further exacerbates the deformation of the shaft hole and affects the normal operation of the leg mechanism.

[0005] In addition, the connections between the motor and the linkage, as well as between the linkage and the leg assembly, in the aforementioned patent are all rigid connections. During the operation of the humanoid robot, the two leg structures are in phased contact with the ground. In particular, when the humanoid robot runs, the connection points will be subjected to a large impact force. Traditional rigid connections will accelerate the wear of the drive motor and transmission mechanism, resulting in a shorter lifespan of the leg structure and poor impact resistance. Utility Model Content

[0006] The purpose of this invention is to solve the problem that the hinge joints of traditional robot leg components are easily damaged and have poor impact resistance. To this end, it provides a leg component, leg structure, and humanoid robot, which helps to reduce the wear and tear and extend the service life of the leg component.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The leg assembly of the humanoid robot includes a support frame and a motor. The motor is fixed to the bottom of the support frame and includes a motor body, a gearbox, and a connector. The gearbox is fixed to the bottom of the motor body. The bottom of the motor body has a first boss protruding radially outward along the motor axis. The top of the gearbox has a second boss that matches and mates with the first boss. The connector has a connecting groove. The first and second bosses are inserted into the connecting groove to prevent the motor body and the gearbox from separating from each other in the mating direction. The motor body and the gearbox are connected by the connector. The gearbox has a rotation mechanism perpendicular to the motor axis. The shaft has a connecting member at one end and a hinge seat at the top of the bracket. Two adjacent leg components are hinged to the hinge seat via a gearbox. The connecting member has a torque output end and the hinge seat has a torque input end. The connecting member transmits the motor torque to the hinge seat through the convex-concave fit between the torque output end and the torque input end. A buffer pad is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad filters the mutual impact between the connecting member and the hinge seat during the torque transmission process. A support pad is installed on the hinge seat, and the support pad provides sliding support for the gearbox that is hinged to the hinge seat.

[0008] The beneficial effects of using this utility model are: In this invention, after two adjacent leg components are hinged, the gearbox of one leg component is rotatably connected to the hinge seat of the other leg component. A support pad is provided between the outer periphery of the gearbox and the hinge seat. The hinge seat provides sliding support to the gearbox through the support pad. The support pad increases the contact area between the hinge seat and the gearbox, thereby effectively dispersing the pressure on the hinge joint. The support pad serves as the main load-bearing component that bears most of the weight of the leg components, significantly reducing the pressure on the hinge joint. The hinge joint mainly bears the rotational engagement between the gearbox and the hinge seat, making the force distribution at the hinge joint more even, reducing the possibility of damage to the hinge joint between the hinge seat and the gearbox, ensuring that the two leg components can maintain smooth rotation, and also extending the service life of the humanoid robot. In addition, the support pad can simulate the meniscus of the human knee joint, also having the functions of cushioning and shock absorption, stabilizing the joint, and lubricating the joint. This allows the humanoid robot to achieve higher levels of realism, enabling it to simulate more human functions. Secondly, the support pads prevent sliding friction between the gearbox and the hinge, reducing the likelihood of wear and tear and extending their lifespan. Furthermore, the torque output from the adapter can be directly transmitted to the leg assembly without the need for linkages or other transmission structures, significantly shortening the torque transmission distance and reducing energy loss during power transmission, providing a strong foundation for high-speed, high-frequency operation of the leg assembly. Additionally, eliminating the transmission structure saves space, reducing the overall size and aesthetics of the leg assembly, while also reducing its weight and energy consumption during operation, thus improving the robot's endurance and reducing assembly precision and difficulty.

[0009] Furthermore, in this embodiment, the buffer pad is disposed on the torque transmission path between the torque output end and the torque input end. The buffer pad can reduce the impact force between the adapter and the hinge seat, reduce the wear caused by the impact force on the adapter and the hinge seat, and thus significantly extend the service life of the adapter and the hinge seat, giving the humanoid robot better operating performance. In addition, the buffer pad is disposed between the torque output end of the adapter and the torque input end of the hinge seat. The buffer pad can absorb the impact force generated by the torque transmission between the adapter and the hinge seat, thereby enabling the connection between the two leg components to withstand greater impact force, which can significantly improve the impact resistance of the humanoid robot, provide a foundation for the high-frequency and high-speed operation of the humanoid robot, and thus comprehensively improve the performance of the humanoid robot.

[0010] Secondly, when the motor is subjected to impact, the axial impact force is borne and transmitted by the directly mating end faces of the first and second bosses, forming an efficient surface-to-surface bearing path with a short and direct force flow. When the motor is subjected to tension, the axial tension is transmitted by the mutual abutment between the groove wall of the connector and the opposite end faces of the bosses, forming a reliable surface-to-surface pulling path. Under the above mechanical path, the connection method between the connector and the motor body / gearbox, such as welding or bolting, no longer serves as a component bearing the main working load (tension or impact force). Its function is limited to providing preload to fix the connection. The relative position of the connector to the motor body / gearbox ensures that the groove wall and the boss end face are always in contact in a state that can effectively transfer loads. In this way, if a bolt connection is used, the bolt only serves the purpose of positioning and pre-tightening, without the need for huge shear strength, so smaller and lower grade bolts can be selected. Furthermore, the boss no longer needs to be drilled with through holes for bolts, avoiding strength reduction and allowing its radial dimension to be designed to be smaller. Through the above structure, the connection flange structure between the motor body and the gearbox becomes very thin and compact, realizing the minimization of the size and weight of the entire motor while ensuring ultra-high reliability.

[0011] Preferably, the hinge base includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. The adapter is fixedly connected to the first side plate, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. The support pad is fixed to the base plate and forms a sliding support for the outer surface of the gearbox. Using the aforementioned technical solution, the support pad slides against the outer surface of the gearbox, effectively reducing the friction between the gearbox and the support pad during movement. The sliding support method allows the gearbox to rotate more smoothly, reducing energy loss, improving the motion efficiency of the humanoid robot, and helping to extend the robot's endurance. It also reduces heat and wear caused by friction, helping to extend the service life of the gearbox and the hinge base.

[0012] Preferably, the upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are both arc surfaces centered on the rotation axis of the gearbox. The outer surface of the gearbox contacts and adheres to the support surface. Using the aforementioned technology, both the support surface and the outer surface of the gearbox are arc surfaces and remain in contact. The support pad can guide the gearbox, ensuring that the gearbox rotates at a predetermined position, reducing the possibility of the gearbox deviating or jamming during movement, and making the rotation of the gearbox and the hinge seat smoother. Furthermore, the contact of the two arc surfaces effectively absorbs the vibration generated during the gearbox's rotation, helping to reduce noise during the operation of the humanoid robot. Secondly, the gearbox and the support pad maintain a tight fit, ensuring that the load from the gearbox on the support pad is continuously and evenly transmitted. This allows the support pad to better distribute the pressure generated by the two leg components, reducing the possibility of damage to the gearbox or hinge seat due to localized stress concentration.

[0013] Preferably, the central angle of the support surface is not less than the maximum rotation angle between the first and second limbs. By employing the aforementioned technical solution, the support surface can cover the entire rotation range of the gearbox, ensuring that the gearbox remains in contact with the support surface throughout its rotation, and the support pad provides stable and reliable sliding support for the gearbox.

[0014] Preferably, the base plate has a mounting groove on its surface, and the support pad is detachably installed in the mounting groove. The upper surface of the support pad protrudes from the surface of the base plate. The base plate has two limiting grooves distributed along the rotation direction. The two limiting grooves are located on both sides of the mounting groove. The support pad has protruding extensions on both sides. After the support pad is installed into the mounting groove, the extensions are embedded in the limiting grooves. By employing the aforementioned technical solution, embedding the support pad into the mounting groove reduces the assembly gap between the hinge seat and the gearbox, resulting in a more compact assembly of the two leg components. Furthermore, the detachable connection between the support pad and the mounting groove facilitates easy replacement of the support pad, ensuring reliable and effective sliding support for the gearbox. Additionally, the support pad's support for the gearbox disperses the pressure on the first and second side plates, allowing for smoother rotation of the gearbox relative to these plates and reducing the likelihood of deformation due to excessive pressure, thus extending the service life of the hinge seat. Secondly, the extension of the support pad, in conjunction with the limiting groove, increases the contact area between the support pad and the hinge seat, reducing the possibility of wobbling and improving the positioning stability of the support pad. Moreover, the support pad protrudes above the surface of the base plate, ensuring that the gearbox only contacts the support pad, preventing sliding friction between the base plate and the gearbox, reducing the possibility of damage to the base plate due to friction, and significantly extending the service life of the base plate.

[0015] Preferably, the gearbox has a rotating groove at the end away from the adapter. The sidewall of the rotating groove is annular and close to the edge of the gearbox. The second side plate has a convex ring extending axially along the gearbox. The convex ring is embedded in the rotating groove and rotates with it. A bushing is fitted between the convex ring and the rotating groove. With the aforementioned technical solution, the sidewall of the rotating groove is close to the edge of the gearbox, meaning the inner diameter of the rotating groove is close to the diameter of the gearbox. This gives the rotating groove a larger inner diameter. The gearbox is rotatably connected to the hinge seat through the engagement of the rotating groove and the convex ring. The rotating shaft formed by the gearbox has a larger diameter. A larger shaft diameter results in a smaller force on the gearbox, allowing it to withstand greater external forces and reducing the possibility of damage. This, in turn, improves the strength of the hinge joint between the two leg components.

[0016] Preferably, the first side plate and the bottom plate are an integral structure. The bottom plate has an assembly groove on the side facing away from the first side plate, and the second side plate is detachably installed in the assembly groove. The bottom wall of the assembly groove supports the second side plate. Using the aforementioned technical solution, the adapter is fixedly connected to the first side plate, and the adapter transmits torque to the first side plate. Therefore, the first side plate experiences a relatively large force. Making the first side plate and the bottom plate an integral structure enhances the strength of the first side plate, reduces the possibility of damage, and allows the first side plate to withstand greater torque. Furthermore, the detachable connection between the second side plate and the bottom plate facilitates the assembly of the gearbox and the hinge seat, improving the assembly efficiency. It also makes the assembly of the first side plate, the second side plate, and the gearbox more compact, thereby improving the assembly stability of the gearbox and the hinge seat and preventing deformation or breakage of the first and second side plates due to the forced installation of the gearbox. Secondly, the assembly groove supports the second side plate, improving its load-bearing capacity and thus increasing the connection stability between the hinge seat and the gearbox.

[0017] Preferably, the support pad is made of wear-resistant alloy steel, copper alloy, aluminum alloy, or titanium alloy. Using the aforementioned technical solution, the support pad made of alloy has higher hardness and wear resistance, can withstand high loads and frequent friction, thus allowing the support pad to maintain a longer service life and significantly reducing the frequency of support pad replacement.

[0018] Preferably, the buffer pad isolates the torque output end from direct contact with the torque input end, and the adapter acts on the hinge seat through the buffer pad to transmit torque to the hinge seat. Using the aforementioned technical solution, the adapter and the hinge seat are connected by a buffer pad, and there is no direct contact between the adapter and the hinge seat along the torque transmission path. This further reduces the wear caused by impact forces on the adapter and the hinge seat, and significantly extends their service life.

[0019] Preferably, one of the adapter and the hinge seat is provided with a plurality of protruding protrusions, which are circumferentially spaced apart, and the other is provided with a positioning groove for the protrusions to be embedded in. The protrusions and the hinge seat achieve anti-rotation fit through the convex-concave fit between the protrusions and the positioning groove. The buffer pad is filled between the sidewalls of the protrusions and the positioning groove. The protrusions are provided with connecting holes in the axial direction of the adapter and are fixed in the positioning groove by fasteners. Using the aforementioned technical solution, during the rotation of the adapter, the hinge seat rotates through the cooperation between the protrusion and the sidewall of the positioning groove. This cooperation increases the contact area between the adapter and the hinge seat, thereby dispersing the force between them and making the stress distribution more uniform, reducing the possibility of stress concentration and damage. Furthermore, since the adapter and hinge seat primarily transmit power through the protrusion and positioning groove, filling the space between the protrusion and the sidewall of the positioning groove with a buffer pad effectively reduces the impact force on the protrusion and positioning groove, lowering the likelihood of damage and significantly extending the service life of the adapter and hinge seat. Lifespan; secondly, fasteners improve the connection stability between the adapter and the hinge seat, reducing the possibility of relative wobbling and making the connection more stable and torque transmission more accurate and reliable; in addition, the fastener connects the protrusion and the hinge seat in the axial direction, while the adapter drives the hinge seat to rotate through circumferential rotation. Therefore, the external force on the fastener is smaller during torque transmission, reducing the possibility of fastener damage; furthermore, the connecting hole is set on the protrusion, and the protrusion itself has better strength due to its greater thickness. Therefore, the protrusion can provide reliable support for the fastener, reducing the possibility of damage to the connecting hole, so that the adapter and the hinge seat can form a reliable connection.

[0020] Preferably, the buffer pad includes several buffer blocks. Buffer blocks are fixed to both sides of the protrusion in the rotation direction of the adapter. After the adapter is embedded in the positioning groove, the buffer blocks are confined between the sidewalls of the protrusion and the positioning groove. Using the aforementioned technical solution, the torque transmission between the adapter and the hinge seat mainly occurs between the sidewall of the protrusion and the sidewall of the positioning groove. Placing the buffer pad between the sidewall of the protrusion and the sidewall of the positioning groove can effectively absorb the impact force transmitted between the adapter and the hinge seat, significantly improving the utilization rate of the buffer pad and enhancing its buffering effect. Furthermore, it can reduce the axial distance between the protrusion and the positioning groove, making the assembly between the adapter and the hinge seat more compact and helping to improve the assembly stability of the adapter and the hinge seat.

[0021] Preferably, the buffer pad further includes a connecting ring, which is coaxially arranged with the adapter. The buffer blocks are circumferentially spaced on the outer periphery of the connecting ring, and the connecting ring and the buffer blocks are an integral structure. By adopting the aforementioned technical solution, the connecting ring and the buffer blocks are an integral structure, making the entire buffer pad a single unit. This reduces the assembly difficulty of the buffer pad and helps improve its assembly efficiency. Furthermore, since all buffer blocks are connected to the connecting ring, the connecting ring can distribute the force on the buffer blocks, making the force on all buffer blocks more even and preventing any one buffer block from being damaged due to excessive force, thus improving the buffering performance of the buffer pad.

[0022] Preferably, the cushioning pad is made of elastic rubber, polyurethane, or silicone.

[0023] Preferably, connecting ears are provided at both ends of the connecting groove along the mating direction between the motor body and the gearbox. The sidewalls of the motor body and the gearbox are respectively provided with clearance grooves. The connecting ears of the connector are accommodated within the corresponding clearance grooves, and the connecting ears are detachably connected via bolt clearance grooves. Using the aforementioned technical solution, the connecting ears, as an extension of the connector, provide an ideal installation position for the bolts. The tightening force of the bolts not only fixes the connector but also further presses the first and second bosses tightly within the connecting groove, eliminating potential gaps and forming a pre-tightened, more rigid whole.

[0024] Preferably, a first fixing groove is formed on the bottom end face of the motor body, and a second fixing groove is formed on the top end face of the gearbox. A connecting piece is also included, inserted into the first and second fixing grooves, and has a threaded hole adapted to the bolt. Using the aforementioned technical solution, the connecting piece spans the mating surfaces of the motor body and the gearbox. The bolt applies pressure through the hole in the connecting piece, which converts this concentrated pressure into a uniform surface pressure on the entire fixing groove. This significantly increases the force-bearing area and significantly reduces the load per unit area, effectively protecting the housings of the motor and gearbox.

[0025] Preferably, each connecting lug is connected to two bolts, and correspondingly, there are two first fixing grooves, two fixing grooves, and two connecting pieces. Using the aforementioned technical solution, a single bolt would cause load concentration and potentially lead to slight warping of the connecting lug due to torque. The symmetrical arrangement of the two bolts distributes the load evenly across the connecting lug and connecting piece. This balanced load distribution effectively suppresses warping deformation of the connecting lug, ensuring a tight surface contact between the connecting groove and the boss, thereby maintaining the high rigidity and stability of the entire connection structure and further extending the fatigue life of the connector.

[0026] Preferably, the first boss, the second boss, and the connector form a connecting structure, and there are multiple connecting structures evenly distributed circumferentially around the motor shaft. Using the aforementioned technical solution, multiple connecting structures are evenly distributed around the motor axis, clamping and positioning the motor body and gearbox from multiple directions. This multi-point and symmetrical constraint method can automatically average processing and assembly errors, forcing both to maintain extremely high coaxiality.

[0027] Preferably, the bottom surface of the motor body is provided with a positioning boss extending toward the gearbox, and the top surface of the gearbox has a positioning groove that mates with the positioning boss. By using the aforementioned technical solution, inserting the positioning boss into the positioning groove can instantly achieve high-precision alignment between the motor body and the gearbox. This ensures perfect alignment of all subsequent connection structures from the source, laying a solid foundation for achieving high coaxiality.

[0028] Preferably, the connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the mating direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. The first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact. By adopting the aforementioned technical solution, the axial tensile force between the motor body and the gearbox is directly converted into surface contact pressure between the connector and the boss through the double-groove wall design of the connecting groove. This achieves extremely high axial stiffness and impact resistance, while effectively protecting the bolts used for fixing. Furthermore, the surface contact evenly distributes the tensile force across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for motors that need to withstand long-term, repeated impact loads. This is a fundamental guarantee for ensuring their long lifespan and high reliability.

[0029] Preferably, the end face of the first boss facing away from the second boss is a first inclined surface, and the end face of the second boss facing away from the first boss is a second inclined surface, so that the thickness of the first and second bosses after docking gradually decreases in the direction away from the center of the motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure that is wider on the outside and narrower on the inside. Using the aforementioned technical solution, when installing the connector, precise alignment is not required. The inclined surfaces automatically guide the connector into the correct position. Under the action of the bolt preload, the inclined surface fit can naturally pull the motor body and gearbox to the tightest state, simplifying the assembly process and ensuring the uniformity of preload.

[0030] This utility model also demonstrates a leg structure for a humanoid robot, including a thigh mechanism, a lower leg mechanism, and a foot end, wherein the thigh mechanism and the lower leg mechanism employ the leg components described in any of the above.

[0031] This utility model also demonstrates a humanoid robot, which includes a torso and a leg structure rotatably connected to the torso, wherein the leg structure adopts the leg structure described above.

[0032] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a structural schematic diagram of the leg assembly of the humanoid robot of this utility model; Figure 2 This is a schematic diagram of the hinge seat in the leg assembly of the humanoid robot of this utility model; Figure 3 This is an exploded view of the hinge seat in the leg assembly of the humanoid robot of this utility model; Figure 4 This is a schematic diagram of the support pad structure in the leg assembly of the humanoid robot of this utility model; Figure 5 A partial enlargement of the motor in the leg assembly of the humanoid robot of this utility model. Figure 1 ; Figure 6 A partial enlargement of the motor in the leg assembly of the humanoid robot of this utility model. Figure 2 ; Figure 7 This is a schematic diagram of the cushioning pad in the leg assembly of the humanoid robot of this utility model; Figure 8 This is a schematic diagram of the structure after the two leg components are joined together in this utility model; Figure 9 This is an exploded view of the two leg components in this utility model; Figure 10 An explosion view of the motor in the leg assembly of the humanoid robot of this utility model. Figure 1 ; Figure 11 An explosion view of the motor in the leg assembly of the humanoid robot of this utility model. Figure 2 ; Figure 12 An explosion view of the motor in the leg assembly of the humanoid robot of this utility model. Figure 3 ; Figure 13 This is a cross-sectional view of the motor in the leg assembly of the humanoid robot of this utility model; Figure 14 This is a schematic diagram of the leg structure of this utility model; Figure 15 This is a structural schematic diagram of the humanoid robot of this utility model.

[0034] Reference numerals: 1. Thigh mechanism; 10. Thigh support; 102. Rotating groove; 103. Adapter; 1031. Protrusion; 1032. Connecting hole; 104. Buffer pad; 1041. Buffer block; 1042. Connecting ring; 11. Motor; 110. Motor body; 111. First boss; 1111. First inclined surface; 112. First fixing groove; 113. Motor shaft; 114. Positioning boss; 120. Gearbox; 121. Second boss; 1211. Second inclined surface; 122. Second fixing groove; 123. Positioning groove; 130. Connector ; 131, connecting groove; 1311, first groove wall; 1312, second groove wall; 132, connecting ear; 140, connecting piece; 141, threaded hole; 150, bolt; 160, clearance groove; 2, lower leg mechanism; 20, hinge seat; 201, base plate; 2011, mounting groove; 2012, limiting groove; 2013, assembly groove; 202, first side plate; 2021, positioning groove; 203, second side plate; 2031, protruding ring; 21, lower leg bracket; 22, support pad; 221, extension; 3, foot end; 4, torso; 41, hip; 5, arm. Detailed Implementation

[0035] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0036] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] Example 1: like Figures 1 to 13 As shown, this embodiment illustrates the leg assembly of a humanoid robot, including a support frame and a motor 11. The motor 11 is fixed to the bottom of the support frame, and a hinge seat 20 is formed at the top of the support frame. Adjacent leg assemblies are hinged by a gearbox 120 rotatably connected to the hinge seat 20. The motor 11 includes a motor body 110, a gearbox 120, and a connector 130. The gearbox 120 is fixed to the bottom of the motor body 110 and contains a rotating shaft and a reduction mechanism. The motor shaft 113 of the motor body 110 extends into the gearbox 120 and is connected to the rotating shaft for transmission. The axial direction of the motor shaft 113 is perpendicular to the axial direction of the rotating shaft. The motor shaft 113 and the rotating shaft are connected for transmission via a bevel gear set. One end of the rotating shaft is connected to an inertia disk via the reduction mechanism. A converter 103 is provided. The rotating shaft, converter 103, and gearbox 120 are coaxially arranged. After the two leg components are hinged, the gearbox 120 of one leg component is rotatably connected to the hinge seat 20 of the other leg component. The converter 103 has a torque output end, and the hinge seat 20 has a torque input end. The converter 103 transmits the torque of the motor 11 to the hinge seat 20 through the concave-convex fit between the torque output end and the torque input end. A buffer pad 104 is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 filters the mutual impact between the converter 103 and the hinge seat 20 during the torque transmission process. A support pad 22 is installed on the hinge seat 20. The support pad 22 forms a sliding support for the gearbox 120 hinged to the hinge seat 20.

[0039] In this embodiment, after two adjacent leg components are hinged, the gearbox 120 of one leg component is rotatably connected to the hinge seat 20 of the other leg component. A support pad 104 is provided between the outer periphery of the gearbox 120 and the hinge seat 20. The hinge seat 20 provides sliding support to the gearbox 120 through the support pad 104. The support pad 104 increases the contact area between the hinge seat 20 and the gearbox 120, thereby effectively dispersing the pressure on the hinge joint between the hinge seat 20 and the gearbox 120. The support pad 104 serves as the main load-bearing component that bears most of the weight of the leg components, significantly reducing the pressure on the hinge joint. The hinge joint mainly bears the rotational engagement between the gearbox 120 and the hinge seat 20, making the force distribution at the hinge joint more even, reducing the possibility of damage to the hinge joint between the hinge seat 20 and the gearbox 120, ensuring that the two leg components can maintain smooth rotation, and also extending the service life of the humanoid robot. In addition, the support pad 104 can simulate the meniscus in the human knee joint, also having a cushioning effect. The shock absorption, joint stabilization, and joint lubrication functions of the humanoid robot enhance its realism, enabling it to simulate more human functions. Secondly, the support pad 104 prevents sliding friction between the gearbox 120 and the hinge seat 20, reducing the likelihood of wear due to sliding and extending their service life. Furthermore, the torque output from the adapter 103 can be transmitted to the leg assembly without the need for linkages or other transmission structures, significantly shortening the torque transmission distance and reducing energy loss during power transmission, providing a strong foundation for high-speed, high-frequency operation of the leg assembly. Additionally, eliminating the transmission structure saves space, reducing the overall size and aesthetics of the leg assembly, while also reducing its weight and energy consumption during operation, thus improving the robot's endurance and reducing assembly precision and difficulty.

[0040] In addition, the buffer pad 104 described in this embodiment is disposed on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 can reduce the impact force between the adapter 103 and the hinge seat 20, reduce the wear degree of the adapter 103 and the hinge seat 20 caused by the impact force, and thus significantly extend the service life of the adapter 103 and the hinge seat 20, so that the humanoid robot has better operating performance. In addition, the buffer pad 104 is disposed between the torque output end of the adapter 103 and the torque input end of the hinge seat 20. The buffer pad 104 can absorb the impact force generated by the torque transmission between the adapter 103 and the hinge seat 20, so that the connection between the two leg components can withstand greater impact force, which can significantly improve the impact resistance of the humanoid robot, provide a basis for the high-frequency and high-speed operation of the humanoid robot, and thus comprehensively improve the performance of the humanoid robot.

[0041] Secondly, when the motor 11 is subjected to impact force, the axial impact force on the motor 11 is borne and transmitted by the end faces of the first boss 111 and the second boss 121 that directly meet, forming an efficient surface-to-surface bearing path with a short and direct force flow. When the motor 11 is subjected to tension force, the axial tension force on the motor 11 is transmitted by the mutual abutment between the groove wall of the connector 130 and the opposite end faces of the bosses, forming a reliable surface-to-surface pulling path. Under the above mechanical path, the connection method between the connector 130 and the motor body 110 / gearbox 120, such as welding or bolt 150 connection, no longer serves as a component bearing the main working load (tension or impact force). Its function is limited to providing preload to fix the connection. The relative position of the connector 130 with the motor body 110 / gearbox 120 ensures that the groove wall and the boss end face are always in an abutment state that can effectively transmit loads. In this way, if bolts 150 are used for connection, bolts 150 only serve the functions of positioning and pre-tightening, and do not require huge shear strength. Therefore, smaller size and lower grade bolts 150 can be selected. In addition, the boss does not need to open through holes for bolts 150 to pass through, avoiding strength reduction and allowing its radial dimension to be designed to be smaller. Through the above structure, the connection flange structure between the motor body 110 and the gearbox 120 becomes very thin and compact, realizing the minimization of size and weight of the entire motor 11 while ensuring ultra-high reliability.

[0042] It should be noted that, as Figure 1 As shown, in this embodiment, the leg component is the lower leg mechanism 2, and the support is the lower leg support 21. Of course, it can be understood that in other embodiments, the leg component is the thigh mechanism 1, and the corresponding support is the thigh support 10. Specifically, in this embodiment, the overall size of the motor 11 is similar to that of the thigh support 10. The motor 11 serves as an extension of the thigh support 10. That is, the thigh support 10 and the motor 11 are connected to form the thigh mechanism 1. The thigh mechanism 1 is rotatably connected to the top of the lower leg mechanism 2 through the gearbox 120 of the motor 11. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The motor 11 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The thigh mechanism 1 and the lower leg mechanism 2 use the same motor 11.

[0043] It should be noted that, in order to facilitate the connection between the motor body 110 and the gearbox 120, the connection end face of the motor body 110 and the connection end face of the gearbox 120 are generally made into flat surfaces; in addition, the mating of the first boss 111 and the second boss 121 means that the end face of the first boss 111 facing the second boss 121 abuts against the end face of the second boss 121 facing the first boss 111.

[0044] Specifically, such as Figure 2 and Figure 3As shown, in this embodiment, the hinge seat 20 includes a base plate 201 and a first side plate 202 and a second side plate 203 disposed on both sides of the base plate 201. When the thigh mechanism 1 and the lower leg mechanism 2 are assembled together, the gearbox 120 of the thigh mechanism 1 is rotatably connected to the hinge seat 20 of the lower leg mechanism 2. The gearbox 120 includes a housing, which is cylindrical in shape and coaxially arranged with the rotation axis. The adapter 103 can rotate relative to the housing. The housing of the gearbox 120 is rotatably installed between the first side plate 202 and the second side plate 203. The adapter 103 at one end of the gearbox 120 is fixedly connected to the first side plate 202, and the other end of the gearbox 120 is rotatably connected to the second side plate 203. When the motor 11 is started, the adapter 103 rotates relative to the housing under the drive of the motor 11. The adapter 103 drives the entire hinge seat 20 to rotate around the gearbox 120 through the first side plate 202, thereby realizing the swing of the lower leg mechanism 2 relative to the thigh mechanism 1.

[0045] Specifically, in this embodiment, the upper surface of the support pad 22 forms a support surface, and the outer surface of the gearbox 120 and the support surface are arc surfaces centered on the rotation axis of the gearbox 120. The outer surface of the gearbox 120 contacts and fits the support surface, and the support pad 22 slides with the outer surface of the gearbox 120, effectively reducing the friction between the gearbox 120 and the support pad 22 during movement. The sliding support method allows the gearbox 120 to rotate more smoothly, reducing energy loss, improving the motion efficiency of the humanoid robot, and helping to extend the endurance of the humanoid robot. It also reduces heat and wear caused by friction, helping to extend the service life of the gearbox 120 and the hinge seat 20. In addition, both the support surface and the outer surface of the gearbox 120 are arc surfaces and maintain... The fit between the support pad 22 and the gearbox 120 ensures that the gearbox 120 rotates at the predetermined position, reducing the possibility of the gearbox 120 deviating or jamming during movement and making the rotation of the gearbox 120 and the hinge seat 22 smoother. In addition, the fit between the two arc surfaces effectively absorbs the vibration generated during the rotation of the gearbox 120, which helps to reduce the noise during the operation of the humanoid robot. Furthermore, the close fit between the gearbox 120 and the support pad 22 ensures that the load of the gearbox 120 on the support pad 22 can be continuously and evenly transmitted. The support pad 22 can better distribute the pressure generated by the thigh mechanism 1 on the lower leg mechanism 2, reducing the possibility of damage to the gearbox 120 or the hinge seat 22 due to local stress concentration.

[0046] Specifically, in this embodiment, the central angle of the support surface is not less than the maximum rotation angle of the thigh mechanism 1 to the lower leg mechanism 2. This structural design enables the support surface to cover the entire rotation range of the gearbox 120, ensuring that the gearbox 120 always maintains contact with the support surface during rotation. The support pad 22 can form a stable and reliable sliding support for the gearbox 102.

[0047] In addition, the upper surface of the base plate 201 in this embodiment is provided with a mounting groove 2011. The support pad 22 is detachably installed in the mounting groove 2011 by bolts 150 or screws. The upper surface of the support pad 22 facing the gearbox 120 is an arc surface, which is adapted to the outer surface of the gearbox 120 so that the support pad 22 can maintain a better fit with the gearbox 120. This increases the contact area between the support pad 22 and the gearbox 120, improves the support effect of the support pad 22 on the gearbox 120, and further disperses the first side plate 202 and the second side plate 2011. The pressure exerted on the gearbox 120 makes its rotation relative to the first side plate 202 and the second side plate 203 smoother, reducing the possibility of deformation of the first side plate 202 and the second side plate 203 due to excessive pressure, and helping to extend the service life of the hinge seat 20. In addition, the upper surface of the base plate 201 in this embodiment is also an arc surface. When the support pad 22 is installed into the mounting groove 2011, the upper surface of the support pad 22 is flush with or slightly higher than the upper surface of the base plate 201, which can reduce the pressure between the hinge seat 20 and the gearbox 120. The assembly gap between the thigh mechanism 1 and the lower leg mechanism 2 allows for a more compact assembly. Secondly, the support pad 22 is detachably connected to the mounting groove 2011, facilitating easy replacement of the support pad 22 and ensuring reliable and effective sliding support for the gearbox 120. Furthermore, both the support pad 22 and the upper surface of the base plate 201 are arc-shaped and of similar height, enhancing the integrity of the support pad 22 and the base plate 201 and improving the aesthetics of the hinge seat 20. The support pad 22 protrudes above the surface of the base plate 201, ensuring that the gearbox 120 only contacts the support pad 22. The support pad 22 maintains contact, preventing sliding friction between the base plate 201 and the gearbox 120, reducing the possibility of damage to the base plate 201 due to friction, and significantly extending the service life of the base plate 201. It should be noted that the support pad 22 in this embodiment is made of wear-resistant alloy steel, copper alloy, aluminum alloy, or titanium alloy. The support pad made of alloy has higher hardness and wear resistance, and can withstand high loads and frequent friction, thereby enabling the support pad 22 to maintain a longer service life and significantly reducing the replacement frequency of the support pad 22.

[0048] It is understandable that, in other embodiments, the support pad 22 may also be fixed to the outer surface of the gearbox 120.

[0049] It is understandable that in other embodiments, the upper surface of the base plate 201 may also be an arc surface or a slope or other structures. Since the support pad 22 will form a sliding support for the gearbox 120, the structure of the base plate 201 does not interfere with the rotation of the gearbox 120 and is not limited to an arc surface.

[0050] Specifically, such as Figures 2 to 4 As shown, in this embodiment, the base plate 201 is also provided with two limiting grooves 2012. The length direction of the limiting grooves 2012 is distributed along the rotation direction of the gearbox 120. The two limiting grooves 2012 are respectively located on both sides of the mounting groove 2011. The depth of the limiting grooves 2012 is greater than the depth of the mounting groove 2011. The support pad 22 has protruding extensions 221 on both sides. After the support pad 22 is installed into the mounting groove 2011, the extensions 221 are embedded into the limiting grooves 2012. The support pad 22 can, through the cooperation of the extensions 221 and the limiting grooves 2012, achieve... This increases the contact area between the support pad 22 and the hinge seat 20, reducing the possibility of the support pad 22 shaking and helping to improve the positioning stability of the support pad 22. The mounting groove 2011 is provided with an assembly hole, through which the bolt 150 or screw passes and is threaded to the assembly hole in the mounting groove 2011, thereby realizing the detachable connection between the support pad 22 and the mounting groove 2011. The cooperation between the limiting groove 2012 and the extension 221 can reduce the number of bolts 150 or screws used, making it simpler and more convenient to fix the support pad 22 to the base plate 201.

[0051] Specifically, such as Figure 5 As shown, in this embodiment, the gearbox 120 has a rotating groove 102 at the end away from the adapter 103. The sidewall of the rotating groove 102 is annular and close to the edge of the gearbox 120. The second side plate 203 has a protruding ring 2031 on the side facing the first side plate 202. The protruding ring 2031 extends along the axial direction of the gearbox 120. After the gearbox 120 is assembled with the hinge seat 20, the protruding ring 2031 extends into the rotating groove 102 and forms a rotating fit with the rotating groove 102 through the bushing. The sidewall of the rotating groove 102 is close to the gearbox 120. The edge of 0, that is, the inner diameter of the rotating groove 102 is close to the diameter of the gearbox 120, so that the rotating groove 102 has a larger inner diameter. The gearbox 120 is rotatably connected to the hinge seat 20 through the cooperation of the rotating groove 102 and the convex ring 2031. The rotating shaft formed by the gearbox 120 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 120, so that the gearbox 120 can withstand greater external forces, reduce the possibility of damage to the gearbox 120, and thus improve the strength of the hinge between the thigh mechanism 1 and the lower leg mechanism 2.

[0052] Specifically, such as Figure 3As shown, in this embodiment, the first side plate 202 and the bottom plate 201 are an integral structure. The bottom plate 201 has an assembly groove 2013 on the side facing away from the first side plate 202. The second side plate 203 is detachably connected to the assembly groove 2013 by bolts 150. After the second side plate 203 is installed into the assembly groove 2013, the bottom wall of the assembly groove 2013 provides support for the second side plate 203. During the assembly process of the gearbox 120 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 120 is fixedly connected to the first side plate 202 through the adapter 103. Then, the second side plate 203 is installed into the assembly groove 2013 so that the convex ring 2031 of the second side plate 203 forms a rotational engagement with the groove of the gearbox 120. Since the adapter 103 directly transmits the torque to the first side plate 202, the force on the first side plate 202 is relatively large. The first side plate 202 is integrally formed with the base plate 201, which enhances its strength, reduces the possibility of damage, and allows it to withstand greater torque. Furthermore, the second side plate 203 is detachably connected to the base plate 201, facilitating the assembly of the gearbox 120 and the hinge seat 20. This improves assembly efficiency and makes the assembly of the first side plate 202, second side plate 203, and gearbox 120 more compact, thus enhancing assembly stability and preventing deformation or breakage due to forced installation of the gearbox 120. Additionally, the assembly groove 2013 supports the second side plate 203, improving its load-bearing capacity and further increasing the connection stability between the hinge seat 20 and gearbox 120.

[0053] Specifically, such as Figure 6 and Figure 7As shown, in this embodiment, the adapter 103 has several protruding protrusions 1031 on the side facing away from the gearbox 120. These protrusions 1031 are the torque output ends, and are spaced circumferentially. The first side plate 202 has a positioning groove 2021 on the side facing the second side plate 203. This positioning groove 2021 is the torque input end. The size of the protrusions 1031 is smaller than the size of the positioning groove 2021. After the protrusions 1031 are embedded in the positioning groove 2021, there is a gap between the sidewalls of the protrusions 1031 and the positioning groove 2021. A buffer pad 104 fills the gap between the protrusions 1031 and the groove wall of the positioning groove 2021. The protrusions 1031 and the buffer pad 104, combined with the positioning groove 2021, achieve a concave-convex fit, so that the adapter 103 and the first side plate 202 form an anti-rotation fit. During the rotation of the adapter 103, the protrusions 1031 and the... The sidewall of the positioning groove 2021 engages to drive the hinge seat 20 to rotate. The engagement of the protrusion 1031 with the positioning groove 2021 increases the contact area between the adapter 103 and the hinge seat 20, thereby dispersing the force between them and making the stress distribution more uniform. This reduces the possibility of stress concentration leading to damage to the adapter 103 and hinge seat 20. Furthermore, since the adapter 103 and hinge seat 20 primarily transmit power through the protrusion 1031 and positioning groove 2021, filling the space between the protrusion 1031 and the sidewall of the positioning groove 2021 with the buffer pad 104 effectively reduces the impact force on the protrusion 1031 and positioning groove 2021, lowering the likelihood of damage and significantly extending the service life of the adapter 103 and hinge seat 20.

[0054] It should be noted that the buffer pad 104 described in this embodiment is made of elastic rubber, polyurethane, or silicone.

[0055] It is understandable that in other embodiments, the protrusion 1031 may also be disposed on the end face of the hinge seat 20 facing the adapter 103, and the corresponding positioning groove 2021 may be disposed on the end face of the adapter 103 facing the hinge seat 20.

[0056] Specifically, in this embodiment, the buffer pad 104 includes several buffer blocks 1041. Buffer blocks 1041 are fixed on both sides of the protrusion 1031 in the rotation direction of the adapter 103. After the adapter 103 is inserted into the positioning groove 2021, the buffer blocks 1041 are confined between the protrusion 1031 and the sidewalls of the positioning groove 2021. That is, there are two buffer blocks 1041 in the same positioning groove 2021, and the two buffer blocks 1041 are respectively located on both sides of the protrusion 1031 and abut against the two sidewalls of the positioning groove 2021. The torque transmission between the adapter 103 and the hinge seat 20 is mainly... If the impact occurs between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021, placing the buffer pad 104 between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021 can effectively absorb the impact force transmitted between the adapter 103 and the hinge seat 20, significantly improving the utilization rate of the buffer pad 104 and enhancing its buffering effect. In addition, it can also reduce the axial distance between the protrusion 1031 and the positioning groove 2021, making the assembly between the adapter 103 and the hinge seat 20 more compact and helping to improve the assembly stability of the adapter 103 and the hinge seat 20.

[0057] Regarding the specific structure of the buffer pad 104, as follows: Figure 4 As shown, in this embodiment, the buffer pad 104 includes a connecting ring 1042 and buffer blocks 1041. The buffer blocks 1041 are distributed at intervals along the circumference of the connecting ring 1042 on the outer periphery of the connecting ring 1042, and the buffer blocks 1041 and the connecting ring 1042 are an integral structure. The buffer pad 104 has a plum blossom-shaped structure. When the buffer pad 104 is installed on the adapter 103, the connecting ring 1042 and the adapter 103 are coaxially arranged, and the connecting ring 1042 and the buffer blocks 1041 are... The integrated structure makes the entire buffer pad 104 a single unit, which reduces the assembly difficulty of the buffer pad 104 and helps to improve the assembly efficiency of the buffer pad 104. In addition, all buffer blocks 1041 are connected to the connecting ring 1042. The connecting ring 1042 can distribute the force on the buffer block 1041, making the force on all buffer blocks 1041 more even, preventing one buffer block 1041 from being damaged due to excessive force, and helping to improve the buffering performance of the buffer pad 104.

[0058] It is understandable that in other embodiments, the buffer pad 104 may also be wrapped around the outer surface of the protrusion 1031. After the protrusion 1031 is embedded in the positioning groove 2021, the buffer pad 104 fits against the groove wall of the positioning groove 2021. The buffer pad 104 wraps around the protrusion 1031, which can prevent the protrusion 1031 from having direct contact with the positioning groove 2021, thereby effectively reducing the wear of the protrusion 1031 and the positioning groove 2021, and further improving the service life of the protrusion 1031 and the positioning groove 2021.

[0059] To improve the connection stability between the adapter 103 and the first side plate 202, in this embodiment, the protrusion 1031 is provided with a connecting hole 1032 in the axial direction of the adapter 103. The protrusion 1031 is connected to the hinge seat 20 by a fastener. The fastener can improve the connection stability between the adapter 103 and the first side plate 202, reduce the possibility of relative wobbling between the adapter 103 and the first side plate 202, and make the connection between the adapter 103 and the first side plate 202 more stable and the torque transmission more accurate and reliable. In addition, the fastener provides support to the protrusion in the axial direction. Block 1031 is connected to the first side plate 202, and the adapter 103 drives the first side plate 202 to rotate by circumferential rotation. Therefore, during torque transmission, the torque on the fastener is small, reducing the possibility of fastener damage. Secondly, the connecting hole 1032 is set on the protrusion 1031. The protrusion 1031 itself has better strength due to its larger thickness. Therefore, the protrusion 1031 can provide reliable support for the fastener, reducing the possibility of connecting hole 1032 damage, so that the adapter 103 and the first side plate 202 can form a reliable connection.

[0060] Specifically, such as Figures 10 to 14 As shown in this embodiment, along the docking direction between the motor body 110 and the gearbox 120, that is, along the vertical direction, the two ends of the connecting groove 131 are respectively provided with connecting ears 132. The connecting ears 132 are detachably connected to the corresponding motor body 110 and gearbox 120 by bolts 150. The width of the connecting ears 132 can be the same as the width of the connecting groove 131, and the length of the connecting ears 132 should be determined according to the strength of the connector 130 to ensure that the connecting ears 132 will not deform after the bolts 150 pass through. The connecting ears 132, as the extension 221 of the connector 130, provide an ideal installation for the bolts 150. The position and tightening force of the bolt 150 not only fix the connector 130, but also further enable the connector 130 to apply radial in-box abutment force to the first boss 111 and the second boss 121, pressing the first boss 111 and the second boss 121 in the connecting groove 131 from multiple directions, eliminating potential gaps and forming a pre-tightened, more rigid whole; during assembly, the motor body 110 and the gearbox 120 can be initially positioned by the bosses and the connecting groove 131, at which point their relative positions have been determined, and then only the bolt 150 on the connecting lug 132 needs to be tightened to complete the final fixation.

[0061] Specifically, such as Figure 12 and Figure 13As shown, in this embodiment, the motor body 110 has a first fixing groove 112 on its bottom surface, and the gearbox 120 has a second fixing groove 122 on its top surface. The motor 110 also includes a connecting piece 140, which is inserted into the first fixing groove 112 and the second fixing groove 122. The connecting piece 140 has a threaded hole 141 that matches the bolt 150. That is, the length of the connecting piece 140 is equal to the sum of the depths of the first fixing groove 112 and the second fixing groove 122. In this way, the bottom surface of the motor body 110 and the top surface of the gearbox 120 can fit together completely. If the bolt 150 is directly tapped and screwed into the thin-walled shell of the motor body 110 or the gearbox 120, the preload and working load of the bolt 150 will be highly concentrated around the threaded hole 141, which may easily lead to the shell material... In cases where the motor body 110 or gearbox 120 is crushed or cracked, especially on lightweight metal materials such as aluminum alloys, the connecting piece 140 spans the mating surface of the motor body 110 and gearbox 120. The bolt 150 applies pressure through the threaded hole 141 on the connecting piece 140. The connecting piece 140 converts this pressure into uniform surface pressure on the groove walls of the first fixing groove 112 and the second fixing groove 122, greatly increasing the force-bearing area and significantly reducing the load per unit area, effectively protecting the housings of the motor 110 and gearbox 120. In addition, the connecting piece 140 actually functions as an internal flange. The connecting piece 140 is set in the fixing groove, so that the motor body 110 and gearbox 120 do not need to be designed as heavy flange faces to provide thread support, thus achieving a high-strength connection while maintaining a compact and lightweight overall shape.

[0062] In this embodiment, each connecting lug 132 is provided with two bolts 150, and the corresponding first fixing groove 112, second fixing groove 122, and connecting piece 140 are also provided in two configurations. That is, each connecting piece 140 is provided with two threaded holes 141. One threaded hole 141 is connected to the bolt 150 passing through the motor body 110, and the other threaded hole 141 is connected to the bolt 150 passing through the gearbox 120. By adopting a double bolt 150 design on each connecting lug 132, a high degree of redundancy in the connection structure and a balanced distribution of load are achieved, thereby greatly improving the failure resistance, stability, and safety of the entire connection system. The provision of two bolts 150 on a single connecting lug 132 forms a double guarantee, even in extreme cases. If one bolt 150 fails due to fatigue or accident, the other bolt 150 can still continue to bear the load, preventing the connection structure from collapsing instantly. This provides valuable safety redundancy for the robot when performing critical tasks, avoiding catastrophic consequences. In addition, a single bolt 150 can cause load concentration and may cause slight warping of the connecting lug 132 due to torque. The symmetrical arrangement of the two bolts 150 can distribute the load evenly on the connecting lug 132 and the connecting piece 140. This balanced load distribution effectively suppresses the warping deformation of the connecting lug 132, ensuring that the connecting groove 131 and the boss always maintain a tight surface contact, thereby maintaining the high rigidity and stability of the entire connection structure and further extending the fatigue life of the system.

[0063] In addition, after being connected by bolts 150, the head of bolts 150 is prone to protruding from the motor body 110 or gearbox 120, which may affect the size of the motor 11 or cause interference with other components. Therefore, clearance grooves 160 are respectively opened on the side wall of the motor body 110 and the side wall of the gearbox 120, and the connecting ears 132 of the connector 130 are accommodated in the corresponding clearance grooves 160. By setting clearance grooves 160 on the housing, the connector 130 is completely concealed, thereby minimizing the impact of the connection structure on the overall size of the motor 11 and ultimately achieving an extremely compact design.

[0064] In this embodiment, the bolts 150, nuts, or connecting lugs 132 used for connection inevitably protrude from the motor 11 body, increasing the space occupied by the device and potentially interfering with other parts in a confined space. The motor body 110 and gearbox 120 have specially designed clearance grooves 160, in which the connecting lugs 132 of the connector 130 are concealed. This design ensures that the connecting lugs 132 and their bolts 150, after installation, will not exceed the original outer contour of the motor 11 housing. This greatly facilitates the integration of the motor 11 with other components, reduces the interference risks that need to be considered during design and assembly, and provides greater freedom for the overall layout of the robot joints.

[0065] Based on the above embodiments, the first boss 111, the second boss 121, and the connector 130 form a connection structure. Multiple connection structures are evenly distributed circumferentially around the motor shaft 113. In this embodiment, four sets of connection structures are actually provided. By arranging multiple evenly distributed connection structures circumferentially, symmetrical and uniform load distribution is achieved, thereby significantly improving the coaxiality, overall rigidity, and torsional resistance of the connection. Traditional connection methods, using a few bolts 150, are prone to uneven force distribution or machining errors, leading to eccentricity between the motor body 110 and the gearbox 120 axis, affecting transmission accuracy and bearing life. Now, through multiple connection structures… The structure, evenly distributed circumferentially around the motor axis 113, clamps and positions the motor body 110 and gearbox 120 from multiple directions. This multi-point, symmetrical constraint method can automatically average machining and assembly errors, forcing the motor body 110 and gearbox 120 to maintain a high degree of coaxiality. In addition, the torque output by the motor 11 and the torque reacted by the external load are shared by all the connecting structures, which greatly increases the torsional section modulus of the entire connection system, enabling it to transmit much larger torque than single-point or few-point connections. This is a crucial performance indicator for robot joint motors 11 that require frequent start-stop and forward / reverse rotation.

[0066] In addition, in this embodiment, the bottom end face of the motor body 110 is provided with a positioning boss 114 extending toward the gearbox 120, and the end face of the gearbox 120 is provided with a positioning groove 123 that mates with the positioning boss 114. In the circumferential direction surrounding the axis of the motor shaft 113, the positioning boss 114 and the first boss 111 can be spaced apart, and the positioning groove 123 and the second boss 121 can also be spaced apart. Through the cooperation of the positioning boss 114 and the positioning groove 123, the motor body 110 and the gearbox 120 are further positioned in the circumferential direction surrounding the axis of the motor shaft 113, avoiding relative rotation between the two in the circumferential direction. When assembling the motor body 110 and the gearbox 120, the positioning boss 114 is inserted into the positioning groove 123, which instantly completes the high-precision alignment of the motor body 110 and the gearbox 120. This ensures that all subsequent connection structures can be perfectly aligned from the source, laying a solid foundation for achieving high coaxiality.

[0067] Specifically, in this embodiment, the connecting groove 131 has a first groove wall 1311 and a second groove wall 1312 arranged opposite to each other along the docking direction. The first groove wall 1311 abuts against the end face of the first boss 111 away from the second boss 121, and the second groove wall 1312 abuts against the end face of the second boss 121 away from the first boss 111. Through the double groove wall design of the connecting groove 131, the axial tension between the motor body 110 and the gearbox 120 is directly converted into the contact pressure between the connector 130 and the boss, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts 150 used for fixing.

[0068] Specifically, in this embodiment, the end face of the first groove wall 1311 opposite to the end face of the first boss 111 away from the end face of the second boss 121 is in surface contact, and the end face of the second groove wall 1312 opposite to the end face of the second boss 121 away from the end face of the first boss 111 is in surface contact. This maximizes the contact area of ​​the connecting surfaces, thereby achieving optimal stress dispersion and significantly improving the fatigue resistance and long-term reliability of the connecting structure. Surface contact evenly distributes the tensile force across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors 11 that need to withstand long-term and repeated impact loads. This is the fundamental guarantee for ensuring their long life and high reliability.

[0069] Specifically, in this embodiment, the end face of the first boss 111 facing away from the second boss 121 is a first inclined surface 1111, and the end face of the second boss 121 facing away from the first boss 111 is a second inclined surface 1211, so that the thickness of the first boss 111 and the second boss 121 after docking gradually decreases in the direction away from the center of the motor 11; the first groove wall 1311 is a third inclined surface adapted to the first inclined surface 1111, and the second groove wall 1312 is a fourth inclined surface adapted to the second inclined surface 1211, so that the connecting groove 131 has a structure that is wider on the outside and narrower on the inside; when installing the connector 130, no precise alignment is required, and the inclined surface will automatically guide the connector 130 to slide into the correct position; under the action of the pre-tightening force of the bolt 150, the inclined surface fit can naturally pull the motor body 110 and the gearbox 120 to the tightest state, simplifying the assembly process and ensuring the uniformity of pre-tightening.

[0070] During installation, the motor body 110 and gearbox 120 are assembled vertically. The connecting piece 140 is inserted into the second fixing groove 122, and the output shaft of the motor body 110 is aligned with the connecting hole 1032 of the gearbox 120. At the same time, the positioning boss 114 on the bottom surface of the motor body 110 is aligned with the positioning groove 123 on the top surface of the gearbox 120. The positioning boss 114 is inserted into the positioning groove 123, and the connecting piece 140 is also inserted into the first fixing groove 112. After the initial docking of the motor body 110 and gearbox 120 is completed, the bottom surface of the first boss 111 and the top surface of the second boss 121 are tightly fitted together. Then, the connecting groove 131 of the connector 130 is pushed radially inward toward the first boss 111 and the second boss 121. 1. Insert the first boss 111 and the second boss 121 into the connecting groove 131. During insertion, since the walls of the first boss 111, the second boss 121 and the connecting groove 131 are all inclined, precise alignment is not required to insert the outer ends of the first boss 111 and the second boss 121 into the connecting groove 131. As the connector 130 is pushed radially toward the center of the motor 11, the inclined surface can automatically complete the alignment of the connecting groove 131. After the connecting groove 131 is pushed to the bottom, the bolt 150 passes through the connecting ear 132 of the connector 130 and engages with the threaded groove of the connecting piece 140 to achieve a fixed connection between the connector 130 and the motor body 110 and the gearbox 120, thus completing the assembly of the motor 11.

[0071] This embodiment systematically resolves the inherent contradictions between strength, size, and reliability in traditional motor 11 connection schemes through a highly collaborative and innovative design. It abandons the heavy flanges and through bolts 150, instead employing a compact external connection structure. Through surface contact, the axial load is directly borne by the structural components, achieving a high-strength connection with zero radial increment. The uniform circumferential distribution of multiple connection points, coupled with independent high-precision positioning references, ensures excellent coaxiality, overall rigidity, and torsional resistance between the motor 11 and gearbox 120. Simultaneously, through detailed optimizations such as the connecting piece 140, double bolts 150, and clearance groove 160, this embodiment achieves high reliability and ease of maintenance while protecting the thin-walled shell and avoiding stress concentration. Ultimately, it constructs an integrated connection system that balances extreme compactness, ultra-high strength, dynamic self-locking, and long-term reliability, perfectly meeting the application requirements of high power density and high dynamic response, such as in robotics.

[0072] Example 2: like Figure 15As shown in the figure, this embodiment also demonstrates a leg structure of a humanoid robot, including a thigh mechanism 1, a lower leg mechanism 2, and a foot end 3. Each of the thigh mechanism 1, the lower leg mechanism 2, and the foot end 3 is equipped with a motor 11. The thigh mechanism 1 is hinged to the top of the lower leg mechanism 2 via the motor 11. The motor 11 of the thigh mechanism 1 drives the lower leg mechanism 2 to swing relative to the thigh mechanism 1. The lower leg mechanism 2 is hinged to the top of the foot end 3 via the motor 11. The motor 11 of the lower leg mechanism 2 drives the foot end 3 to swing relative to the lower leg mechanism 2. The motor 11 of the foot end 3 drives the foot plate of the foot end 3 to swing laterally. In this embodiment, both the thigh mechanism 1 and the lower leg mechanism 2 adopt the leg components described in Embodiment 1.

[0073] Example 3: This embodiment also demonstrates a humanoid robot, which includes a torso 4, a hip 41 at the bottom of the torso 4, and leg structures rotatably connected to both sides of the hip 41. The leg structures adopt the leg structure described in Embodiment 2.

[0074] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A leg assembly for a humanoid robot, characterized in that, The system includes a bracket and a motor. The motor is fixed to the bottom of the bracket. The motor includes a motor body, a gearbox, and a connector. The gearbox is fixed to the bottom of the motor body. The bottom of the motor body has a first boss protruding radially outward along the motor shaft. The top of the gearbox has a second boss that matches and mates with the first boss. The connector has a connecting groove. The first and second bosses are inserted into the connecting groove to prevent the motor body and the gearbox from separating in the mating direction. The motor body and the gearbox are connected by the connector. The gearbox contains a rotating shaft perpendicular to the motor shaft. One end is equipped with an adapter, and the top of the bracket forms a hinge seat. Two adjacent leg components are rotatably connected to the hinge seat through a gearbox to achieve hinge. The adapter has a torque output end, and the hinge seat has a torque input end. The adapter transmits the motor torque to the hinge seat through the concave-convex fit between the torque output end and the torque input end. A buffer pad is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad filters the mutual impact between the adapter and the hinge seat during the torque transmission process. A support pad is installed on the hinge seat, and the support pad forms a sliding support for the gearbox that is hinged to the hinge seat.

2. The leg assembly of the humanoid robot according to claim 1, characterized in that, The hinge base includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. The adapter is fixedly connected to the first side plate, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. The support pad is fixed on the base plate and forms a sliding support on the outer surface of the gearbox.

3. The leg assembly of the humanoid robot according to claim 2, characterized in that, The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces with the rotation axis of the gearbox as the center. The outer surface of the gearbox is in contact with and fits the support surface.

4. The leg assembly of the humanoid robot according to claim 3, characterized in that, The central angle of the supporting surface is not less than the maximum rotation angle between the first limb and the second limb.

5. The leg assembly of the humanoid robot according to claim 2, characterized in that, The base plate has an installation groove on its surface. The support pad can be detachably installed in the installation groove. The upper surface of the support pad protrudes from the surface of the base plate. The base plate has two limiting grooves distributed along the rotation direction. The two limiting grooves are located on both sides of the installation groove. The support pad has outwardly protruding extensions on both sides. After the support pad is installed into the installation groove, the extensions are embedded in the limiting grooves.

6. The leg assembly of the humanoid robot according to claim 2, characterized in that, The gearbox has a rotating groove at the end away from the adapter. The sidewall of the rotating groove is annular and close to the edge of the gearbox. The second side plate has a convex ring extending along the axial direction of the gearbox. The convex ring is embedded in the rotating groove and rotates with the rotating groove. A bushing is assembled between the convex ring and the rotating groove.

7. The leg assembly of the humanoid robot according to claim 2, characterized in that, The first side plate and the bottom plate are an integral structure. The bottom plate has an assembly groove on the side facing away from the first side plate. The second side plate can be detachably installed in the assembly groove, and the bottom wall of the assembly groove supports the second side plate.

8. The leg assembly of the humanoid robot according to claim 1, characterized in that, The support pad is made of wear-resistant alloy steel, copper alloy, aluminum alloy, or titanium alloy.

9. The leg assembly of the humanoid robot according to claim 1, characterized in that, The buffer pad isolates the torque output end from direct contact with the torque input end, and the adapter acts on the hinge seat through the buffer pad and transmits the torque to the hinge seat.

10. The leg assembly of the humanoid robot according to claim 9, characterized in that, One of the adapter and the hinge seat is provided with several protruding protrusions, which are circumferentially spaced. The other is provided with a positioning groove for the protrusions to be embedded. The protrusions and the hinge seat achieve anti-rotation fit through the convex-concave fit between the protrusions and the positioning groove. The buffer pad is filled between the sidewalls of the protrusions and the positioning groove. The protrusions are provided with connecting holes in the axial direction of the adapter. The protrusions are fixed in the positioning groove by fasteners.

11. The leg assembly of the humanoid robot according to claim 10, characterized in that, The buffer pad includes several buffer blocks. In the rotation direction of the adapter, buffer blocks are fixed on both sides of the protrusion. After the adapter is embedded in the positioning groove, the buffer blocks are restricted between the protrusion and the side wall of the positioning groove.

12. The leg assembly of the humanoid robot according to claim 11, characterized in that, The buffer pad also includes a connecting ring, which is coaxially arranged with the adapter. The buffer blocks are circumferentially spaced on the outer periphery of the connecting ring, and the connecting ring and the buffer blocks are an integral structure.

13. The leg assembly of the humanoid robot according to claim 1, characterized in that, The cushioning pad is made of elastic rubber, polyurethane, or silicone.

14. The leg assembly of the humanoid robot according to claim 1, characterized in that, Along the docking direction between the motor body and the gearbox, the two ends of the connecting groove are respectively provided with connecting ears. The side wall of the motor body and the side wall of the gearbox are respectively provided with clearance grooves. The connecting ears of the connector are accommodated in the corresponding clearance grooves. The connecting ears are detachably connected by bolt clearance grooves.

15. The leg assembly of the humanoid robot according to claim 14, characterized in that, The motor body has a first fixing groove on its bottom surface and a second fixing groove on its top surface. It also includes a connecting piece, which is inserted into the first fixing groove and the second fixing groove, and the connecting piece has a threaded hole that matches the bolt.

16. The leg assembly of the humanoid robot according to claim 14, characterized in that, Each connecting lug is connected to two bolts, and correspondingly, there are two first fixing slots, two fixing slots, and two connecting pieces.

17. The leg assembly of the humanoid robot according to claim 1, characterized in that, The first boss, the second boss, and the connector form a connection structure, and there are multiple connection structures that are evenly distributed circumferentially around the motor shaft.

18. The leg assembly of the humanoid robot according to claim 1, characterized in that, The bottom surface of the motor body is provided with a positioning boss extending toward the gearbox, and the top surface of the gearbox is provided with a positioning groove that mates with the positioning boss.

19. The leg assembly of the humanoid robot according to claim 1, characterized in that, The connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss. The first groove wall and the end face of the first boss away from the second boss are in surface contact. The second groove wall and the end face of the second boss away from the first boss are in surface contact.

20. The leg assembly of the humanoid robot according to claim 19, characterized in that, The end face of the first boss away from the second boss is a first inclined surface, and the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after docking gradually decreases in the direction away from the center of the motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure that is wider on the outside and narrower on the inside.

21. The leg structure of a humanoid robot, characterized in that: It includes a thigh mechanism, a calf mechanism, and a foot end, wherein the thigh mechanism and the calf mechanism employ the leg assembly as described in any one of claims 1 to 20.

22. A humanoid robot, characterized in that, The humanoid robot includes a torso and a leg structure rotatably connected to the torso, wherein the leg structure adopts the leg structure as described in claim 21.

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