Connecting structure, hip assembly, and humanoid robot

Abstract

A connecting structure, a hip assembly, and a humanoid robot. The connecting structure comprises a first connecting member (30) and a second connecting member (40). The first connecting member (30) is used disposed between a first pitch driving member (10) and a second pitch driving member (20), and is connected and fixed to ends of the first pitch driving member (10) and the second pitch driving member (20). The second connecting member (40) is disposed between the first pitch driving member (10) and the second pitch driving member (20), and is connected and fixed to the other ends of the first pitch driving member (10) and the second pitch driving member (20). The second connecting member (40) and the first connecting member (30) are arranged at an interval in a second direction, the second direction intersecting a first direction. A first connecting member (30) and a second connecting member (40) arranged at an interval are provided, the first connecting member (30) being connected and fixed to ends of the first pitch driving member (10) and the second pitch driving member (20), and the second connecting member (40) being connected and fixed to the other ends of the first pitch driving member (10) and the second pitch driving member (20), thereby improving the stability of connection.

Description

Connection structure, hip assembly and humanoid robot Technical Field

[0001] This application relates to the field of humanoid robot technology, specifically to a connection structure, a hip assembly, and a humanoid robot. Background Technology

[0002] Humanoid robots can mimic the shape and movement of the human body and have broad development prospects. Similar to the human body, the structure of a humanoid robot includes leg components, hip components, and waist components, with the hip components connecting the leg components and waist components.

[0003] The connection structure of the hip assembly connects two hip joint mechanisms that are spaced apart in the left and right directions of the humanoid robot. The existing connection between the two hip joint mechanisms is not stable enough. Summary of the Invention

[0004] The purpose of this application is to provide a connection structure, a hip assembly, and a humanoid robot that can improve the connection stability of the connection structure.

[0005] To achieve the objectives of this application, the following technical solution is provided:

[0006] In a first aspect, this application provides a connection structure for a hip assembly of a humanoid robot, the hip assembly including a first hip joint mechanism and a second hip joint mechanism disposed opposite to each other in a first direction, the first hip joint mechanism including a first pitch drive, the second hip joint mechanism including a second pitch drive, and the connection structure including:

[0007] A first connector is used to be disposed between the first pitch drive and the second pitch drive, and to connect and fix one end of the first pitch drive and the second pitch drive.

[0008] The second connector is disposed between the first pitch drive and the second pitch drive, and connects and fixes the other ends of the first pitch drive and the second pitch drive. The second connector is spaced apart from the first connector in a second direction, and the second direction intersects the first direction.

[0009] In one embodiment, the dimension of the first connector in the first direction is smaller than the dimension of the second connector in the first direction.

[0010] In one embodiment, the first connector includes a main body, a first contact portion, and a second contact portion. The first contact portion and the second contact portion are connected to two opposite sides of the main body in the first direction. The first contact portion is used to connect with the first pitch drive, and the second contact portion is used to connect with the second pitch drive. In another embodiment, the main body includes a first surface and a second surface opposite to the first direction. The first contact portion is connected to the first surface, and the second contact portion is connected to the second surface. The first surface and the second surface have a first included angle B, satisfying: 20°≤B≤140°. In yet another embodiment, the first connector further includes a first part, a connecting part, and a second part connected sequentially in a third direction. Both the first part and the second part are used to connect the first pitch drive and the second pitch drive in the second direction. The third direction intersects both the first direction and the second direction.

[0011] In one embodiment, the first part includes a first connecting surface facing away from the second connector, and the second part includes a second connecting surface facing away from the second connector. Both the first connecting surface and the second connecting surface are used to connect the first pitch drive and the second pitch drive, and both the first connecting surface and the second connecting surface are arcs in the orthographic projection of the first direction.

[0012] In one embodiment, the second connecting member includes a cylinder, a first connecting plate, and a second connecting plate. The first connecting plate and the second connecting plate are connected to opposite sides of the outer peripheral surface of the cylinder. The first connecting plate is used to connect with the first pitch drive member, and the second connecting plate is used to connect with the second pitch drive member. The cylinder is symmetrical with respect to a first axis extending along the second direction, and both the first connecting plate and the second connecting plate are inclined with respect to the first axis.

[0013] In one embodiment, the first connecting plate includes a first surface facing away from the cylinder, the first surface being used to connect with the first pitch drive member, and the first surface having a second included angle A1 with the first axis satisfying: 10°≤A1≤70°.

[0014] Secondly, this application also provides a hip assembly, including a first hip joint mechanism and a second hip joint mechanism spaced apart in the first direction, and a connection structure as described in any one of the various embodiments of the first aspect. The first hip joint mechanism includes a first pitch drive member, the second hip joint mechanism includes a second pitch drive member, the first connector is disposed between the first pitch drive member and the second pitch drive member, and connects and fixes one end of the first pitch drive member and the second pitch drive member; the second connector is disposed between the first pitch drive member and the second pitch drive member, and connects and fixes the other end of the first pitch drive member and the second pitch drive member, and the second connector and the first connector are spaced apart in the second direction.

[0015] In one embodiment, the first pitch drive includes a connected cylindrical housing and a base plate, the base plate being housed within the cylindrical housing, and the cylindrical housing protruding from the side of the base plate facing the connecting structure. At least a portion of the first connector and / or at least a portion of the second connector are housed within the space enclosed by the surface of the base plate facing the connecting structure and the cylindrical housing.

[0016] Thirdly, this application also provides a humanoid robot including two leg components and a hip component as described in various embodiments of the second aspect, wherein a first hip joint mechanism and a second hip joint mechanism of the hip component are each connected to one of the leg components. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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 from these drawings without creative effort.

[0018] Figure 1 is a perspective view of a hip assembly according to one embodiment;

[0019] Figure 2 is a front view of a hip assembly according to an embodiment;

[0020] Figure 3 is a perspective view of a hip assembly according to one embodiment;

[0021] Figure 4 is a perspective view of the first connector according to an embodiment;

[0022] Figure 5 is a front view of the first connector in one embodiment;

[0023] Figure 6 is a side view of the first connector in one embodiment;

[0024] Figure 7 is a perspective view of the second connector according to an embodiment;

[0025] Figure 8 is a front view of the first connector in one embodiment.

[0026] Explanation of reference numerals in the attached drawings: 100-Hinds assembly; 10-First pitch drive; 11-Cylindrical outer shell; 12-Base plate; 121-First contact surface; 122-Second contact surface; 20-Second pitch drive; 30-First connector; 31-Main body; 311-First surface; 312-Second surface; 32-First contact part; 33-Second contact part; 34-First part; 341-First connecting surface; 35-Connecting part; 351-Third connecting surface; 36-Second part; 361-Second connecting surface; 40-Second connector; 41-Cylinder; 411-Receiving cavity; 42-First connecting plate; 421-First surface; 422-Third surface; 423-First weight reduction hole; 43-Second connecting plate; 431-Second surface; 432-Second weight reduction hole; 44-First connecting part; 45-Second connecting part; 50-Waist drive; E1 - First axis, E2 - Second axis, E3 - Third axis, B - First included angle, A1 - Second included angle, A2 - Third included angle; X - Left-right direction of the humanoid robot, Y - Front-back direction of the humanoid robot, Z - Up-down direction of the humanoid robot. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0029] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Please refer to Figures 1 and 2. This application provides a humanoid robot, including a leg assembly (not shown in the figures) and a hip assembly 100 in this embodiment of the invention. The first hip joint mechanism and the second hip joint mechanism of the hip assembly 100 are connected to the leg assembly.

[0032] Optionally, the humanoid robot also includes a waist assembly (not shown), and a hip assembly 100 is also connected to the waist assembly. The humanoid robot includes two leg assemblies, with a first hip joint mechanism and a second hip joint mechanism each connected to one of the leg assemblies.

[0033] The specific structures of the waist and leg components are not limited and can all be designed in a humanoid shape. The hip component 100 is connected to the waist component and can rotate relative to it, achieving a sacral joint function similar to that of a human body. The first and second hip joint mechanisms of the hip component 100 are each connected to a leg component and can rotate relative to it, achieving a hip joint function similar to that of a human body. For ease of explanation later, a coordinate system XYZ is established, where the X direction is the left-right direction of the assembled humanoid robot, the Y direction is the front-back direction of the humanoid robot, and the Z direction is the up-down direction of the humanoid robot.

[0034] In this embodiment, by setting a unique hip component 100, the structure of the hip component 100 is reasonably designed, which can improve the structural stability of the humanoid robot.

[0035] Please refer to Figures 1 and 2. This application embodiment also provides a hip assembly 100, including a first hip joint mechanism, a second hip joint mechanism, and a connecting structure in this application embodiment. The first hip joint mechanism includes a first pitch drive 10, and the second hip joint mechanism includes a second pitch drive 20. The connecting structure is disposed between the first pitch drive 10 and the second pitch drive 20, and connects and fixes the first pitch drive 10 and the second pitch drive 20.

[0036] Optionally, the first pitch drive 10 and the second pitch drive 20 are arranged opposite to each other and spaced apart in the X direction. The connection method between the connecting structure and the first pitch drive 10 and the second pitch drive 20 can be welding, bonding, snap-fitting, screwing, etc., and there is no specific limitation.

[0037] The connecting structure simulates the function of the human hip joint, allowing the leg assembly to rotate. Centered on the connecting structure, the leg assembly can swing left and right (X) and forward and backward (Y) in the humanoid robot, and can also rotate around its own centerline. When the leg assembly swings left and right (X), it resembles a human doing a split or bringing their legs together, enabling left-right movement in the X direction. The pitch actuator drives the leg assembly to rotate around its axis, allowing it to swing forward and backward (Y), similar to a human kicking motion, enabling forward and backward movement in the Y direction. When the leg assembly rotates around its own centerline, it resembles a human turning around, enabling the humanoid robot to turn.

[0038] Considering that humanoid robots should simulate the shape and movement posture of the human body as much as possible, the range of motion of the leg components of the humanoid robot should simulate the range of motion of the human leg as much as possible. That is, the leg components can swing outward to a certain angle in the left and right X direction of the humanoid robot.

[0039] The hip assembly 100 in this embodiment of the application, by adopting the connection structure in this embodiment of the application, connects and fixes the first pitch drive 10 and the second pitch drive 20, which can improve the structural stability of the humanoid robot.

[0040] The connection structure of the embodiments of this application will be described in detail below.

[0041] When the humanoid robot is standing upright on a horizontal plane, the first direction is the X direction, the second direction is the Z direction, and the third direction is the Y direction.

[0042] Please refer to Figures 3, 4 and 7. This application provides a connection structure for the hip assembly 100 of a humanoid robot. The connection structure is disposed between a first pitch drive 10 and a second pitch drive 20. The connection structure includes a first connector 30 and a second connector 40.

[0043] The first connector 30 and the second connector 40 are made of materials with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron and iron alloys, etc.

[0044] Optionally, the first connector 30 is disposed between the first pitch drive 10 and the second pitch drive 20, and connects and fixes one end of the first pitch drive 10 and the second pitch drive 20. The second connector 40 is disposed between the first pitch drive 10 and the second pitch drive 20, and connects and fixes the other end of the first pitch drive 10 and the second pitch drive 20, and the second connector 40 and the first connector 30 are spaced apart in the Z direction.

[0045] The first connector 30 can be a one-piece structure, meaning it is manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the first connector 30 can be a separate structure, with each component connected and fixed by welding, riveting, snap-fitting, screwing, or other methods.

[0046] Similarly, the second connector 40 can be an integral structure made by a one-piece molding process or a split structure. The manufacturing process and connection method are similar to those of the first connector 30 mentioned above, and can be referred to for reference only.

[0047] The connection structure in this embodiment improves connection stability by providing a first connector 30 and a second connector 40 with a gap between them. The first connector 30 connects and fixes one end of the first pitch drive 10 and the second pitch drive 20, and the second connector 40 connects and fixes the other end of the first pitch drive 10 and the second pitch drive 20.

[0048] In addition, the first connector 30 and the second connector 40 are provided so that the first connector 30 or the second connector 40 can be operated independently during disassembly, assembly and maintenance without replacing the entire connection structure, which facilitates operation.

[0049] Optionally, the dimension of the first connector 30 in the X direction is smaller than the dimension of the second connector 40 in the X direction.

[0050] Optionally, when the humanoid robot is standing upright on a horizontal plane, the first connector 30 is closer to the humanoid robot's feet (i.e., the horizontal plane) in the Z direction, and the second connector 40 is closer to the humanoid robot's head in the Z direction.

[0051] Optionally, the first connector 30 and the second connector 40 are symmetrical about the same axis of symmetry in the X direction, that is, the two ends of the second connector 40 in the X direction are further outward than the two ends of the first connector 30 in the X direction.

[0052] Optionally, the first pitch actuator 10 and the second pitch actuator 20 are recessed inward from the second support member in the left-right X direction of the humanoid robot, rather than extending outward. This configuration, compared to the current scheme where the axis of the pitch actuator 21 is perpendicular to the Z direction, allows the axis of the leg assembly to be closer to the axis of the hip assembly 100 (i.e., the first axis E1) in the left-right X direction of the humanoid robot, making it more similar to the human body structure. This results in a more human-like walking motion when the hip assembly 100 drives the leg assembly to perform walking movements.

[0053] Optionally, as shown in Figures 2 and 4, the first connector 30 includes a main body 31, a first contact part 32, and a second contact part 33. The first contact part 32 and the second contact part 33 are connected to the two opposite sides of the main body 31 in the X direction. The first contact part 32 is used to connect with the first pitch drive 10, and the second contact part 33 is used to connect with the second pitch drive 20.

[0054] With this configuration, the first contact part 32 is connected to the first pitch drive 10, the second contact part 33 is connected to the second pitch drive 20, and the first connector 30 connects and fixes one end of the first pitch drive 10 and the second pitch drive 20. The structure is simple and the connection is stable.

[0055] Optionally, the connection between the first contact portion 32 and the first pitch drive 10, and between the second contact portion 33 and the second pitch drive 20, can be riveting, snap-fitting, screwing, etc., and there are no specific restrictions.

[0056] Optionally, after the first connector 30 is installed with the first pitch drive 10 and the second pitch drive 20, both ends of the main body 31 in the Y direction are exposed to the first pitch drive 10 and the second pitch drive 20.

[0057] The first connector 30 includes a first contact portion 32 and a second contact portion 33 located on opposite sides of the main body 31 in the X direction. The first contact portion 32 is connected to the first pitch drive 10, and the second contact portion 33 is connected to the second pitch drive 20. The first connector 30 connects and fixes one end of the first pitch drive 10 and the second pitch drive 20, and the connection is stable.

[0058] Optionally, as shown in Figure 5, the main body 31 includes a first surface 311 and a second surface 312 that are opposite to each other in the X direction. A first contact part 32 is connected to the first surface 311 and the second contact part 33 is connected to the second surface 312. The first surface 311 and the second surface 312 have a first included angle B, which satisfies: 20°≤B≤140°.

[0059] The specific value of the first included angle B can be 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, etc., without any restrictions.

[0060] The condition 20°≤B≤140° ensures that the tilt angles of the first pitch drive 10 and the second pitch drive 20 relative to the first connecting member 30 are moderate, allowing the leg assembly to perform large-angle movements. Taking the first pitch drive 10 as an example, if the first included angle B is less than 20°, the leg assembly connected to the first pitch drive 10 may interfere with the second surface 312 of the first pitch drive 10 when rotating inward from a vertical position by a small angle (less than 10°), thus limiting the effect on increasing the angle of movement of the leg assembly. If the first included angle B is greater than 140°, the leg assembly may also interfere with the second surface 312 of the first pitch drive 10 when rotating outward in the left-right direction X of the humanoid robot, limiting the angle range of the leg assembly when rotating outward. In summary, if the first included angle B is too large or too small, it will limit the range of rotation angle of the leg components, resulting in poor humanoid effect. However, when the first included angle B is within the range described above, a rotation angle that is more similar to the human body's movement posture can be obtained, which can achieve a good humanoid effect.

[0061] Optionally, as shown in FIG6, the first connector 30 further includes a first part 34, a connecting part 35 and a second part 36 connected in sequence in the Y direction. The first part 34 and the second part 36 are both used to connect the first pitch drive 10 and the second pitch drive 20 in the X direction.

[0062] Optionally, the first contact portion 32 and the second contact portion 33 are symmetrically arranged on both sides of the main body portion 31 in the X direction, and the first portion 34 and the second portion 36 are symmetrically arranged on both sides of the connecting portion 35 in the Y direction. The first connecting member 30 has a symmetrical structure in both the X and Y directions, which is simple to process, and only the orientation of the first connecting member 30 in the Z direction needs to be distinguished during assembly, which is convenient for assembly.

[0063] Optionally, the first part 34 includes a first connecting surface 341 facing away from the second connector 40, and the second part 36 includes a second connecting surface 361 facing away from the second connector 40. Both the first connecting surface 341 and the second connecting surface 361 are used for the first pitch drive 10 and the second pitch drive 20, and both the first connecting surface 341 and the second connecting surface 361 are arcs in the orthographic projection in the first direction.

[0064] Optionally, the first connecting surface 341 is the first edge in the orthographic projection of the first connector 30 along the X direction, and the second connecting surface 361 is the second edge in the orthographic projection of the first connector 30 along the X direction. The first connecting surface 341 and the second connecting surface 361 are circular arc surfaces with overlapping centers and equal radii, and the first edge and the second edge are arcs with equal radii and lengths.

[0065] Optionally, the connecting part 35 includes a third connecting surface 351 facing away from the second connecting member 40. The third connecting surface 351 can be a plane (as shown in the figure) or an arc surface, and there is no specific limitation.

[0066] The first pitch drive 10 and the second pitch drive 20 can be roughly cylindrical. By setting the first connecting surface 341 and the second connecting surface 361 to be arcs in the orthographic projection of the first direction, the connection between the first connecting surface 341 and the second connecting surface 361 and the first pitch drive 10 and the second pitch drive 20 is tighter, which can improve the connection stability.

[0067] Optionally, as shown in Figures 2 and 7, the second connecting member 40 includes a cylinder 41, a first connecting plate 42, and a second connecting plate 43. The first connecting plate 42 and the second connecting plate 43 are connected to opposite sides of the outer peripheral surface of the cylinder 41. The first connecting plate 42 is used to connect with the first pitch drive member 10, and the second connecting plate 43 is used to connect with the second pitch drive member 20. The cylinder 41 is symmetrical with respect to the first axis E1 extending along the Z direction, and both the first connecting plate 42 and the second connecting plate 43 are inclined with respect to the first axis E1.

[0068] Optionally, the cylinder 41 has a receiving cavity 411 for receiving the waist drive member 50, and the receiving cavity 411 has a first axis E1 extending in the Z direction.

[0069] The shape of the cylinder 41 can be a cylinder, prism, etc., and the side wall of the receiving cavity 411 can be a circle, regular polygon, etc. in the orthographic projection in the Z direction, without any restrictions.

[0070] Optionally, the receiving cavity 411 extends through the two opposite end faces of the cylinder 41 along the Z direction, or the receiving cavity 411 has an opening that is opened on the end face of the cylinder 41 along the Z direction and facing the head of the humanoid robot. No specific limitation is made.

[0071] Optionally, the cylinder 41 is fitted around the periphery of the waist drive member 50, which is used to connect to the waist assembly. The waist drive member 50 can rotate relative to the cylinder 41 about a first axis E1 to drive the waist assembly to rotate relative to the cylinder 41 about the first axis E1. When the humanoid robot is standing upright on a horizontal plane, the first axis E1 can extend approximately vertically.

[0072] Optionally, the waist drive 50 is an independent motor, at least a portion of which is housed in the receiving cavity 411. Alternatively, the cylinder 41 is a magnetic component, and the waist drive 50 is integrated with the cylinder 41 as a first motor, with at least a portion of the waist drive 50 housed in the receiving cavity 411 and rotating relative to the cylinder 41. Both methods can utilize the internal space of the cylinder 41, increasing space utilization.

[0073] Optionally, the waist drive component 50 can be integrated with the cylinder 41 as a first motor, with the cylinder 41 serving as the first stator and the waist drive component 50 serving as the first rotor. Alternatively, the waist drive component 50 is the first motor, with the first stator of the first motor fixedly connected to the cylinder 41. The first rotor of the first motor is disposed within the first stator and can rotate relative to it. The first output shaft of the first rotor is fixedly connected to the waist assembly. Rotation of the first rotor relative to the first stator achieves rotation of the waist assembly relative to the first stator, i.e., rotation of the waist assembly relative to the connecting member, thus simplifying the structure.

[0074] Optionally, as shown in Figures 2, 7, and 8, a first connecting plate 42 is connected to the outer peripheral surface of the cylinder 41. The first connecting plate 42 includes a first surface 421 facing away from the cylinder 41, which is used to connect with the first pitch drive 10. A second connecting plate 43 is connected to the outer peripheral surface of the cylinder 41 on the side opposite to the first connecting plate 42. The second connecting plate 43 includes a second surface 431 facing away from the cylinder 41, which is used to connect with the second pitch drive 20. Both the first surface 421 and the second surface 431 are inclined relative to the first axis E1.

[0075] Optionally, the shapes of the first connecting plate 42 and the second connecting plate 43 are not specifically limited and can be semi-circular, fan-shaped, polygonal, etc. The first connecting plate 42 and the second connecting plate 43 can be directly connected to the cylinder 41 or indirectly connected.

[0076] Optionally, the first connecting plate 42 and the second connecting plate 43 are symmetrically arranged with respect to the first axis E1, and the first hip joint mechanism and the second hip joint mechanism are also symmetrically arranged with respect to the first axis E1.

[0077] It should be understood that the symmetry in this embodiment refers to the symmetrical arrangement when the first hip joint mechanism and the second hip joint mechanism drive the two leg components symmetrically, for example, when both leg components are in an upright state or have the same angle with the first axis E1. In this case, the first hip joint mechanism and the second hip joint mechanism are symmetrical with respect to the first axis E1. From another perspective, when one of the first hip joint mechanism and the second hip joint mechanism is in one posture with respect to the first axis E1, the other can be adjusted to achieve another posture that is symmetrical with respect to the first axis E1.

[0078] Optionally, as shown in Figure 2, the first pitch drive 10 is used to drive the leg assembly connected thereto to rotate around the second axis E2, and the second pitch drive 20 is used to drive the leg assembly connected thereto to rotate around the third axis E3. The first axis E1 intersects the second axis E2 at an angle, and the first axis E1 intersects the third axis E3 at an angle.

[0079] In one embodiment, the second axis E2 intersects the third axis E3, and the angle between the first axis E1 and the second axis E2 is the same as the angle between the first axis E1 and the third axis E3.

[0080] The first pitch drive 10 may be generally cylindrical, with one end of its axial direction (i.e., the extension direction of the second axis E2) connected and fixed to the first surface 421 of the first connecting plate 42. Specifically, the first pitch drive 10 includes a first contact surface 121 and a second contact surface 122 opposite to the extension direction of the second axis. The first contact surface 121 is used to connect and fix to the first surface 421, and the second contact surface 122 is used to connect to other components, which are used to connect to the leg assembly. Similarly, the connection method between the second pitch drive 20 and the second connecting plate 43 and the leg assembly is similar, referring to the aforementioned first pitch drive 10, and is not specifically limited.

[0081] In this embodiment of the application, the second connecting member 40, by setting the cylinder 41, the first connecting plate 42 and the second connecting plate 43, allows at least a portion of the waist drive member 50 to be housed in the receiving cavity 411 of the cylinder 41, thereby improving space utilization. The obliquely placed first connecting plate 42 and second connecting plate 43 are respectively connected to the first pitch drive member 10 and the second pitch drive member 20, which can shorten the distance between the two pitch drives and save space.

[0082] Optionally, as shown in Figure 8, the first surface 421 and the first axis E1 have a second included angle A1, satisfying: 10°≤A1≤70°.

[0083] The specific values ​​of the second included angle A1 can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc., without any restrictions.

[0084] Optionally, the second surface 431 has a third included angle A2 with the first axis E1, satisfying: 10°≤A2≤70°.

[0085] The value of the third included angle A2 can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc., without any restrictions.

[0086] Optionally, the size of the second included angle A1 is the same as the size of the third included angle A2, so that the tilt angles of the first connecting plate 42 and the second connecting plate 43 are the same.

[0087] The conditions 10°≤A1≤70° and 10°≤A2≤70° are met to ensure that the tilt of the first pitch drive 10 and the second pitch drive 20 relative to the connecting member is moderate, allowing the leg assembly to perform large-angle movements. Taking the first pitch drive 10 as an example, if the second included angle A1 is less than 10°, the leg assembly connected to the first pitch drive 10 may interfere with the second surface 312 of the first pitch drive 10 when rotating inward from a vertical position by a small angle (less than 10°), thus limiting the effect on increasing the angle of movement of the leg assembly. If the second included angle A1 is greater than 70°, the leg assembly may also interfere with the second surface 312 of the first pitch drive 10 when rotating outward in the left-right direction X of the humanoid robot, limiting the angle range of the leg assembly when rotating outward. In summary, if the second included angle A1 and the third included angle A2 are too large or too small, it will limit the range of rotation angles of the leg components and result in poor humanoid effect. However, when the second included angle A1 and the third included angle A2 are within the above range, a rotation angle that is more similar to the human body's movement posture can be obtained, which can achieve a good humanoid effect.

[0088] Optionally, as shown in FIG3, the first pitch drive 10 includes a connected cylindrical housing 11 and a base plate 12. The base plate 12 is housed within the cylindrical housing 11, and the cylindrical housing 11 protrudes from the side of the base plate 12 facing the connecting structure. At least a portion of the first connector 30 and / or at least a portion of the second connector 40 are housed in the space enclosed by the surface of the base plate 12 facing the connecting structure and the cylindrical housing 11.

[0089] Optionally, the cylindrical outer shell 11 and the base plate 12 can be an integral structure manufactured by a one-piece molding process, such as stamping or casting, without limitation. Alternatively, the cylindrical outer shell 11 and the base plate 12 can be a separate structure, with the cylindrical body 41, the first connecting plate 42, and the second connecting plate 43 connected and fixed by welding, bonding, snap-fitting, screwing, or other methods.

[0090] Optionally, the cylindrical housing 11 and the base plate 12 also enclose a receiving space (not shown in the figure), which is located on the side of the base plate 12 facing away from the connector. The first pitch drive 10 includes a second motor, which is received in the receiving space.

[0091] Alternatively, the first pitch drive 10 can be a second motor. The second stator of the second motor is connected and fixed to the first connecting plate 42, specifically, the second stator is connected and fixed to the base plate 12. The second rotor of the second motor can be disposed inside the second stator or sleeved outside the second stator. The second rotor and the second stator can rotate relative to each other around the second axis E2. The second rotor is used to connect to the leg assembly through other components, and the relative rotation of the second rotor and the second stator can drive the leg assembly to rotate relative to the first connecting plate 42 around the second axis E2.

[0092] Optionally, the base plate 12 includes a first contact surface 121 extending in the direction of the second axis E2, with the first contact surface 121 facing the connecting structure. The first contact portion 32 of the first connector 30 is connected to the inner circumferential surface of the cylindrical shell 11, and the first connecting surface 341 of the second connector 40 is connected to the inner circumferential surface of the cylindrical shell 11. The first surface 421 is connected to the first contact surface 121. The connection method can be welding, bonding, snap-fitting, screwing, etc., and there is no specific limitation.

[0093] The structure of the second pitch drive 20 is similar to that of the first pitch drive 10 described above, and can be referred to accordingly without further explanation.

[0094] By setting the first pitch drive 10 to include a connected cylindrical housing 11 and a base plate 12, with the cylindrical housing 11 protruding from the side of the base plate 12 facing the connector, and at least part of the first connector 30 and / or at least part of the second connector 40 being housed between the cylindrical housing 11 and the base plate 12, space can be saved and space utilization improved.

[0095] Optionally, as shown in Figure 7, the second connector 40 further includes a first connecting portion 44, and the first connecting plate 42 includes a third surface 422 opposite to the first surface 421. The first connecting portion 44 connects the third surface 422 to the outer peripheral surface of the cylinder 41.

[0096] Optionally, the first connecting part 44, the cylinder 41, and the first connecting plate 42 can be an integral structure, formed by an integral molding process, such as stamping or casting, without limitation. Alternatively, the first connecting part 44, the cylinder 41, and the first connecting plate 42 can be a separate structure, and can be connected and fixed by welding, bonding, snap-fitting, screwing, or other methods.

[0097] Optionally, the shape of the first connecting part 44 can be plate-shaped, block-shaped, column-shaped, or irregular, etc., without any specific limitation.

[0098] Optionally, the second connector 40 may also include a second connecting portion 45, which connects the second connecting plate 43 and the opposite surface of the second surface 431 to the outer peripheral surface of the cylinder 41. The structure of the second connecting portion 45 is similar to that of the first connecting portion 44 described above, and can be referred to without further description.

[0099] The second connector 40 also includes a first connector 44, which connects the first connector 42 and the cylinder 41, providing a stable connection and high structural strength.

[0100] Optionally, as shown in Figure 7, the first connecting plate 42 has a first weight-reduction hole 423, and / or the second connecting plate 43 has a second weight-reduction hole 432, which can reduce the weight of the second connecting member 40 and achieve the lightweighting of the humanoid robot. Furthermore, when the humanoid robot is working, the first pitch drive 10 and / or the second pitch drive 20 can also dissipate heat through the first weight-reduction hole 423 and the second weight-reduction hole 432, reducing heat accumulation and improving safety and component lifespan.

[0101] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0102] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A connection structure, wherein, A hip assembly for a humanoid robot, the hip assembly including a first hip joint mechanism and a second hip joint mechanism disposed opposite each other in a first direction, the first hip joint mechanism including a first pitch drive, the second hip joint mechanism including a second pitch drive, the connection structure including: A first connector is used to be disposed between the first pitch drive and the second pitch drive, and to connect and fix one end of the first pitch drive and the second pitch drive. The second connector is disposed between the first pitch drive and the second pitch drive, and connects and fixes the other ends of the first pitch drive and the second pitch drive. The second connector is spaced apart from the first connector in a second direction, and the second direction intersects the first direction.

2. The connection structure according to claim 1, wherein, The dimension of the first connector in the first direction is smaller than the dimension of the second connector in the first direction.

3. The connection structure according to claim 1, wherein, The first connector includes a main body, a first contact portion, and a second contact portion. The first contact portion and the second contact portion are connected to two opposite sides of the main body in the first direction. The first contact portion is used to connect with the first pitch drive, and the second contact portion is used to connect with the second pitch drive.

4. The connection structure according to claim 3, wherein, The main body includes a first surface and a second surface opposite to each other in the first direction. The first contact portion is connected to the first surface, and the second contact portion is connected to the second surface. The first surface and the second surface have a first included angle B, which satisfies: 20°≤B≤140°.

5. The connection structure according to claim 4, wherein, The first connector further includes a first part, a connecting part, and a second part connected sequentially in a third direction. The first part and the second part are both used to connect the first pitch drive and the second pitch drive in the second direction. The third direction intersects with both the first direction and the second direction.

6. The connection structure according to claim 5, wherein, The first part includes a first connecting surface facing away from the second connector, and the second part includes a second connecting surface facing away from the second connector. Both the first connecting surface and the second connecting surface are used to connect the first pitch drive and the second pitch drive, and both the first connecting surface and the second connecting surface are arcs in the orthographic projection of the first direction.

7. The connection structure according to any one of claims 1 to 6, wherein, The second connecting member includes a cylinder, a first connecting plate, and a second connecting plate. The first connecting plate and the second connecting plate are connected to opposite sides of the outer peripheral surface of the cylinder. The first connecting plate is used to connect with the first pitch drive, and the second connecting plate is used to connect with the second pitch drive. The cylinder is symmetrical with respect to a first axis extending along the second direction, and both the first connecting plate and the second connecting plate are inclined with respect to the first axis.

8. The connection structure according to claim 7, wherein, The first connecting plate includes a first surface facing away from the cylinder, the first surface being used to connect with the first pitch drive member, and the first surface having a second included angle A1 with the first axis, satisfying: 10°≤A1≤70°.

9. A hip assembly, wherein, The device includes a first hip joint mechanism and a second hip joint mechanism spaced apart in the first direction, and a connection structure as described in any one of claims 1 to 8. The first hip joint mechanism includes a first pitch drive, the second hip joint mechanism includes a second pitch drive, the first connector is disposed between the first pitch drive and the second pitch drive, and connects and fixes one end of the first pitch drive and the second pitch drive; the second connector is disposed between the first pitch drive and the second pitch drive, and connects and fixes the other end of the first pitch drive and the second pitch drive, and the second connector and the first connector are spaced apart in the second direction.

10. The crotch assembly according to claim 9, wherein, The first pitch drive includes a connected cylindrical housing and a base plate, the base plate being housed within the cylindrical housing, and the cylindrical housing protruding from the side of the base plate facing the connecting structure. At least a portion of the first connector and / or at least a portion of the second connector are housed within the space enclosed by the surface of the base plate facing the connecting structure and the cylindrical housing.

11. A humanoid robot, wherein, It includes two leg components and a hip component as described in claim 9 or 10, wherein a first hip joint mechanism and a second hip joint mechanism of the hip component are each connected to one of the leg components.

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