CN118559729B

CN118559729B - Connecting structure, crotch assembly and humanoid robot

Info

Publication number: CN118559729B
Application number: CN202411049678.9A
Authority: CN
Inventors: 董凯; 郑福康; 肖丹萍
Original assignee: Shanghai Fourier Intelligence Co Ltd
Current assignee: Shanghai Fourier Intelligence Co Ltd
Priority date: 2024-08-01
Filing date: 2024-08-01
Publication date: 2024-10-15
Anticipated expiration: 2044-08-01
Also published as: CN118559729A

Abstract

The connecting structure comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is used for being arranged between the first pitching driving piece and the second pitching driving piece and is connected with and fixed with one end of the first pitching driving piece and one end of the second pitching driving piece; the second connecting piece is used for setting up between first every single move driving piece and second every single move driving piece to connect the other end of fixed first every single move driving piece and second every single move driving piece, and second connecting piece and first connecting piece set up at the interval in the second direction, and the second direction intersects with first direction. Through setting up first connecting piece and the second connecting piece that have the interval, the one end of first every single move driving piece and second every single move driving piece is connected to first connecting piece, and the other end of first every single move driving piece and second every single move driving piece is connected to the second connecting piece, can improve connection stability.

Description

Connecting structure, crotch assembly and humanoid robot

Technical Field

The application relates to the technical field of humanoid robots, in particular to a connecting structure, a crotch assembly and a humanoid robot.

Background

The humanoid robot can simulate the appearance and the motion gesture of a human body and has wide development prospect. Similar to the human body, the structure of the humanoid robot includes a leg unit, a crotch unit, a waist unit, and the like, the crotch unit being connected between the leg unit and the waist unit.

The connecting structure of the crotch component is connected with two hip joint mechanisms which are arranged at intervals in the left-right direction of the humanoid robot, and the connection between the two existing hip joint mechanisms is not stable enough.

Disclosure of Invention

The object of the present application is to provide a connecting structure, a crotch member and a humanoid robot, which can improve the connection stability of the connecting structure.

In order to achieve the purpose of the application, the application provides the following technical scheme:

In a first aspect, the present application provides a connection structure for a crotch assembly of a humanoid robot, the crotch assembly comprising a first hip mechanism and a second hip mechanism arranged opposite in a first direction, the first hip mechanism comprising a first pitch drive and the second hip mechanism comprising a second pitch drive, the connection structure comprising:

The first connecting piece is used for being arranged between the first pitching driving piece and the second pitching driving piece and fixedly connecting one ends of the first pitching driving piece and the second pitching driving piece;

The second connecting piece is used for being arranged between the first pitching driving piece and the second pitching driving piece, and is fixedly connected with the other ends of the first pitching driving piece and the second pitching driving piece, the second connecting piece and the first connecting piece are arranged at intervals in a second direction, and the second direction is intersected with the first direction.

According to the application, the connecting structure is adopted, and the first connecting piece and the second connecting piece with intervals are arranged, so that one ends of the first pitching driving piece and the second pitching driving piece are fixedly connected with the first connecting piece, the other ends of the first pitching driving piece and the second pitching driving piece are fixedly connected with the second connecting piece, and the first pitching driving piece and the second pitching driving piece are fixedly connected with each other through the first connecting piece and the second connecting piece, so that the connecting stability can be improved.

In one embodiment, the first connector has a dimension in the first direction that is less than a dimension of the second connector in the first direction. So set up, compare in the axis of present every single move driving piece with the scheme of second direction vertically, can make the axis of shank subassembly and the axis of crotch subassembly nearer in first direction distance, with human body structure more similar for when crotch subassembly drive shank subassembly was walked the action, the walking action was more anthropomorphic.

In one embodiment, the first connector includes a main body portion, 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 portion in the first direction, the first contact portion is used for being connected with the first pitch driving member, and the second contact portion is used for being connected with the second pitch driving member. So set up, first contact portion is connected with first every single move driving piece, and second contact portion is connected with second every single move driving piece, and first connecting piece is connected fixed one end of first every single move driving piece and second every single move driving piece, simple structure, the connection is stable.

In one embodiment, the main body portion 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, the second contact portion is connected to the second surface, and the first surface and the second surface have a first included angle B, so that: b is more than 0 and less than or equal to 140 degrees. The two pitching driving parts are obliquely arranged to shorten the distance, and the first included angle B is properly arranged to enable an included angle to be formed between the first surface and the second surface, so that the first contact part is in an oblique state, and is similar to the oblique angle of the first pitching driving part, and the connection is more stable. If the first included angle B is too large, in the left-right direction of the humanoid robot, the leg assembly may interfere due to contact with the second surface of the first pitch driving element when rotating outwards, so that the angle range of the leg assembly when rotating outwards is limited. Therefore, when the first included angle B is arranged in the range, a rotating angle similar to the motion gesture of a human body can be obtained, and a good humanoid effect can be achieved.

In one embodiment, the first connector further comprises a first portion, a connecting portion and a second portion connected in sequence in a third direction, the first portion and the second portion being each configured to connect the first pitch drive and the second pitch drive in the second direction, the third direction intersecting the first direction and the second direction. The first contact part and the second contact part are symmetrically arranged on two sides of the main body part in the third direction, the first part and the second part are symmetrically arranged on two sides of the connecting part in the first direction, the first connecting piece is of a symmetrical structure in the second direction and the third direction, the processing is simple, and the direction of the first connecting piece in the second direction only needs to be distinguished during assembly, so that the assembly is convenient.

In one embodiment, the first portion includes a first connection surface facing away from the second connection member, the second portion includes a second connection surface facing away from the second connection member, the first connection surface and the second connection surface are both used for connecting the first pitch drive member and the second pitch drive member, and the first connection surface and the second connection surface are both arcs in orthographic projection in the first direction. So set up, because first every single move driving piece and second every single move driving piece all include the tube-shape shell, first junction surface and second junction surface are similar with the shell shape of first every single move driving piece and second every single move driving piece, connect compacter, can improve connection stability.

In one embodiment, the second connecting piece comprises a cylinder, a first connecting plate and a second connecting plate, wherein the first connecting plate and the second connecting plate are connected to two opposite sides of the outer peripheral surface of the cylinder, the first connecting plate is used for being connected with the first pitching driving piece, and the second connecting plate is used for being connected with the second pitching driving piece; the cylinder body is symmetrical relative to a first axis extending along the second direction, and the first connecting plate and the second connecting plate are inclined relative to the first axis. Through setting up barrel, first connecting plate and second connecting plate, waist driving piece's at least part can be acceptd in the acceptment chamber of barrel, can improve space utilization, and first connecting plate and the second connecting plate of putting to one side are connected with first every single move driving piece and second every single move driving piece respectively, can make the distance between two every single move driving pieces shorten, saves space.

In one embodiment, the first connecting plate includes a first surface facing away from the barrel, the first surface being configured to be connected to the first pitch drive, the first surface having a second angle A1 with the first axis, such that: a1 is more than 0 DEG and less than or equal to 70 deg. The second included angle A1 is larger than 0 degree, when the two pitching driving pieces are obliquely arranged to shorten the distance and save the space, the inclination angle of the first connecting plate is similar to that of the first pitching driving piece, the connection is more stable, the second included angle A1 is too large to limit the rotation angle range of the leg assembly, the humanoid effect is poor, and the second included angle A1 and the third included angle A2 can obtain rotation angles similar to the human body movement gesture in the range, so that the humanoid effect can be good.

In a second aspect, the present application also provides a crotch assembly comprising first and second hip joint mechanisms arranged at intervals in the first direction, the first hip joint mechanism comprising a first pitch drive and the second hip joint mechanism comprising a second pitch drive, the first connector being arranged between the first and second pitch drives and connecting and fixing one ends of the first and second pitch drives; the second connecting piece is arranged between the first pitching driving piece and the second pitching driving piece, is fixedly connected with the other ends of the first pitching driving piece and the second pitching driving piece, and is arranged at intervals in the second direction with the first connecting piece. Through setting up first connecting piece and the second connecting piece that have the interval, the both ends of first every single move driving piece and second every single move driving piece are connected fixedly through first connecting piece and second connecting piece respectively, can improve the connection stability between first every single move driving piece and the second every single move driving piece, and crotch subassembly's stable in structure, and can independently carry out dismouting maintenance to first connecting piece or second connecting piece, need not to change whole connection structure, be convenient for operate.

In one embodiment, the first pitch driving element includes a cylindrical housing and a bottom plate connected to each other, the bottom plate is accommodated in the cylindrical housing, the cylindrical housing protrudes from a surface of the bottom plate facing the connection structure, and at least part of the first connecting element and/or at least part of the second connecting element is accommodated in a space surrounded by a surface of the bottom plate facing the connection structure and the cylindrical housing. By arranging at least part of the first connecting piece and/or at least part of the second connecting piece to be accommodated between the cylindrical shell and the bottom plate, space can be saved, and space utilization rate can be improved.

In a third aspect, the present application also provides a humanoid robot comprising two leg assemblies and a crotch assembly as described in the various embodiments of the second aspect, the first and second hip mechanisms of the crotch assembly each being connected to one of the leg assemblies. Through setting up unique crotch subassembly, the structural setting of crotch subassembly is reasonable, can improve humanoid robot's structural stability.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a crotch assembly of one embodiment;

FIG. 2 is a front view of a crotch assembly of one embodiment;

FIG. 3 is a partial perspective view of the crotch assembly of one embodiment;

FIG. 4 is a perspective view of a first connector of an embodiment;

FIG. 5 is a front view of the first connector of one embodiment;

FIG. 6 is a side view of a first connector of an embodiment;

FIG. 7 is a perspective view of a second connector of an embodiment;

fig. 8 is a front view of a second connector of an embodiment.

Reference numerals illustrate:

A 100-crotch assembly;

10-a first pitch drive, 11-a cylindrical housing, 12-a base plate, 121-a first contact surface, 122-a second contact surface;

20-a second pitch drive;

30-first connector, 31-main body, 311-first face, 312-second face, 32-first contact, 33-second contact, 34-first portion, 341-first connection face, 35-connection, 351-third connection face, 36-second portion, 361-second connection face;

40-second connecting pieces, 41-cylinder bodies, 411-accommodating cavities, 42-first connecting plates, 421-first surfaces, 422-third surfaces, 423-first lightening holes, 43-second connecting plates, 431-second surfaces, 432-second lightening holes, 44-first connecting parts and 45-second connecting parts;

50-lumbar drives;

E1-a first axis, E2-a second axis, E3-a third axis, B-a first included angle, A1-a second included angle, A2-a third included angle;

The left-right direction of the X-humanoid robot, the front-back direction of the Y-humanoid robot, and the up-down direction of the Z-humanoid robot.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein 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 herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 and 2, an embodiment of the present application provides a humanoid robot including a leg assembly (not shown) and a crotch assembly 100 in the embodiment of the present application, and a first hip joint mechanism and a second hip joint mechanism of the crotch assembly 100 are connected to the leg assembly.

Optionally, the humanoid robot further comprises a waist feature (not shown in the figures), to which the crotch feature 100 is further connected. The humanoid robot comprises two leg assemblies, and the first hip joint mechanism and the second hip joint mechanism are respectively connected with one of the leg assemblies.

The specific structures of the waist component and the leg component are not limited, and can be set to be in a humanoid shape. The crotch member 100 is connected to and rotatable relative to the waist member for a human-like sacral joint function. The first and second hip mechanisms of the crotch assembly 100 are respectively connected to one leg assembly and are rotatable relative to each other to perform a human-like hip function. For convenience of subsequent description, a coordinate system XYZ is established, wherein 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.

In the embodiment of the application, the unique crotch assembly 100 is arranged, so that the structural arrangement of the crotch assembly 100 is reasonable, and the structural stability of the humanoid robot can be improved.

Referring to fig. 1 and 2, the present embodiment further provides a crotch assembly 100, which includes a first hip joint mechanism including a first pitch drive member 10, a second hip joint mechanism including a second pitch drive member 20, and a connection structure disposed between the first pitch drive member 10 and the second pitch drive member 20 and connecting and fixing the first pitch drive member 10 and the second pitch drive member 20.

Alternatively, the first pitch drive 10 and the second pitch drive 20 are disposed opposite and spaced apart in the X direction. The connection manner between the connection structure and the first pitch drive member 10 and the second pitch drive member 20 may be welding, bonding, clamping, screwing, or the like, and is not particularly limited.

The connecting structure is used for simulating the hip joint function of a human body, and the leg assembly can rotate through the connecting structure. The leg assembly can swing in the X direction and the Y direction by taking the connecting structure as the center, and can also rotate around the center line of the leg assembly. When the leg component swings in the X direction, the leg component can move in the X direction by similar actions of left and right split of the legs or leg gathering. The pitching driving piece drives the leg component to rotate around the axis, so that the leg component can swing in the Y direction, the leg component can perform leg kicking action around the leg similar to a human body, and the movement of the humanoid robot in the Y direction can be realized. When the leg component rotates around the central line of the leg component, the leg component can rotate like a human body, and the turning of the humanoid robot can be realized.

In consideration of the fact that the humanoid robot should simulate the appearance and the movement posture of a human body as much as possible, the movement amplitude of the leg assembly of the humanoid robot should simulate the movement amplitude of the leg of the human body as much as possible, i.e. the leg assembly can swing outwards to a certain angle in the X direction.

The crotch unit 100 of the embodiment of the present application can improve the structural stability of the humanoid robot by adopting the connecting structure of the embodiment of the present application, which connects and fixes the first pitch drive member 10 and the second pitch drive member 20.

The following describes the connection structure of the embodiment of the present application in detail.

Optionally, when the humanoid robot is in a state that two feet stand upright on a horizontal plane, the first direction is an X direction, the second direction is a Z direction, and the third direction is a Y direction.

Referring to fig. 3, 4 and 7, the present application provides a connection structure for a crotch assembly 100 of a humanoid robot, the connection structure being for being disposed between a first pitch drive member 10 and a second pitch drive member 20, the connection structure including a first connection member 30 and a second connection member 40.

The first and second connecting members 30 and 40 are materials having high structural strength, and may be metal materials, such as aluminum, aluminum alloy, magnesium alloy, iron alloy, etc., high strength plastics, ceramics, etc.

Alternatively, the first connecting member 30 is configured to be disposed between the first pitch driving member 10 and the second pitch driving member 20, and fixedly connect one ends of the first pitch driving member 10 and the second pitch driving member 20. The second connecting piece 40 is configured to be disposed between the first pitch driving piece 10 and the second pitch driving piece 20, and is connected to and fixed to the other ends of the first pitch driving piece 10 and the second pitch driving piece 20, and the second connecting piece 40 is disposed at intervals from the first connecting piece 30 in the Z direction.

The first connecting piece 30 may be an integral structure, that is, the first connecting piece 30 is an integral structure manufactured by an integral molding process, and the integral molding process may specifically be stamping, casting, etc., without limitation. The first connecting piece 30 may be a split structure, and the components are connected and fixed by welding, riveting, clamping, screwing, and the like.

Similarly, the second connecting member 40 may be an integral structure manufactured by an integral molding process, or may be a split structure, and the manufacturing process and the connecting manner are similar to those of the first connecting member 30, which are not described in detail.

According to the connecting structure in the embodiment of the application, the first connecting piece 30 and the second connecting piece 40 with intervals are arranged, the first connecting piece 30 is used for fixedly connecting one ends of the first pitching driving piece 10 and the second pitching driving piece 20, and the second connecting piece 40 is used for fixedly connecting the other ends of the first pitching driving piece 10 and the second pitching driving piece 20, so that the connecting stability can be improved.

In addition, the first connector 30 and the second connector 40 are provided, and the first connector 30 or the second connector 40 can be independently operated during disassembly and maintenance, so that the whole connecting structure is not required to be replaced, and the operation is convenient.

Alternatively, 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.

Alternatively, in a state in which the humanoid robot stands upright with both feet on a horizontal plane, the first link 30 is closer to the foot of the humanoid robot (i.e., the horizontal plane) in the Z direction, and the second link 40 is closer to the head of the humanoid robot in the Z direction.

Alternatively, the first connecting member 30 and the second connecting member 40 are symmetrical with respect to the same symmetry axis in the X direction, that is, both ends of the second connecting member 40 in the X direction are further outside than both ends of the first connecting member 30 in the X direction.

Alternatively, the first pitch drive 10 and the second pitch drive 20 are retracted inwardly from the second support in the left-right direction X of the humanoid robot, rather than being deployed outwardly. So set up, compare in the current vertical scheme of axis and Z direction of every single move driving piece, can make the axis of shank subassembly and the axis (i.e. first axis E1) of crotch subassembly 100 more closely in the left and right directions X of humanoid robot, similar to human body structure for when crotch subassembly 100 drive shank subassembly do the walking action, the walking action is more anthropomorphic.

Alternatively, as shown in fig. 2 and 4, the first connector 30 includes a main body portion 31, a first contact portion 32, and a second contact portion 33, the first contact portion 32 and the second contact portion 33 are connected at opposite sides of the main body portion 31 in the X direction, the first contact portion 32 is for connection with the first pitch drive 10, and the second contact portion 33 is for connection with the second pitch drive 20.

Alternatively, the connection manner between the first contact portion 32 and the first pitch drive member 10 and the connection manner between the second contact portion 33 and the second pitch drive member 20 may be riveting, clamping, screwing, or the like, which is not particularly limited.

Alternatively, after the first connecting member 30 is mounted with the first pitch drive member 10 and the second pitch drive member 20, both ends of the main body portion 31 in the Y direction are exposed to the first pitch drive member 10 and the second pitch drive member 20.

By providing the first link 30 including the first contact portion 32 and the second contact portion 33 respectively located at both sides of the main body portion 31 opposite to each other in the X direction, the first contact portion 32 is connected with the first pitch drive element 10, the second contact portion 33 is connected with the second pitch drive element 20, and the first link 30 connects and fixes one ends of the first pitch drive element 10 and the second pitch drive element 20, the connection is stable.

Alternatively, as shown in fig. 5, the main body 31 includes a first surface 311 and a second surface 312 opposite to each other in the X direction, the first contact portion 32 is connected to the first surface 311, the second contact portion 33 is connected to the second surface 312, and the first surface 311 and the second surface 312 have a first included angle B, which satisfies: b is more than 0 and less than or equal to 140 degrees.

The value of the first included angle B may specifically be 10 °, 20 °, 30 °,40 °, 50 °,60 °, 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, and the like, without limitation.

Satisfying 0 ° < b+.ltoreq.140°, the degree of inclination of the first pitch drive member 10 and the second pitch drive member 20 with respect to the first link member 30 is moderate, so that the leg assembly can perform a large-angle motion. If the first included angle B is greater than 140 °, the leg assembly may interfere with the second face 312 of the first pitch drive 10 when rotating outwardly in the left-right direction X of the humanoid robot, limiting the angular range of the leg assembly when rotating outwardly. In a word, the first contained angle B is too big or too little can both cause the restriction to the rotation angle scope of shank subassembly, and imitate the human effect not good, and when first contained angle B is in above-mentioned scope, can obtain comparatively with human motion gesture similar rotation angle, can have good imitate the human effect.

Alternatively, as shown in fig. 6, the first link 30 further includes a first portion 34, a connecting portion 35, and a second portion 36 connected in sequence in the Y direction, and each of the first portion 34 and the second portion 36 is used to connect the first pitch drive 10 and the second pitch drive 20 in the X direction.

Optionally, the first contact portion 32 and the second contact portion 33 are symmetrically disposed on two sides of the main body portion 31 in the X direction, the first portion 34 and the second portion 36 are symmetrically disposed on two sides of the connecting portion 35 in the Y direction, the first connecting member 30 is of a symmetrical structure in the X direction and the Y direction, the processing is simple, and only the direction of the first connecting member 30 in the Z direction needs to be distinguished during assembly, so that the assembly is convenient.

Optionally, the first portion 34 includes a first connection surface 341 facing away from the second connection member 40, the second portion 36 includes a second connection surface 361 facing away from the second connection member 40, the first connection surface 341 and the second connection surface 361 are used for the first pitch drive member 10 and the second pitch drive member 20, and the first connection surface 341 and the second connection surface 361 are both arc-shaped in an orthographic projection in the first direction.

Optionally, the first connecting surface 341 is a first edge in an orthographic projection of the first connecting member 30 along the X direction, the second connecting surface 361 is a second edge in an orthographic projection of the first connecting member 30 along the X direction, the first connecting surface 341 and the second connecting surface 361 are arc surfaces with overlapping circle centers and equal radius, and the first edge and the second edge are arcs with equal radius and length.

Optionally, the connecting portion 35 includes a third connecting surface 351 facing away from the second connecting member 40, where the third connecting surface 351 may be a plane (as shown in fig. 6) or an arc surface, which is not limited in particular.

The first pitch drive element 10 and the second pitch drive element 20 may be substantially cylindrical, and by providing the first connection surface 341 and the second connection surface 361 to be arc lines in the orthographic projection in the first direction, the connection between the first connection surface 341 and the second connection surface 361 and the first pitch drive element 10 and the second pitch drive element 20 is tighter, and the connection stability may be improved.

Alternatively, as shown in fig. 2 and 7, the second connecting member 40 includes a cylindrical body 41, a first connecting plate 42 and a second connecting plate 43, the first connecting plate 42 and the second connecting plate 43 being connected at opposite sides of the outer peripheral surface of the cylindrical body 41, the first connecting plate 42 being for connection with the first pitch drive member 10, the second connecting plate 43 being for connection with the second pitch drive member 20; the cylinder 41 is symmetrical with respect to a first axis E1 extending in the Z direction, and both the first connection plate 42 and the second connection plate 43 are inclined with respect to the first axis E1.

Alternatively, the cylinder 41 has a housing cavity 411, the housing cavity 411 being for housing the lumbar drive 50, the housing cavity 411 having a first axis E1 extending in the Z direction.

The shape of the cylindrical body 41 may be a cylinder, a prism, or the like, and the side wall surface of the housing cavity 411 may be a circle, a regular polygon, or the like in the orthographic projection in the Z direction, without limitation.

Alternatively, the accommodating cavity 411 penetrates through two opposite end surfaces of the cylinder 41 along the Z direction, or the accommodating cavity 411 has an opening, which is opened on the end surface of the cylinder 41 along the Z direction and facing the head of the humanoid robot, and is not particularly limited.

Alternatively, the cylinder 41 is sleeved on the outer periphery of the waist driving member 50, and the waist driving member 50 is used for connecting with the waist assembly. The lumbar drive 50 is rotatable about the first axis E1 relative to the barrel 41 to drive rotation of the lumbar assembly about the first axis E1 relative to the barrel 41. The first axis E1 may be extended substantially in a vertical direction in a state where the humanoid robot stands upright with both feet on a horizontal plane.

Alternatively, the lumbar drive 50 is a separate motor, at least part of which is housed in the housing cavity 411. Alternatively, the cylinder 41 is a magnetic member, the lumbar driver 50 and the cylinder 41 are integrated into a first motor, and at least part of the lumbar driver 50 is accommodated in the accommodating cavity 411 and rotates relative to the cylinder 41. In the above manner, the space utilization can be increased by utilizing the internal space of the cylinder 41.

Alternatively, the lumbar drive 50 may be integrated with the barrel 41 as a first motor, the barrel 41 acting as a first stator of the first motor, and the lumbar drive 50 acting as a first rotor of the first motor. Alternatively, the waist driving member 50 is a first motor, a first stator of the first motor is fixedly connected with the cylinder 41, and a first rotor of the first motor is disposed in the first stator and can rotate relative to the first stator. The first output shaft of the first rotor is fixedly connected with the waist component, and the rotation of the waist component relative to the first stator, namely the rotation of the waist component relative to the connecting piece, is realized through the rotation of the first rotor relative to the first stator, so that the structure can be simplified.

Alternatively, as shown in fig. 2, 7 and 8, a first connection plate 42 is connected to the outer peripheral surface of the cylinder 41, and the first connection plate 42 includes a first surface 421 facing away from the cylinder 41, and the first surface 421 is configured to be connected to the first pitch drive member 10. The second connecting plate 43 is connected to the outer peripheral surface of the barrel 41 opposite to the first connecting plate 42, the second connecting plate 43 includes a second surface 431 opposite to the barrel 41, the second surface 431 is used for connecting with the second pitch driving element 20, and the first surface 421 and the second surface 431 are inclined relative to the first axis E1.

Alternatively, the shape of the first connection plate 42 and the shape of the second connection plate 43 are not particularly limited, and may be semicircular, fan-shaped, polygonal, or the like. The first connection plate 42 and the second connection plate 43 may be directly connected or indirectly connected to the cylinder 41.

Optionally, the first connection plate 42 and the second connection 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.

It should be understood that symmetry of the present embodiment refers to a symmetrical arrangement where the first and second hip mechanisms drive the two leg assemblies symmetrically, respectively, e.g., where both leg assemblies are in an upright state or have the same included angle with the first axis E1, where the first and second hip mechanisms 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 one can be brought into the other posture symmetrical with the former with respect to the first axis E1 by posture adjustment.

Alternatively, as shown in fig. 2, the first pitch drive 10 is configured to drive the leg assembly associated therewith for rotation about the second axis E2 and the second pitch drive 20 is configured to drive the leg assembly associated therewith for rotation about the third axis E3. The first axis E1 intersects the second axis E2 with an inclined included angle, and the first axis E1 intersects the third axis E3 with an inclined included angle.

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.

The first pitch drive member 10 may have a substantially cylindrical shape, and one end in the axial direction (i.e., the extending direction of the second axis E2) thereof is fixedly connected 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 each other in the extending direction of the second shaft, the first contact surface 121 being for connection fixation with the first surface 421, the second contact surface 122 being for connection with other members for connection with the leg assembly. Similarly, the second pitch drive member 20 is connected to the second connecting plate 43 and the leg assembly in a similar manner, and is not limited specifically with reference to the first pitch drive member 10 described above.

In the second connecting piece 40 in the embodiment of the present application, by arranging the cylinder 41, the first connecting plate 42 and the second connecting plate 43, at least part of the waist driving piece 50 can be accommodated in the accommodating cavity 411 of the cylinder 41, so as to improve the space utilization, and the obliquely arranged first connecting plate 42 and the obliquely arranged second connecting plate 43 are respectively connected with the first pitching driving piece 10 and the second pitching driving piece 20, so that the distance between the two pitching driving pieces can be shortened, and the space can be saved.

Alternatively, as shown in fig. 8, the first surface 421 has a second angle A1 with the first axis E1, which satisfies: a1 is more than 0 DEG and less than or equal to 70 deg.

The value of the second included angle A1 may specifically be 5 °, 10 °, 15 °, 20 °, 25 °, 30 °,35 °, 40 °, 45 °, 50 °, 55 °, 60 °, 65 °, 70 °, and the like, without limitation.

Optionally, the second surface 431 has a third angle A2 with the first axis E1, which satisfies: a2 is more than 0 DEG and less than or equal to 70 deg.

The value of the third included angle A2 may specifically be 5 °, 10 °, 15 °, 20 °, 25 °, 30 °,35 °, 40 °, 45 °, 50 °, 55 °, 60 °, 65 °, 70 °, and the like, without limitation.

Optionally, the second included angle A1 is the same as the third included angle A2, so that the inclination angles of the first connection plate 42 and the second connection plate 43 are the same.

Satisfies 0 DEG & lt A1 & lt 70 DEG, 0 DEG & lt A2 & lt 70 DEG, and makes the inclination degree of the first pitching driving member 10 and the second pitching driving member 20 relative to the connecting member moderate, so that the leg assembly can perform large-angle motion. Taking the first pitching driving element 10 as an example, the second included angle A1 is larger than 0 °, when the two pitching driving elements are obliquely arranged to shorten the distance and save the space, the inclination angle of the first connecting plate is similar to that of the first pitching driving element, and the connection is more stable. If the second included angle A1 is greater than 70 °, the leg assembly may interfere with the second face 312 of the first pitch drive 10 when rotating outwardly in the left-right direction X of the humanoid robot, limiting the angular range of the leg assembly when rotating outwardly. In a word, when the second included angle A1 and the third included angle A2 are in the above range, a rotation angle similar to the motion gesture of the human body can be obtained, and a good humanoid effect can be achieved.

Alternatively, as shown in fig. 3, the first pitch driving element 10 includes a cylindrical housing 11 and a bottom plate 12 connected to each other, the bottom plate 12 is accommodated in the cylindrical housing 11, the cylindrical housing 11 protrudes from a surface of the bottom plate 12 facing the connection structure, and at least part of the first connecting element 30 and/or at least part of the second connecting element 40 is accommodated in a space surrounded by a surface of the bottom plate 12 facing the connection structure and the cylindrical housing 11.

Alternatively, the cylindrical housing 11 and the bottom plate 12 may be an integral structure manufactured by an integral molding process, and the integral molding process may specifically be stamping, casting, etc., without limitation. The cylindrical housing 11 and the bottom plate 12 may be in a split structure, and the cylindrical body 41, the first connecting plate 42, and the second connecting plate 43 may be connected and fixed by welding, bonding, clamping, screwing, or the like.

Optionally, the cylindrical housing 11 and the bottom plate 12 further enclose a receiving space (not shown in the figure), which is located on the side of the bottom plate 12 facing away from the connection member. The first pitch drive member 10 includes a second motor, and the second motor is accommodated in the accommodating space.

Or the first pitching driving element 10 is a second motor, a second stator of the second motor is fixedly connected with the first connecting plate 42, specifically, the second stator is fixedly connected with the bottom plate 12, a second rotor of the second motor can be arranged in the second stator or sleeved outside the second stator, and the second rotor and the second stator can rotate around the second axis E2. The second rotor is adapted to be coupled to the leg assembly by other means and is adapted to drive the leg assembly in rotation about the second axis E2 relative to the first link plate 42 by relative rotation of the second rotor and the second stator.

Optionally, the base plate 12 comprises a first contact surface 121 in the direction of extension of the second axis E2, the first contact surface 121 being directed towards the connection structure. The first contact portion 32 of the first connector 30 is connected to the inner peripheral surface of the cylindrical housing 11, the first connection surface 341 of the second connector 40 is connected to the inner peripheral surface of the cylindrical housing 11, and the first surface 421 is connected to the first contact surface 121, which may be welded, bonded, clamped, screwed, or the like, without limitation.

The structure of the second pitch drive member 20 is similar to that of the first pitch drive member 10 described above, and reference is made thereto, and details thereof will not be repeated.

By providing the first pitch drive member 10 comprising the cylindrical housing 11 and the bottom plate 12 connected to each other, the cylindrical housing 11 protrudes from the surface of the bottom plate 12 facing the connection member, and at least part of the first connection member 30 and/or at least part of the second connection member 40 is/are accommodated between the cylindrical housing 11 and the bottom plate 12, so that space can be saved and space utilization can be improved.

Alternatively, as shown in fig. 7, the second connecting member 40 further includes a first connecting portion 44, the first connecting plate 42 includes a third surface 422 opposite to the first surface 421, and the first connecting portion 44 connects the third surface 422 with the outer circumferential surface of the cylinder 41.

Alternatively, the first connecting portion 44, the cylinder 41 and the first connecting plate 42 may be formed as an integral structure by an integral molding process, and the integral molding process may specifically be stamping, casting, etc., without limitation. The first connecting portion 44, the cylinder 41 and the first connecting plate 42 may be in a split structure, and the first connecting portion 44, the cylinder 41 and the first connecting plate 42 may be connected and fixed by welding, bonding, clamping, screwing, or the like.

Alternatively, the shape of the first connection portion 44 may be plate-like, block-like, columnar, irregular, or the like, without being particularly limited.

Optionally, the second connecting piece 40 further includes a second connecting portion 45, the second connecting portion 45 connects the surface of the second connecting plate 43 opposite to the second surface 431 and the outer peripheral surface of the cylinder 41, and the structure of the second connecting portion 45 is similar to that of the first connecting portion 44, which is not described herein.

The second connecting piece 40 further comprises a first connecting portion 44, the first connecting portion 44 is connected with the first connecting plate 42 and the cylinder 41, connection is stable, and structural strength of the second connecting piece 40 is high.

Optionally, as shown in fig. 7, the first connection plate 42 is provided with the first lightening hole 423 and/or the second connection plate 43 is provided with the second lightening hole 432, so that the weight of the second connection member 40 can be reduced, and the weight of the humanoid robot can be reduced. In addition, when the humanoid robot works, the first pitching driving member 10 and/or the second pitching driving member 20 can also dissipate heat through the first weight-reducing holes 423 and the second weight-reducing holes 432, thereby reducing heat accumulation, improving use safety and prolonging the service life of parts.

In the description of the embodiments of the present application, it should be noted that, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to the orientation or positional relationship described based on the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The above disclosure is only a preferred embodiment of the present application, and it should be understood that the scope of the application is not limited thereto, but all or part of the procedures for implementing the above embodiments can be modified by one skilled in the art according to the scope of the appended claims.

Claims

1. A connection structure characterized by a crotch assembly for a humanoid robot, the crotch assembly comprising a first hip mechanism and a second hip mechanism disposed opposite in a first direction, the first hip mechanism comprising a first pitch drive, the second hip mechanism comprising a second pitch drive, the connection structure comprising:

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

3. The connection structure according to claim 1, wherein the first connection member includes a main body portion, a first contact portion and a second contact portion, the first contact portion and the second contact portion being connected at opposite sides of the main body portion in the first direction, the first contact portion being for connection with the first pitch drive member, the second contact portion being for connection with the second pitch drive member.

4. A connection according to claim 3, wherein the body portion comprises a first face and a second face opposite in the first direction, the first contact portion being connected to the first face, the second contact portion being connected to the second face, the first face and the second face having a first included angle B, satisfying: b is more than 0 and less than or equal to 140 degrees.

5. The connection structure according to claim 4, wherein the first connection member further includes a first portion, a connection portion, and a second portion that are sequentially connected in a third direction, the first portion and the second portion each being for connecting the first pitch drive member and the second pitch drive member in the second direction, the third direction intersecting both the first direction and the second direction.

6. The connection structure of claim 5, wherein the first portion includes a first connection face facing away from the second connection member, the second portion includes a second connection face facing away from the second connection member, the first connection face and the second connection face are each for connecting the first pitch drive member and the second pitch drive member, and the first connection face and the second connection face are each arcs in an orthographic projection of the first direction.

7. The connection structure according to any one of claims 1 to 6, wherein the second connection member includes a cylindrical body, a first connection plate and a second connection plate, the first connection plate and the second connection plate being connected on opposite sides of an outer peripheral surface of the cylindrical body, the first connection plate being for connection with the first pitch drive member, the second connection plate being for connection with the second pitch drive member; the cylinder body is symmetrical relative to a first axis extending along the second direction, and the first connecting plate and the second connecting plate are inclined relative to the first axis.

8. The connection structure of claim 7, wherein the first connection plate includes a first surface facing away from the barrel, the first surface for connection with the first pitch drive, the first surface having a second angle A1 with the first axis, such that: a1 is more than 0 DEG and less than or equal to 70 deg.

9. A crotch assembly comprising first and second hip joint mechanisms disposed at intervals in the first direction, the first hip joint mechanism including a first pitch drive member, the second hip joint mechanism including a second pitch drive member, and a connecting structure according to any one of claims 1 to 8, the first connecting member being disposed between the first pitch drive member and the second pitch drive member and connecting and fixing one ends of the first pitch drive member and the second pitch drive member; the second connecting piece is arranged between the first pitching driving piece and the second pitching driving piece, is fixedly connected with the other ends of the first pitching driving piece and the second pitching driving piece, and is arranged at intervals in the second direction with the first connecting piece.

10. The crotch assembly of claim 9 wherein the first pitch drive comprises a cylindrical shell and a bottom plate connected, the bottom plate being received in the cylindrical shell and the cylindrical shell protruding from a side of the bottom plate facing the connecting structure, at least part of the first and/or at least part of the second connecting members being received in a space enclosed by a surface of the bottom plate facing the connecting structure and the cylindrical shell.

11. A humanoid robot comprising two leg assemblies and a crotch assembly as claimed in claim 9 or 10, the first and second hip mechanisms of the crotch assembly each being connected to one of the leg assemblies.