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CN-224209989-U - Waist hip subassembly of humanoid robot

CN224209989UCN 224209989 UCN224209989 UCN 224209989UCN-224209989-U

Abstract

The utility model discloses a waist and hip assembly of a humanoid robot, which comprises a rear plate, a middle driving fixing piece, a waist side rotating module, a middle driving turnover connecting piece and a front plate, wherein the waist side rotating module and the two hip side rotating modules are fixed on the rear plate, the middle driving fixing piece is detachably connected with the rear plate, the output end of the waist side rotating module is connected with the waist side rotating turnover connecting piece penetrating through the waist side rotating module in the axial direction, the output ends of the two hip side rotating modules are respectively connected with the hip side rotating turnover connecting piece penetrating through the waist side rotating turnover connecting piece in the axial direction, and the front plate is connected with one end, far away from the rear plate, of the middle driving fixing piece and forms a sandwich structure together with the rear plate. The axial load is dispersed to the front plate and the rear plate by the double-side supporting structure and the deep groove ball bearing, the overturning moment born by the motor bearing is reduced, the service life of key parts is prolonged, and the assembly is convenient to install and improves coordination and expansibility of upper limbs and lower limbs of the robot.

Inventors

  • CHEN YUXIAO
  • HU LUHUI

Assignees

  • 智澄英达(杭州)科技有限公司

Dates

Publication Date
20260508
Application Date
20250520

Claims (9)

  1. 1. A humanoid robot lumbar hip assembly, comprising: A back plate (1) on which a waist side rotating module (10) and two hip side rotating modules (8) are fixed; the middle driving fixing piece (2) is detachably connected with the rear plate (1); The output ends of the waist side rotating modules (10) are connected with waist side rotating turnover connecting pieces (11) penetrating through the waist side rotating modules in the axial direction, and the output ends of the two hip side rotating modules (8) are respectively connected with hip side rotating turnover connecting pieces (13) penetrating through the waist side rotating modules in the axial direction; the front plate (3) is connected with one end of the middle driving fixing piece (2) far away from the rear plate (1), and forms a sandwich structure together with the rear plate (1).
  2. 2. The waist and hip assembly according to claim 1, wherein the front plate (3) is provided with three bearing mounting holes, each hole is internally provided with a bearing, wherein a first bearing is sleeved on the shaft shoulder part of the waist side rotating turnover connecting piece (11), and the other two bearings are sleeved on the shaft shoulder parts of the two hip side rotating turnover connecting pieces (13) respectively.
  3. 3. The waist and hip assembly according to claim 2, wherein the three bearings are deep groove ball bearings, an inner ring of the first bearing is in interference fit with a shaft shoulder of the waist side-turning turnover connecting piece (11), and an outer ring is in transition fit with a bearing mounting hole of the front plate (3).
  4. 4. The lumbar hip assembly according to claim 1, wherein the intermediate drive fixture (2) is mounted vertically between a front plate and a rear plate arranged in parallel, the intermediate drive fixture (2) separating a lumbar side turn module (10) and two hip side turn modules (8).
  5. 5. The waist-hip assembly according to claim 1, wherein the two hip-side turn-around connectors (13) are symmetrically distributed with respect to the waist-side turn-around connector (11), the three axes being located in the same coronal plane.
  6. 6. The waist and hip assembly according to any one of claims 1 to 5, wherein a waist turnover module (12) is arranged in the waist side turnover connecting piece (11), and the waist turnover modules (12) are also arranged in the two hip side turnover connecting pieces (13).
  7. 7. The waist and hip assembly according to claim 6, wherein the three sides of the middle driving fixing piece (2) are provided with driver fixing plates (15), mounting positions are arranged above the driver fixing plates (15), and motor drivers (9) corresponding to the modules are fixed on the mounting positions.
  8. 8. The waist and hip assembly according to claim 7, wherein the waist side rotating module (10) and the hip side rotating module (8) are internally provided with hollow channels, and a power line and a communication line which are connected with a corresponding motor driver (9) can be arranged in a penetrating manner.
  9. 9. The waist and hip assembly according to claim 1, wherein the rear plate (1) and the middle driving fixing piece (2) and the front plate (3) are connected by adopting inner hexagon bolts uniformly distributed along edges.

Description

Waist hip subassembly of humanoid robot Technical Field The utility model belongs to the technical field of humanoid robot technique and specifically relates to a humanoid robot waist hip subassembly. Background The waist and hip joint of the humanoid robot is used as a core unit for power transmission and motion control, and the structural design of the humanoid robot directly influences the load capacity and motion stability of the whole robot. Currently, a single-side supporting structure is commonly adopted in the mainstream scheme, and the waist and the hip module are directly connected through the output flange, so that the motor output bearing directly bears all axial loads. For example, "hip joint of bipedal robot", which is disclosed in chinese patent literature, has a publication number "CN221364846U", and includes a bracket assembly, a first rotary motor unit, one end of which is connected to the bracket assembly, the other end of which is rotatably connected to the bracket assembly, the first rotary motor unit being used for controlling movement of the waist, one ends of the two second rotary motor units being connected to both sides of the bracket assembly, the other ends of the two second rotary motor units being rotatably connected to both sides of the bracket assembly, the two second rotary motor units being used for controlling movement of the hip, the first rotary motor unit being located between the two second rotary motor units, both of which have a rotation degree of freedom and a yaw degree of freedom. The design can meet the requirements in light load scenes, but in heavy load application scenes such as industrial transportation, disaster relief and the like, the structure is easy to deform due to insufficient rigidity of the single-side support, the motor bearing is accelerated to be worn under long-term high-overturning moment working conditions, and the service life is obviously shortened. Specifically, the whole load of the upper body of the robot acts on the axial direction of the waist side rotating motor, and the high impact force of feet and the ground is transmitted to the hip side rotating motor through legs, so that the motor bearing bears the composite stress of radial torque and axial load at the same time in a traditional direct connection mode, and particularly under the working condition of frequent start and stop or sudden impact, the fatigue failure risk of the bearing is obviously increased. The system complexity is further exacerbated by the prior art driver layout issues. The high-power joint module generally needs an external driver to ensure heat dissipation efficiency, but an external scheme leads to the fact that a power line and a signal line need to bypass a complex path, so that electromagnetic interference risks are increased, and maintenance operation is hindered. Some of the improvements attempt to build the driver in order to shorten the wiring distance, but are difficult to fit large-sized drivers due to the space limitations inside the module, and the overall structure needs to be disassembled for maintenance, which is time-consuming to operate. In addition, the traditional structure is insufficient in expansibility, auxiliary equipment such as an Inertial Measurement Unit (IMU) or a debugging interface and the like are difficult to integrate, and the function expansion potential is limited. In response to the above problems, the industry has attempted to increase the load carrying capacity by strengthening the bearing specifications or optimizing the materials, but the cost has increased dramatically and the fundamental structural drawbacks have not been resolved. In addition, the multi-stage speed reducing mechanism is adopted to disperse load, but the complexity of the transmission chain is increased, and the efficiency is reduced. In the prior art, a solution which can realize high-rigidity double-side support and can also realize driver integration and convenient maintenance has not appeared. The technical bottleneck severely restricts the application reliability of the humanoid robot in a heavy-load and high-dynamic scene, and breakthrough needs to be realized through structural innovation. Disclosure of utility model Aiming at the problem of high overturning moment of a motor bearing caused by the traditional single-side support, the utility model provides the waist and hip assembly of the humanoid robot, which has the comprehensive effects of enhancing the structural strength, optimizing the electromagnetic compatibility and improving the maintenance convenience while realizing the improvement of the load capacity and the prolongation of the service life of the motor. In order to achieve the above purpose, the present utility model adopts the following technical scheme: A waist and hip assembly of a humanoid robot comprises a rear plate, a waist side rotating module and two hip side rotating modules, a middle driving fixing piece and a front p