Humanoid Robot

Abstract

The present application provides a humanoid robot, comprising a trunk component, a sacral joint component, a leg component and a hip joint component, wherein the hip joint component comprises a pitch drive and a hip joint bracket; the trunk component, the sacral joint component, the pitch drive, the hip joint bracket and the leg component are connected in sequence, the sacral joint component drives the trunk component to rotate around a first axis, and the pitch drive drives the leg component to rotate around a second axis; the first axis intersects with the second axis and has an inclined angle; a first calibration portion is provided on the pitch drive, and a second calibration portion is provided on the hip joint bracket; when the first calibration portion and the second calibration portion are aligned, the hip joint bracket is in a first initial position relative to the pitch drive, and the first initial position is used as the zero point for the leg component to swing in the front-to-back direction of the humanoid robot. The humanoid robot provided by the present application has a simpler algorithm for the leg component to swing in the front-to-back direction of the humanoid robot and has better stability during operation.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a humanoid robot. Background Art

[0002] With the advancement of science and technology, the application of intelligent robots is becoming more and more extensive, and users' requirements for intelligent robots are also getting higher and higher. The form of traditional intelligent robots is relatively simple. For example, the walking system of intelligent robots is generally replaced by a wheeled motion system. Now intelligent robots are increasingly tending to imitate humanoid design, so humanoid robots came into being.

[0003] In current humanoid robots, the movement angle of the leg assembly is relatively small due to the layout limitation of the humanoid robot. When the layout of the humanoid robot is adjusted to increase the movement angle of the leg assembly, the large-angle movement of the leg assembly will interfere with the surrounding parts. Therefore, it is necessary to design a corresponding algorithm program to control the movement angle of the leg assembly. However, due to the complex movements of the humanoid robot, the algorithm program for controlling the movement angle of the leg assembly is complex, which is not convenient for the simplified design of the algorithm program for controlling the movement angle of the leg assembly, and thus easily affects the stability of the algorithm program for controlling the movement angle of the leg assembly during operation. Summary of the invention

[0004] In response to the shortcomings of the prior art, the present application provides a humanoid robot having a larger movement angle of the leg assembly of the humanoid robot, a simpler algorithm program for the leg assembly to swing in the front-to-back direction of the humanoid robot, and better stability of the algorithm program for the leg assembly to swing in the front-to-back direction of the humanoid robot during operation.

[0005] In one aspect, the present application provides a humanoid robot, comprising:

[0006] Torso assembly;

[0007] a sacral joint assembly connected to the trunk assembly and used to drive the trunk assembly to rotate around a first axis so that the trunk assembly rotates in an up-and-down direction of the humanoid robot;

[0008] Leg assembly; and

[0009] A hip joint assembly, comprising a pitch drive member and a hip joint bracket; the stator of the pitch drive member is connected to the sacral joint assembly, and the rotor of the pitch drive member is connected to the hip joint bracket; the hip joint bracket is connected to the leg assembly, and the pitch drive member is used to drive the hip joint bracket and the leg assembly to rotate around a second axis so that the leg assembly swings in the front-rear direction of the humanoid robot; the first axis intersects with the second axis and has an inclined angle;

[0010] Among them, a first calibration part is provided on the pitch driving member, and a second calibration part is provided on the hip joint support; when the first calibration part and the second calibration part are aligned, the hip joint support is in a first initial position relative to the pitch driving member, and the first initial position is used as the zero point for the leg assembly to swing in the front and rear direction of the humanoid robot.

[0011] The humanoid robot provided in this embodiment, in the first aspect, is designed by tilting the pitch drive relative to the sacral joint assembly, that is, the first axis intersects with the second axis and has an inclined angle, so that the parts layout of the humanoid robot is reasonable, and then the hip joint bracket and the leg assembly connected thereto can rotate around the second axis at a larger angle under the action of the pitch actuator. In the second aspect, by setting a first calibration part on the pitch drive, setting a second calibration part on the hip joint bracket, and when the first calibration part is aligned with the second calibration part, the hip joint bracket is in a first initial position relative to the pitch drive, and the first initial position is used as the zero point for the leg assembly to swing in the front-to-back direction of the humanoid robot. Therefore, in the process of designing the algorithm program for controlling the action angle of the leg assembly, the algorithm program for the pitch drive driving the leg assembly to swing in the front-to-back direction of the humanoid robot is designed with the first initial position as the design zero point, so as to simplify the design of the algorithm program for the pitch drive driving the leg assembly to swing in the front-to-back direction of the humanoid robot, which is conducive to improving the stability of the algorithm program for the pitch drive driving the leg assembly to swing in the front-to-back direction of the humanoid robot during operation.

[0012] In a possible embodiment, the sacral joint assembly includes a sacral joint support and a lumbar drive, the stator of the lumbar drive is connected to the sacral joint support, and the rotor of the lumbar drive is connected to the torso assembly; the pitch drive includes a first shell and a pitch actuator, the first shell is connected to the sacral joint support, the stator of the pitch actuator is connected to the first shell, and the rotor of the pitch actuator is connected to the hip joint support.

[0013] The humanoid robot provided in this embodiment, in the first aspect, has a sacral joint component including a sacral joint support and a waist driving component driving the trunk component to rotate around a first axis, so that the trunk component can rotate around the up and down direction of the humanoid robot, thereby enabling the sacral joint component to achieve a sacral joint function similar to that of the human body. In the second aspect, the pitch driving component of the hip joint component includes a first shell and a pitch actuator driving the leg component to rotate around a second axis, so that the leg component can swing in the front and back direction of the humanoid robot, thereby enabling the hip joint component to achieve a hip joint function similar to that of the human body.

[0014] In a possible embodiment, an annular groove and a first limiting portion are provided on the first shell; the annular groove is extended circumferentially around the second axis, and the first limiting portion is provided in the annular groove; a second limiting portion is provided on the hip joint support, and the second limiting portion extends into the annular groove; during the rotation of the hip joint support relative to the pitch drive component around the second axis, the first limiting portion cooperates with the second limiting portion to limit the rotation angle of the hip joint support relative to the pitch drive component around the second axis.

[0015] The humanoid robot provided by this embodiment, in the first aspect, a first limiting portion is provided on the first shell of the pitch driving member, and a second limiting portion is provided on the hip joint bracket connected to the leg assembly, and the second limiting portion cooperates with the first limiting portion to limit the rotation angle of the second limiting portion around the second axis, thereby limiting the rotation angle of the hip joint bracket and the leg assembly connected thereto relative to the pitch driving member around the second axis, which can prevent the leg assembly from swinging too much in the front and rear directions of the humanoid robot relative to the pitch driving member, thereby preventing the leg assembly from interfering with surrounding parts due to excessive rotation angle. In the second aspect, an annular groove is provided on the first shell of the pitch driving member, and a second limiting portion is provided on the hip joint bracket, and the second limiting portion extends into the annular groove. In the process of the hip joint bracket and the leg assembly rotating around the second axis relative to the pitch driving member, the inner wall of the annular groove forms a guide rail for the second limiting portion to rotate, so as to provide a guiding effect during the process of the hip joint bracket and the leg assembly rotating around the second axis relative to the pitch driving member, which is conducive to improving the rotation stability of the hip joint bracket and the leg assembly relative to the pitch driving member around the second axis.

[0016] In a possible implementation, when the first marking portion and the second marking portion are aligned, the first limiting portion and the second limiting portion are arranged opposite to each other in a radial direction of a circle around the second axis.

[0017] The humanoid robot provided by the present embodiment, when the first calibration portion and the second calibration portion are aligned, that is, the hip joint support is in a first initial position relative to the pitch drive member, the first limiting portion and the second limiting portion are relatively arranged in the radial direction of the circle around the second axis, so that the angle of the second limiting portion rotating in the annular groove in the clockwise direction around the second axis is equal to the angle of the second limiting portion rotating in the annular groove in the counterclockwise direction around the second axis. This is conducive to further simplifying the algorithm program design for the pitch drive member to drive the leg assembly to swing in the front and rear directions of the humanoid robot.

[0018] In a possible implementation, the first marking portion is a first notch provided on the first limiting portion, and the second marking portion is a second notch provided on the hip joint support; when the first notch and the second notch are aligned, the first notch and the second notch are connected.

[0019] The humanoid robot provided by the present embodiment has a first notch arranged on the first limiting part through the first calibration part, and a second notch arranged on the hip joint support through the second calibration part. When the first notch and the second notch are aligned, the first notch and the second notch are connected. At this time, a clamping member can be clamped in the first notch and the second notch at the same time, and the pitch driving member and the hip joint support are relatively fixed on the premise of ensuring that the first calibration part and the second calibration part are aligned, so as to facilitate the installation of other parts such as the leg assembly on the hip joint support, which is conducive to improving the assembly efficiency of the humanoid robot. At the same time, when the pitch driving member and the hip joint support are relatively fixed, it is convenient to measure the angle of the second limiting part rotating in the annular groove around the second axis in the clockwise direction and the angle of the second limiting part rotating in the annular groove around the second axis in the counterclockwise direction.

[0020] In one possible embodiment, the hip joint assembly also includes a roll drive component; the roll drive component includes a second shell and a roll actuator, the second shell is connected to the hip joint support, the stator of the roll actuator is connected to the second shell, and the rotor of the roll actuator is connected to the leg assembly; the roll actuator is used to drive the leg assembly to rotate around a third axis so that the leg assembly swings in the left and right directions of the humanoid robot; the third axis is perpendicular to the first axis and the second axis.

[0021] The humanoid robot provided in this embodiment also includes a roll drive component through the hip joint assembly. The roll drive component includes a second roll actuator that can be used to drive the hip joint support and the leg assembly to rotate around a third axis, so that the hip joint support and the leg assembly can swing in the left and right directions of the humanoid robot, thereby enabling the hip joint assembly to achieve a hip joint function similar to that of the human body structure.

[0022] In a possible embodiment, the hip joint assembly also includes a yaw drive component; the yaw drive component includes a third shell and a yaw actuator, a portion of the third shell is connected to the rotor of the roll actuator, and another portion of the third shell is rotatably connected to the hip joint support, the stator of the yaw actuator is connected to the third shell, and the rotor of the yaw actuator is connected to the leg assembly; the yaw actuator is used to drive the leg assembly to rotate around a fourth axis so that the leg assembly rotates in the up and down direction of the humanoid robot; the fourth axis is perpendicular to the third axis.

[0023] The humanoid robot provided in this embodiment also includes a yaw drive component through the hip joint assembly. The yaw drive component includes a third shell and a yaw actuator for driving the hip joint support and the leg assembly to rotate around a fourth axis, so that the hip joint support and the leg assembly can rotate in the up and down directions of the humanoid robot, thereby enabling the hip joint assembly to achieve hip joint functions similar to those of the human body structure.

[0024] In a possible embodiment, the hip joint support is in a "U" shape; the hip joint support includes a first part and a second part, and the first part and the second part are arranged to form a "U"-shaped installation space; the second shell is connected to the second part and is located outside the installation space, the stator of the roll actuator is located in the second shell, and the rotor of the roll actuator passes through the second part and extends into the installation space; a part of the third shell is located in the installation space and connected to the rotor of the roll actuator, and another part of the third shell is located in the installation space and is rotatably connected to the first part.

[0025] The humanoid robot provided by this embodiment, on the first hand, has a "U"-shaped hip bracket, and the first part and the second part of the hip bracket are arranged to form a "U"-shaped installation space, the second shell of the roll drive member is installed on the second part and is located outside the installation space, the roll actuator of the roll drive member is located in the second shell and extends into the installation space, and a third shell of a part of the yaw drive member is located in the installation space and connected to the roll actuator, so that the layout of the hip bracket, the roll drive member and the yaw drive member is reasonable, which is conducive to reducing the assembly space of the hip bracket, the roll drive member and the yaw drive member. On the second hand, a third shell of a part of the yaw drive member is located in the installation space and is rotatably connected to the first part, so that the roll drive member drives the yaw drive member to rotate around the third axis more smoothly, which is conducive to improving the stability of the leg assembly connected to the yaw drive member rotating around the third axis.

[0026] In a possible embodiment, a third limiting portion is provided on a side of the second part facing the first part, and a fourth limiting portion is provided on a side of the third shell facing the second part; the fourth limiting portion cooperates with the third limiting portion to limit the angle of rotation of the yaw drive component relative to the roll drive component around the third axis.

[0027] The humanoid robot provided by the present embodiment has a third limiting portion arranged on a side of the second portion of the hip joint support facing the first portion, and a fourth limiting portion arranged on a side of the third shell of the yaw drive component facing the second portion. The fourth limiting portion cooperates with the third limiting portion to limit the rotation angle of the fourth limiting portion around the third axis, thereby limiting the rotation angle of the yaw drive component and the leg assembly connected thereto relative to the roll drive component around the third axis, thereby preventing the leg assembly from swinging too far in the left and right directions of the humanoid robot relative to the roll drive component, thereby preventing the leg assembly from interfering with surrounding components due to the excessive rotation angle.

[0028] In a possible embodiment, a third calibration portion is provided on the third shell, and a fourth calibration portion is provided on the leg assembly; when the third calibration portion and the fourth calibration portion are aligned, the leg assembly is in a second initial position relative to the yaw drive component, and the second initial position is used as the zero point of the leg assembly's rotation in the up and down directions of the humanoid robot.

[0029] The humanoid robot provided in this embodiment is provided with a third calibration part on the third shell of the yaw drive member, and a fourth calibration part on the leg assembly, and when the third calibration part is aligned with the fourth calibration part, the leg assembly is in a second initial position relative to the yaw drive member, and the second initial position is used as the zero point of the leg assembly's self-rotation in the up-down direction of the humanoid robot. Therefore, in the process of designing the algorithm program for controlling the action angle of the leg assembly, the algorithm program for the yaw drive member to drive the leg assembly to rotate in the up-down direction of the humanoid robot is designed with the second initial position as the design zero point, so as to simplify the design of the algorithm program for the yaw drive member to drive the leg assembly to rotate in the up-down direction of the humanoid robot, which is conducive to improving the stability of the algorithm program for the yaw drive member to drive the leg assembly to rotate in the up-down direction of the humanoid robot during operation.

[0030] In a possible implementation, a fifth limiting portion is further provided on the third shell, and a sixth limiting portion is further provided on the leg assembly; the sixth limiting portion cooperates with the fifth limiting portion to limit the rotation angle of the leg assembly relative to the yaw drive component around the fourth axis.

[0031] The humanoid robot provided in this embodiment has a fifth limiting portion arranged on the third shell of the yaw drive component, and a sixth limiting portion arranged on the leg assembly. The sixth limiting portion cooperates with the fifth limiting portion to limit the rotation angle of the sixth limiting portion around the fourth axis, thereby limiting the rotation angle of the leg assembly relative to the yaw drive component around the fourth axis. This can prevent the leg assembly from rotating too much relative to the yaw drive component in the up and down directions of the humanoid robot, thereby preventing the leg assembly from interfering with surrounding components due to the excessive rotation angle.

[0032] In a possible embodiment, the third marking portion is a third notch provided on the fifth limiting portion, and the fourth marking portion is a fourth notch provided on the leg assembly; when the third notch and the fourth notch are aligned, the third notch and the fourth notch are connected, and the first axis, the second axis and the fourth axis are located in the same plane.

[0033] The humanoid robot provided in this embodiment has a third notch provided on the fifth limiting part through the third calibration part, and a second notch provided on the leg assembly through the fourth calibration part. When the third notch and the fourth notch are aligned, the third notch and the fourth notch are connected. At this time, a clamping member can be clamped in the third notch and the fourth notch at the same time, and the yaw drive member and the leg assembly are relatively fixed on the premise of ensuring that the third calibration part and the fourth calibration part are aligned, so as to facilitate the installation of other parts on the leg assembly, which is conducive to improving the assembly efficiency of the humanoid robot. At the same time, when the yaw drive member and the leg assembly are relatively fixed, it is convenient to measure the angle of the fifth limiting part rotating in the clockwise direction around the circumference of the fourth axis and the angle of the fifth limiting part rotating in the counterclockwise direction around the circumference of the fourth axis.

[0034] In a possible embodiment, the sixth limiting portion includes a first boss and a second boss, and the first boss and the second boss are arranged at circumferential intervals along the fourth axis and form a limiting space extending circumferentially along the fourth axis; the fifth limiting portion extends into the limiting space, and the first boss and the second boss cooperate with the fifth limiting portion to limit the angle of rotation of the leg assembly relative to the yaw drive component around the fourth axis; when the third notch and the fourth notch are aligned, the fifth limiting portion is located between the first boss and the second boss.

[0035] The humanoid robot provided in this embodiment, in the first aspect, the sixth limiting part includes a first boss and a second boss which are arranged at intervals along the circumference of the fourth axis and form a limiting space extending along the circumference of the third axis, the fifth limiting part extends into the limiting space, the first boss and the second boss cooperate with the fifth limiting part to limit the angle of rotation of the leg assembly relative to the yaw drive member around the fourth axis, which can prevent the leg assembly from rotating too much relative to the yaw drive member in the up and down direction of the humanoid robot, thereby preventing the leg assembly from interfering with surrounding parts due to the excessive rotation angle. In the second aspect, when the third notch and the fourth notch are aligned, the fifth limiting part is located between the first boss and the second boss, so that the fifth limiting part can rotate in the clockwise direction around the circumference of the fourth axis between the first boss and the second boss, and the fifth limiting part can rotate in the counterclockwise direction around the circumference of the fourth axis between the first boss and the second boss, thereby further simplifying the algorithm program design of the pitch drive member driving the leg assembly to swing in the front and back directions of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some implementation methods provided by the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 is an assembly diagram of a humanoid robot provided in one embodiment of the present application;

[0038] Figure 2 yes Figure 1 A front view of the humanoid robot shown;

[0039] Figure 3 yes Figure 1 a rear view of the humanoid robot shown;

[0040] Figure 4 is a front view of a hip joint assembly provided by an embodiment of the present application;

[0041] Figure 5 is a rear view of a hip joint assembly provided in one embodiment of the present application;

[0042] Figure 6 is a front view of a first shell provided in one embodiment of the present application;

[0043] Figure 7 is a front view of a hip joint support provided by an embodiment of the present application;

[0044] Figure 8is a structural diagram of a first shell provided in one embodiment of the present application;

[0045] Fig. 9 is a structural diagram of a hip joint support provided by an embodiment of the present application;

[0046] Fig.10 is a bottom view of a hip joint assembly provided by an embodiment of the present application;

[0047] Fig.11 This is a top view of a leg assembly provided in one embodiment of the present application.

[0048] Description of reference numerals:

[0049] Humanoid robot-100, torso component-10, sacral joint component-30, sacral joint support-31, waist driver-32, hip joint component-50, pitch driver-51, first calibration part-511, first notch-5111, first shell-512, pitch actuator-513, annular groove-514, first limiting part-515, hip joint support-52, second calibration part-521, second notch-5211, second limiting part-522, first part-523, second part-524, installation space-525, third limiting part -526, roll driving member-53, second shell-531, roll actuator-532, yaw driving member-54, third shell-541, yaw actuator-542, fourth limiting portion-543, third marking portion-544, third notch-5441, fifth limiting portion-545, leg assembly-70, fourth marking portion-71, fourth notch-711, sixth limiting portion-72, first boss-721, second boss-722, limiting space-723, first axis-A, second axis-B, third axis-C, fourth axis-D. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a component in the middle. When a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a component in the middle. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a component in the middle.

[0052] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those generally understood by technicians in the technical field of this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The directional terms mentioned in the description of this application, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "top", "side", "bottom", "top wall", "side wall", "bottom wall", "inner side wall", "outer side wall", "length direction", "width direction", "height direction", etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In the description of this application, for example, "first", "second", "third", "fourth", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0053] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0054] See also Figures 1 to 3 The embodiment of the present application provides a humanoid robot 100, which includes a trunk component 10, a sacral joint component 30, a hip joint component 50 and a leg component 70, wherein the trunk component 10, the sacral joint component 30, the hip joint component 50 and the leg component 70 are connected in sequence. The sacral joint component 30 is used to drive the trunk component 10 to move, and the trunk component 10 rotates around the first axis A under the action of the sacral joint component 30. The direction of the first axis A is parallel to the up-down direction of the humanoid robot 100, so that the trunk component 10 rotates around the up-down direction of the humanoid robot 100, thereby enabling the sacral joint component 30 to achieve a sacral joint function similar to that of the human body structure. The hip joint component 50 is used to drive the leg component 70 to move, and the movement of the leg component 70 under the action of the hip joint component 50 at least includes rotation around the second axis B. Among them, the second axis B intersects with the first axis A and has an inclined angle. The direction of the second axis B is located between the up and down directions of the humanoid robot 100 and the left and right directions of the humanoid robot 100, so that the leg assembly 70 swings around the left and right directions of the humanoid robot 100, thereby enabling the hip joint assembly 50 to achieve hip joint functions similar to those of the human body structure.

[0055] In the humanoid robot 100 provided in the embodiment of the present application, the specific structures of the trunk component 10 and the leg component 70 are not limited, and both the trunk component 10 and the leg component 70 can be set to a humanoid structure. It should be understood that in order to make the humanoid effect of the humanoid robot 100 better, the humanoid robot 100 provided in the embodiment of the present application includes two leg components 70, both of which are connected to the hip joint component 50, and the two leg components 70 are symmetrically arranged with respect to the upper and lower directions of the humanoid robot 100.

[0056] See also Figures 1 to 3 In one embodiment, the humanoid robot 100 includes a trunk component 10, a sacral joint component 30, a hip joint component 50 and a leg component 70, and the trunk component 10, the sacral joint component 30, the hip joint component 50 and the leg component 70 are connected in sequence. The sacral joint component 30 is used to drive the trunk component 10 to rotate around the first axis A, so that the trunk component 10 rotates in the up and down direction of the humanoid robot 100. The hip joint component 50 is used to drive the leg component 70 to rotate around the second axis B, so that the leg component 70 swings in the front and back direction of the humanoid robot 100. Among them, the direction of the first axis A is the direction of the up and down direction of the humanoid robot 100, and the direction of the second axis B is the direction of the first axis A after being tilted in the left and right direction of the humanoid robot 100, and the first axis A and the second axis B intersect and have an inclined angle.

[0057] See also Figures 1 to 5 In a specific embodiment, the hip joint assembly 50 includes a pitch drive member 51 and a hip joint support 52. The stator of the pitch drive member 51 is connected to the sacral joint assembly 30, and the rotor of the pitch drive member 51 is connected to the hip joint support 52. The hip joint support 52 is connected to the leg assembly 70, and the pitch drive member 51 is used to drive the hip joint support 52 and the leg assembly 70 to rotate around the second axis B so that the leg assembly 70 swings in the front-to-back direction of the humanoid robot 100. Among them, a first calibration portion 511 is provided on the pitch drive member 51, and a second calibration portion 521 is provided on the hip joint support 52. When the first calibration portion 511 and the second calibration portion 521 are aligned, the hip joint support 52 is in a first initial position relative to the pitch drive member 51, and the first initial position is used as the zero point for the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100.

[0058] The humanoid robot 100 provided in this embodiment, on the one hand, is designed to be tilted relative to the sacral joint assembly 30 by the pitch drive member 51, that is, the first axis A intersects with the second axis B and has an inclined angle, so that the parts layout of the humanoid robot 100 is reasonable, and the hip joint bracket 52 and the leg assembly 70 connected thereto can rotate around the second axis B at a greater angle under the action of the pitch actuator 513. On the other hand, by providing a first calibration portion 511 on the pitch drive member 51 and a second calibration portion 521 on the hip joint bracket 52, and when the first calibration portion 511 is aligned with the second calibration portion 521, the hip joint bracket 52 is in a first initial position relative to the pitch drive member 51, and the first initial position is used as the zero point for the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100. Therefore, in the process of designing the algorithm program for controlling the movement angle of the leg assembly 70, the algorithm program for the pitch drive component 51 to drive the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100 is designed with the first initial position as the design zero point, so as to simplify the design of the algorithm program for the pitch drive component 51 to drive the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100, which is beneficial to improve the stability of the algorithm program for the pitch drive component 51 to drive the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100 during operation.

[0059] It should be understood that, during the process of the leg assembly 70 of the humanoid robot 100 swinging in the front-to-back direction of the humanoid robot 100, the humanoid robot 100 as a whole can move forward toward the front of the humanoid robot 100 or move backward toward the rear of the humanoid robot 100. When the first calibration portion 511 of the pitch driving member 51 is aligned with the second calibration portion 521 of the hip joint support 52, the hip joint support 52 and the leg assembly 70 are in the first initial position relative to the pitch driving member 51, and the first initial position is used as the zero point for the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100. At this time, the leg assembly 70 extends along the up-down direction of the humanoid robot 100 under the visual angle of the left-right direction of the humanoid robot 100. When the pitch driving member 51 drives the hip joint support 52 and the leg assembly 70 to rotate clockwise around the second axis B, the humanoid robot 100 as a whole can move forward toward the front of the humanoid robot 100. When the pitch driving member 51 drives the hip joint support 52 and the leg assembly 70 to rotate counterclockwise around the second axis B, the humanoid robot 100 as a whole can retreat toward the rear of the humanoid robot 100. Therefore, the algorithm program of the pitch driving member 51 driving the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100 is simpler, which is conducive to improving the stability of the algorithm program of the pitch driving member 51 driving the leg assembly 70 to swing in the front-to-back direction of the humanoid robot 100 during operation.

[0060] See also Figures 1 to 5In one embodiment, the sacral joint assembly 30 includes a sacral joint support 31 and a lumbar driving member 32, wherein the stator of the lumbar driving member 32 is connected to the sacral joint support 31, and the rotor of the lumbar driving member 32 is connected to the trunk assembly 10. The rotor of the lumbar driving member 32 is arranged along the first axis A, so that the lumbar driving member 32 drives the trunk assembly 10 to rotate around the first axis A. The pitch driving member 51 includes a first shell 512 and a pitch actuator 513, wherein the first shell 512 is connected to the sacral joint support 31, the stator of the pitch actuator 513 is connected to the first shell 512, and the rotor of the pitch actuator 513 is connected to the hip joint support 52. The rotor of the pitch actuator 513 is arranged along the second axis B, so that the pitch actuator 513 drives the hip joint support 52 and the leg assembly 70 to rotate around the second axis B.

[0061] The humanoid robot 100 provided in this embodiment, on the one hand, has a sacral joint component 30 including a sacral joint support 31 and a waist driving component 32 driving the trunk component 10 to rotate around the first axis A, so that the trunk component 10 can rotate around the up and down direction of the humanoid robot 100, thereby enabling the sacral joint component 30 to achieve a sacral joint function similar to that of the human body. On the other hand, the pitch driving component 51 of the hip joint component 50 includes a first shell 512 and a pitch actuator 513 driving the leg component 70 to rotate around the second axis B, so that the leg component 70 can swing in the front and back direction of the humanoid robot 100, thereby enabling the hip joint component 50 to achieve a hip joint function similar to that of the human body.

[0062] See also Figures 1 to 9 In one embodiment, an annular groove 514 and a first limiting portion 515 are provided on the first shell 512 of the pitch driving member 51. The annular groove 514 is extended in the circumferential direction of the second axis B, and the first limiting portion 515 is provided in the annular groove 514. A portion of the opening of the annular groove 514 is provided on the end surface of the first shell 512 facing the hip joint support 52, and another portion of the opening of the annular groove 514 is provided on the circumferential side surface of the first shell 512 facing the hip joint support 52. A second limiting portion 522 is provided on the hip joint support 52. The second limiting portion 522 is protrudingly provided on the end of the hip joint support 52 facing the first shell 512 and extending into the annular groove 514. In the process of the hip joint support 52 rotating around the second axis B relative to the pitch driving member 51, the first limiting portion 515 cooperates with the second limiting portion 522 to limit the angle of rotation of the hip joint support 52 relative to the pitch driving member 51 around the second axis B.

[0063] The humanoid robot 100 provided in this embodiment, on the first aspect, is provided with a first limiting portion 515 on the first shell 512 of the pitch driving member 51, and a second limiting portion 522 is provided on the hip joint support 52 connected to the leg assembly 70, and the second limiting portion 522 cooperates with the first limiting portion 515 to limit the rotation angle of the second limiting portion 522 around the second axis B, thereby limiting the rotation angle of the hip joint support 52 and the leg assembly 70 connected thereto relative to the pitch driving member 51 around the second axis B, which can prevent the leg assembly 70 from swinging too large an angle in the front and rear directions of the humanoid robot 100 relative to the pitch driving member 51, thereby preventing the leg assembly 70 from interfering with surrounding components due to the excessive rotation angle. On the second aspect, an annular groove 514 is provided on the first shell 512 of the pitch driving member 51, and a second limiting portion 522 is provided on the hip joint support 52, and the second limiting portion 522 extends into the annular groove 514. During the rotation of the hip joint support 52 and the leg assembly 70 around the second axis B relative to the pitch driving member 51, the inner wall of the annular groove 514 forms a guide rail for the second limiting portion 522 to rotate, so as to provide a guiding effect during the rotation of the hip joint support 52 and the leg assembly 70 around the second axis B relative to the pitch driving member 51, which is beneficial to improving the rotation stability of the hip joint support 52 and the leg assembly 70 around the second axis B relative to the pitch driving member 51.

[0064] In this embodiment, the first limiting portion 515 is a boss arranged in the annular groove 514, and the second limiting portion 522 is a boss arranged on the hip joint support 52. By means of a boss arranged in the annular groove 514 and a boss arranged on the hip joint support 52, the rotation angle of the second limiting portion 522 around the second axis B is limited, thereby limiting the rotation angle of the hip joint support 52 and the leg assembly 70 connected thereto relative to the pitch drive member 51 around the second axis B.

[0065] It can be understood that in some other embodiments, the first limiting portion 515 is a boss arranged in the annular groove 514, and the second limiting portion 522 is two bosses arranged on the hip joint support 52. The two bosses arranged on the hip joint support 52 are arranged at circumferential intervals along the second axis B. A boss arranged in the annular groove 514 extends between the two bosses arranged on the hip joint support 52, and the two bosses arranged on the hip joint support 52 both extend into the annular groove 514. Through the limiting cooperation of a boss arranged in the annular groove 514 and two bosses arranged on the hip joint support 52, the rotation angle of the second limiting portion 522 around the second axis B is limited, thereby limiting the rotation angle of the hip joint support 52 and the leg assembly 70 connected thereto relative to the pitch drive member 51 around the second axis B. The present application does not impose any restrictions on this.

[0066] See also Figures 1 to 9In a specific embodiment, when the first marking portion 511 and the second marking portion 521 are aligned, the first limiting portion 515 and the second limiting portion 522 are arranged opposite to each other in the radial direction of the circumference around the second axis B. In other words, when the first marking portion 511 and the second marking portion 521 are aligned, the first limiting portion 515 can rotate clockwise around the second axis B, and the first limiting portion 515 can also rotate counterclockwise around the second axis B, and the distance from the first limiting portion 515 to the second limiting portion 522 in the clockwise direction around the second axis B is equal to the distance from the first limiting portion 515 to the second limiting portion 522 in the counterclockwise direction around the second axis B, that is, the angle of the first limiting portion 515 rotating clockwise around the second axis B is configured to be equal to the angle of the first limiting portion 515 rotating counterclockwise around the second axis B.

[0067] The humanoid robot 100 provided in this embodiment is such that when the first calibration portion 511 and the second calibration portion 521 are aligned, that is, the hip joint support 52 is in the first initial position relative to the pitch drive member 51, the first limiting portion 515 and the second limiting portion 522 are relatively arranged in the radial direction of the circle around the second axis B, so that the angle of the second limiting portion 522 rotating in the annular groove 514 in the clockwise direction around the second axis B is equal to the angle of the second limiting portion 522 rotating in the annular groove 514 in the counterclockwise direction around the second axis B. This is conducive to further simplifying the algorithm program design for the pitch drive member 51 to drive the leg assembly 70 to swing in the front and rear directions of the humanoid robot 100.

[0068] It can be understood that in some other embodiments, when the first calibration portion 511 and the second calibration portion 521 are aligned, the first limit portion 515 and the second limit portion 522 are spaced apart on the circumference around the second axis B, and the distance from the first limit portion 515 to the second limit portion 522 in the clockwise direction around the second axis B is not equal to the distance from the first limit portion 515 to the second limit portion 522 in the counterclockwise direction around the second axis B, that is, the angle of clockwise rotation of the first limit portion 515 around the second axis B is configured to be unequal to the angle of counterclockwise rotation of the first limit portion 515 around the second axis B, and the present application does not impose any restrictions on this.

[0069] See also Figures 1 to 9 In one embodiment, the first marking portion 511 is a first notch 5111 disposed on the first limiting portion 515, and the second marking portion 521 is a second notch 5211 disposed on the hip joint support 52. When the first notch 5111 and the second notch 5211 are aligned, the first notch 5111 and the second notch 5211 are connected. At the same time, when the first notch 5111 and the second notch 5211 are aligned, the first limiting portion 515 and the second limiting portion 522 are disposed opposite to each other in the radial direction of the circle around the second axis B.

[0070] The humanoid robot 100 provided in this embodiment is a first notch 5111 disposed on the first limiting portion 515 through the first calibration portion 511, and a second notch 5211 disposed on the hip joint bracket 52 through the second calibration portion 521. When the first notch 5111 and the second notch 5211 are aligned, the first notch 5111 and the second notch 5211 are connected. At this time, a clamping member can be clamped in the first notch 5111 and the second notch 5211 at the same time, and the pitch drive member 51 and the hip joint bracket 52 are relatively fixed on the premise of ensuring that the first calibration portion 511 and the second calibration portion 521 are aligned, so as to facilitate the installation of other components such as the leg assembly 70 on the hip joint bracket 52, which is conducive to improving the assembly efficiency of the humanoid robot 100. At the same time, when the pitch drive member 51 and the hip joint support 52 are relatively fixed, it is convenient to measure the angle of the second limiting portion 522 rotating in the clockwise direction around the second axis B in the annular groove 514 and the angle of the second limiting portion 522 rotating in the counterclockwise direction around the second axis B in the annular groove 514.

[0071] It can be understood that in some other embodiments, the first marking portion 511 is a first notch 5111 disposed on the first shell 512, and the second marking portion 521 is a second notch 5211 disposed on the hip joint support 52, and the present application does not limit this. Alternatively, the first marking portion 511 is a first notch 5111 disposed on the first shell 512, and the second marking portion 521 is a second notch 5211 disposed on the second limiting portion 522, and the present application does not limit this.

[0072] See also Figures 1 to 9 In one embodiment, the hip joint assembly 50 further includes a roll drive member 53, which is connected between the hip joint support 52 and the leg assembly 70, and is used to drive the leg assembly 70 to rotate around the third axis C. The roll drive member 53 includes a second shell 531 and a roll actuator 532, the second shell 531 is connected to the hip joint support 52, the stator of the roll actuator 532 is connected to the second shell 531, and the rotor of the roll actuator 532 is connected to the leg assembly 70. The roll actuator 532 is used to drive the leg assembly 70 to rotate around the third axis C, so that the leg assembly 70 swings in the left and right directions of the humanoid robot 100. The third axis C is perpendicular to the first axis A and the second axis B.

[0073] The humanoid robot 100 provided in this embodiment also includes a roll drive component 53 through the hip joint assembly 50. The roll drive component 53 includes a second roll actuator 532 that can be used to drive the hip joint support 52 and the leg assembly 70 to rotate around the third axis C, so that the hip joint support 52 and the leg assembly 70 can swing in the left and right directions of the humanoid robot 100, thereby enabling the hip joint assembly 50 to achieve a hip joint function similar to that of the human body structure.

[0074] See also Figures 1 to 11 In one embodiment, the hip joint assembly 50 further includes a yaw drive 54, which is connected between the roll drive 53 and the leg assembly 70, and is used to drive the leg assembly 70 to rotate around the fourth axis D. The yaw drive 54 includes a third housing 541 and a yaw actuator 542, a portion of the third housing 541 is connected to the rotor of the roll actuator 532, and another portion of the third housing 541 is rotationally connected to the hip joint support 52, the stator of the yaw actuator 542 is connected to the third housing 541, and the rotor of the yaw actuator 542 is connected to the leg assembly 70. The yaw actuator 542 is used to drive the leg assembly 70 to rotate around the fourth axis D, so that the leg assembly 70 rotates in the up and down directions of the humanoid robot 100. Wherein, the fourth axis D is perpendicular to the third axis C.

[0075] The humanoid robot 100 provided in this embodiment also includes a yaw drive component 54 through the hip joint assembly 50. The yaw drive component 54 includes a third shell 541 and a yaw actuator 542 for driving the hip joint support 52 and the leg assembly 70 to rotate around the fourth axis D, so that the hip joint support 52 and the leg assembly 70 can rotate in the up and down directions of the humanoid robot 100, thereby enabling the hip joint assembly 50 to achieve a hip joint function similar to that of the human body structure.

[0076] See also Figures 1 to 11 In a specific embodiment, the hip joint support 52 is in a "U" shape. The hip joint support 52 includes a first part 523 and a second part 524, and the first part 523 and the second part 524 are surrounded by a "U"-shaped installation space 525. The second shell 531 is connected to the second part 524 and is located outside the installation space 525. The stator of the roll actuator 532 is located in the second shell 531, and the rotor of the roll actuator 532 passes through the second part 524 and extends into the installation space 525. A part of the third shell 541 is located in the installation space 525 and connected to the rotor of the roll actuator 532, and another part of the third shell 541 is located in the installation space 525 and is rotatably connected to the first part 523. Among them, the third shell 541 is located in the installation space 525 and is rotatably connected to the first part 523, including but not limited to bearing connection, hinge connection and other connection methods, which are not limited in this application.

[0077] The humanoid robot 100 provided in this embodiment, on the one hand, is formed into a "U" shape by the hip joint bracket 52, and the first part 523 and the second part 524 of the hip joint bracket 52 are arranged to form a "U"-shaped installation space 525, the second shell 531 of the roll driving component 53 is installed on the second part 524 and is located outside the installation space 525, the roll actuator 532 of the roll driving component 53 is located in the second shell 531 and extends into the installation space 525, and the third shell 541, which is a part of the yaw driving component 54, is located in the installation space 525 and is connected to the roll actuator 532, so that the layout of the hip joint bracket 52, the roll driving component 53 and the yaw driving component 54 is reasonable, which is conducive to reducing the assembly space of the hip joint bracket 52, the roll driving component 53 and the yaw driving component 54. Secondly, a third shell 541 which is a part of the yaw drive member 54 is located in the installation space 525 and is rotationally connected to the first part 523, so that the roll drive member 53 can drive the yaw drive member 54 to rotate around the third axis C more smoothly, which is beneficial to improve the stability of the rotation of the leg assembly 70 connected to the yaw drive member 54 around the third axis C.

[0078] It is understandable that in some other embodiments, the third shell 541 of the yaw drive 54 is spaced apart from the first part 523 of the hip joint support 52, and the yaw drive 54 is only connected to the rotor of the roll actuator 532, which is not limited in the present application.

[0079] See also Figures 1 to 11 In a specific embodiment, a third limiting portion 526 is provided on a side of the second portion 524 facing the first portion 523, and a fourth limiting portion 543 is provided on a side of the third housing 541 facing the second portion 524. The third limiting portion 526 is a boss protruding from the side of the second portion 524 facing the first portion 523, and the fourth limiting portion 543 is two bosses protruding outwardly and spaced from the third housing 541 along the circumferential direction of the third axis C. A boss formed by the third limiting portion 526 extends between two bosses formed by the fourth limiting portion 543, and the fourth limiting portion 543 cooperates with the third limiting portion 526 to limit the angle of rotation of the yaw drive member 54 relative to the roll drive member 53 around the third axis C.

[0080] The humanoid robot 100 provided in this embodiment is provided with a third limiting portion 526 on the side of the second portion 524 of the hip joint support 52 facing the first portion 523, and a fourth limiting portion 543 is provided on the side of the third shell 541 of the yaw drive member 54 facing the second portion 524. The fourth limiting portion 543 cooperates with the third limiting portion 526 to limit the rotation angle of the fourth limiting portion 543 around the third axis C, thereby limiting the rotation angle of the yaw drive member 54 and the leg assembly 70 connected thereto relative to the roll drive member 53 around the third axis C, thereby preventing the leg assembly 70 from swinging too large in the left and right directions of the humanoid robot 100 relative to the roll drive member 53, thereby preventing the leg assembly 70 from interfering with surrounding components due to the excessive rotation angle.

[0081] It can be understood that in some other embodiments, the third limiting portion 526 is two bosses protruding from the second portion 524 toward one side of the first portion 523, the fourth limiting portion 543 is a boss protruding outwardly from the third housing 541 along the circumferential direction of the third axis C, and a boss formed by the fourth limiting portion 543 extends between the two bosses formed by the third limiting portion 526, and the present application does not limit this. Alternatively, the third limiting portion 526 is a boss protruding from the second portion 524 toward one side of the first portion 523, and the fourth limiting portion 543 is a boss protruding outwardly from the third housing 541 along the circumferential direction of the third axis C, and the present application does not limit this.

[0082] See also Figures 1 to 11 In one embodiment, a third calibration portion 544 is provided on the third housing 541 of the yaw drive member 54, and a fourth calibration portion 71 is provided on the leg assembly 70. When the third calibration portion 544 and the fourth calibration portion 71 are aligned, the leg assembly 70 is in a second initial position relative to the yaw drive member 54, and the second initial position is used as a zero point for the rotation of the leg assembly 70 in the up-and-down direction of the humanoid robot 100.

[0083] The humanoid robot 100 provided in this embodiment is provided with a third calibration part 544 on the third shell 541 of the yaw drive member 54, and a fourth calibration part 71 on the leg assembly 70. When the third calibration part 544 is aligned with the fourth calibration part 71, the leg assembly 70 is in a second initial position relative to the yaw drive member 54, and the second initial position is used as the zero point of the leg assembly 70 rotating in the up and down direction of the humanoid robot 100. Therefore, in the process of designing the algorithm program for controlling the action angle of the leg assembly 70, the algorithm program for the yaw drive member 54 to drive the leg assembly 70 to rotate in the up and down direction of the humanoid robot 100 is designed with the second initial position as the design zero point, so as to simplify the design of the algorithm program for the yaw drive member 54 to drive the leg assembly 70 to rotate in the up and down direction of the humanoid robot 100, which is conducive to improving the stability of the algorithm program for the yaw drive member 54 to drive the leg assembly 70 to rotate in the up and down direction of the humanoid robot 100 during operation.

[0084] It should be understood that, during the process of the leg assembly 70 of the humanoid robot 100 rotating in the downward direction of the humanoid robot 100, the humanoid robot 100 as a whole can turn left toward the left of the humanoid robot 100 or turn right toward the right of the humanoid robot 100. When the third calibration portion 544 of the yaw drive member 54 is aligned with the fourth calibration portion 71 of the leg assembly 70, the leg assembly 70 is in the second initial position relative to the yaw drive member 54, and the second initial position is used as the zero point of the rotation of the leg assembly 70 in the up and down direction of the humanoid robot 100. At this time, the front of the leg assembly 70 faces the front of the humanoid robot 100. When the yaw drive member 54 drives the leg assembly 70 to rotate clockwise around the fourth axis D, the humanoid robot 100 as a whole can turn right toward the right of the humanoid robot 100. When the yaw drive member 54 drives the leg assembly 70 to rotate counterclockwise around the fourth axis D, the humanoid robot 100 as a whole can turn left toward the left of the humanoid robot 100. Therefore, the algorithm program of the yaw drive member 54 driving the leg assembly 70 to rotate in the up and down directions of the humanoid robot 100 is simpler, which is conducive to improving the stability of the algorithm program of the yaw drive member 54 driving the leg assembly 70 to rotate in the up and down directions of the humanoid robot 100 during operation.

[0085] See also Figures 1 to 11In a specific embodiment, a fifth limiting portion 545 is further provided on a side of the third housing 541 facing the leg assembly 70, and the fifth limiting portion 545 is protruded toward the leg assembly 70. A sixth limiting portion 72 is further provided on a side of the leg assembly 70 facing the third housing 541, and the sixth limiting portion 72 is protruded toward the third housing 541. During the process of the leg assembly 70 rotating around the fourth axis D relative to the yaw drive member 54, the sixth limiting portion 72 cooperates with the fifth limiting portion 545 to limit the angle of rotation of the leg assembly 70 relative to the yaw drive member 54 around the fourth axis D.

[0086] The humanoid robot 100 provided in this embodiment is provided with a fifth limiting portion 545 on the third shell 541 of the yaw drive component 54, and a sixth limiting portion 72 is provided on the leg assembly 70. The sixth limiting portion 72 cooperates with the fifth limiting portion 545 to limit the rotation angle of the sixth limiting portion 72 around the fourth axis D, thereby limiting the rotation angle of the leg assembly 70 relative to the yaw drive component 54 around the fourth axis D. This can prevent the leg assembly 70 from rotating too much relative to the yaw drive component 54 in the up and down directions of the humanoid robot 100, thereby preventing the leg assembly 70 from interfering with surrounding components due to the excessive rotation angle.

[0087] See also Figures 1 to 11 In a specific embodiment, the third marking portion 544 is a third notch 5441 disposed on the fifth limiting portion 545, and the fourth marking portion 71 is a fourth notch 711 disposed on the leg assembly 70. When the third notch 5441 and the fourth notch 711 are aligned, the third notch 5441 and the fourth notch 711 are connected, and the first axis A, the second axis B and the fourth axis D are located in the same plane.

[0088] The humanoid robot 100 provided in this embodiment is characterized in that the third marking part 544 is a third notch 5441 provided on the fifth limiting part 545, and the fourth marking part 71 is a second notch 5211 provided on the leg assembly 70. When the third notch 5441 and the fourth notch 711 are aligned, the third notch 5441 and the fourth notch 711 are connected. At this time, a clamping member can be clamped in the third notch 5441 and the fourth notch 711 at the same time, and the yaw drive member 54 is relatively fixed to the leg assembly 70 on the premise of ensuring that the third marking part 544 and the fourth marking part 71 are aligned, so as to facilitate the installation of other parts on the leg assembly 70, which is conducive to improving the assembly efficiency of the humanoid robot 100. At the same time, when the yaw drive member 54 is relatively fixed to the leg assembly 70, it is convenient to measure the angle of the fifth limiting part 545 rotating in the clockwise direction around the circumference of the fourth axis D and the angle of the fifth limiting part 545 rotating in the counterclockwise direction around the circumference of the fourth axis D.

[0089] It is understandable that in some other embodiments, the third marking portion 544 is a third notch 5441 disposed on the third shell 541, and the fourth marking portion 71 is a fourth notch 711 disposed on the leg assembly 70, and the present application does not impose any limitation on this.

[0090] See also Figures 1 to 11 In a specific embodiment, the sixth limiting portion 72 includes a first boss 721 and a second boss 722, both of which are protrudingly disposed on the side of the leg assembly 70 facing the yaw drive member 54, and the first boss 721 and the second boss 722 are spaced apart along the circumference of the fourth axis D to form a limiting space 723 extending along the circumference of the fourth axis D. The fifth limiting portion 545 extends into the limiting space 723, and when the leg assembly 70 rotates around the fourth axis D relative to the yaw drive member 54, the first boss 721 and the second boss 722 cooperate with the fifth limiting portion 545 to limit the rotation angle of the leg assembly 70 relative to the yaw drive member 54 around the fourth axis D. At the same time, when the third notch 5441 is aligned with the fourth notch 711, the fifth limiting portion 545 is located between the first boss 721 and the second boss 722.

[0091] The humanoid robot 100 provided in this embodiment, on the first aspect, includes a first boss 721 and a second boss 722 which are arranged at circumferential intervals along the fourth axis D and form a limiting space 723 extending circumferentially along the third axis C through the sixth limiting portion 72, and the fifth limiting portion 545 extends into the limiting space 723, and the first boss 721 and the second boss 722 cooperate with the fifth limiting portion 545 to limit the rotation angle of the leg assembly 70 relative to the yaw drive member 54 around the fourth axis D, which can prevent the leg assembly 70 from rotating too much relative to the yaw drive member 54 in the up and down directions of the humanoid robot 100, thereby preventing the leg assembly 70 from interfering with surrounding components due to the excessive rotation angle. On the second aspect, when the third notch 5441 and the fourth notch 711 are aligned, the fifth limiting portion 545 is located between the first boss 721 and the second boss 722, so that the fifth limiting portion 545 can rotate in a clockwise direction around the circumference of the fourth axis D between the first boss 721 and the second boss 722, and the fifth limiting portion 545 can rotate in a counterclockwise direction around the circumference of the fourth axis D between the first boss 721 and the second boss 722, thereby further simplifying the algorithm program design for the pitch drive member 51 to drive the leg assembly 70 to swing in the front and rear directions of the humanoid robot 100.

[0092] In this embodiment, when the third notch 5441 and the fourth notch 711 are aligned, the circumferential distance from the fifth limiting portion 545 to the first boss 721 around the fourth axis D is not equal to the circumferential distance from the fifth limiting portion 545 to the second boss 722 around the fourth axis D, that is, the clockwise rotation angle of the fifth limiting portion 545 around the fourth axis D is configured to be unequal to the counterclockwise rotation angle of the fifth limiting portion 545 around the fourth axis D.

[0093] It can be understood that in some other embodiments, when the third notch 5441 and the fourth notch 711 are aligned, the circumferential distance from the fifth limiting portion 545 to the first boss 721 around the fourth axis D is equal to the circumferential distance from the fifth limiting portion 545 to the second boss 722 around the fourth axis D, that is, the clockwise rotation angle of the fifth limiting portion 545 around the fourth axis D is configured to be equal to the counterclockwise rotation angle of the fifth limiting portion 545 around the fourth axis D, and the present application does not impose any restrictions on this.

[0094] The above are some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A humanoid robot, characterized in that: include: Torso assembly; a sacral joint assembly connected to the trunk assembly and used to drive the trunk assembly to rotate around a first axis so that the trunk assembly rotates in an up-and-down direction of the humanoid robot; Leg assembly; as well as A hip joint assembly, comprising a pitch drive member and a hip joint bracket; the stator of the pitch drive member is connected to the sacral joint assembly, and the rotor of the pitch drive member is connected to the hip joint bracket; the hip joint bracket is connected to the leg assembly, and the pitch drive member is used to drive the hip joint bracket and the leg assembly to rotate around a second axis so that the leg assembly swings in the front-rear direction of the humanoid robot; the first axis intersects with the second axis and has an inclined angle; In which, the pitch driving member is provided with a first calibration portion and a first limiting portion, and the hip joint support is provided with a second calibration portion and a second limiting portion; when the first calibration portion and the second calibration portion are aligned, the hip joint support is in a first initial position relative to the pitch driving member, and the first initial position is used as the zero point for the leg assembly to swing in the front and rear direction of the humanoid robot; during the rotation of the hip joint support relative to the pitch driving member around the second axis, the first limiting portion cooperates with the second limiting portion to limit the rotation angle of the hip joint support relative to the pitch driving member around the second axis.

2. The humanoid robot according to claim 1, characterized in that: The sacral joint assembly includes a sacral joint support and a lumbar drive, the stator of the lumbar drive is connected to the sacral joint support, and the rotor of the lumbar drive is connected to the torso assembly; the pitch drive includes a first shell and a pitch actuator, the first shell is connected to the sacral joint support, the stator of the pitch actuator is connected to the first shell, and the rotor of the pitch actuator is connected to the hip joint support.

3. The humanoid robot according to claim 2, characterized in that: An annular groove and the first limiting portion are provided on the first shell; the annular groove is extended circumferentially around the second axis, the first limiting portion is provided in the annular groove, and the second limiting portion extends into the annular groove.

4. The humanoid robot according to claim 3, characterized in that: When the first marking portion and the second marking portion are aligned, the first limiting portion and the second limiting portion are arranged opposite to each other in a radial direction around the circumference of the second axis.

5. The humanoid robot according to claim 3, characterized in that: The first marking portion is a first notch provided on the first limiting portion, and the second marking portion is a second notch provided on the hip joint support; when the first notch and the second notch are aligned, the first notch and the second notch are connected.

6. The humanoid robot according to claim 1, characterized in that: The hip joint assembly also includes a roll drive component; the roll drive component includes a second shell and a roll actuator, the second shell is connected to the hip joint support, the stator of the roll actuator is connected to the second shell, and the rotor of the roll actuator is connected to the leg assembly; the roll actuator is used to drive the leg assembly to rotate around a third axis so that the leg assembly swings in the left and right directions of the humanoid robot; the third axis is perpendicular to the first axis and the second axis.

7. The humanoid robot according to claim 6, characterized in that: The hip joint assembly also includes a yaw drive component; the yaw drive component includes a third shell and a yaw actuator, a portion of the third shell is connected to the rotor of the roll actuator, and another portion of the third shell is rotatably connected to the hip joint support, the stator of the yaw actuator is connected to the third shell, and the rotor of the yaw actuator is connected to the leg assembly; the yaw actuator is used to drive the leg assembly to rotate around a fourth axis so that the leg assembly rotates in the up and down directions of the humanoid robot; the fourth axis is perpendicular to the third axis.

8. The humanoid robot according to claim 7, characterized in that: The hip joint support is in a "U" shape; the hip joint support includes a first part and a second part, and the first part and the second part enclose a "U"-shaped installation space; the second shell is connected to the second part and is located outside the installation space, the stator of the roll actuator is located in the second shell, and the rotor of the roll actuator passes through the second part and extends into the installation space; a part of the third shell is located in the installation space and connected to the rotor of the roll actuator, and another part of the third shell is located in the installation space and is rotatably connected to the first part.

9. The humanoid robot according to claim 8, characterized in that: A third limiting portion is provided on a side of the second part facing the first part, and a fourth limiting portion is provided on a side of the third shell facing the second part; the fourth limiting portion cooperates with the third limiting portion to limit the angle of rotation of the yaw drive component relative to the roll drive component around the third axis.

10. The humanoid robot according to claim 7, characterized in that: A third calibration portion is provided on the third shell, and a fourth calibration portion is provided on the leg assembly; when the third calibration portion and the fourth calibration portion are aligned, the leg assembly is in a second initial position relative to the yaw drive component, and the second initial position is used as the zero point of the leg assembly's rotation in the up and down directions of the humanoid robot.

11. The humanoid robot according to claim 10, characterized in that: The third shell is further provided with a fifth limiting portion, and the leg assembly is further provided with a sixth limiting portion; the sixth limiting portion cooperates with the fifth limiting portion to limit the rotation angle of the leg assembly relative to the yaw drive component around the fourth axis.

12. The humanoid robot according to claim 11, characterized in that: The third marking portion is a third notch arranged on the fifth limiting portion, and the fourth marking portion is a fourth notch arranged on the leg assembly; when the third notch and the fourth notch are aligned, the third notch and the fourth notch are connected, and the first axis, the second axis and the fourth axis are located in the same plane.

13. The humanoid robot according to claim 12, characterized in that: The sixth limiting portion includes a first boss and a second boss, and the first boss and the second boss are arranged at circumferential intervals along the fourth axis to form a limiting space extending circumferentially along the fourth axis; the fifth limiting portion extends into the limiting space, and the first boss and the second boss cooperate with the fifth limiting portion to limit the angle of rotation of the leg assembly relative to the yaw drive component around the fourth axis; when the third notch and the fourth notch are aligned, the fifth limiting portion is located between the first boss and the second boss.

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