Waist-hip integrated mechanism and humanoid robot

Abstract

The present application relates to the field of robot technology, and in particular to a waist-hip integration mechanism and a humanoid robot, wherein the waist-hip integration mechanism comprises: a hip support; a waist circulation drive member disposed on the hip support; two side extension drives are disposed on the hip support relatively, and the axes of the drive ends coincide; two side extension supports are respectively connected to the drive ends of the side extension drive member; two pitch drive members are respectively disposed on the side extension supports; two pitch supports are respectively connected to the drive ends of the pitch drive member; two hip circulation drives are respectively disposed on the pitch supports, and the drive ends of the hip circulation drives are respectively connected to the leg mechanisms of the humanoid robot. Optimizing the nine degrees of freedom at the waist and hip joints of the traditional humanoid robot to seven degrees of freedom not only reduces the number of motors and the overall weight, but also retains a high degree of flexibility and maneuverability. At the same time, it helps to improve the endurance, free up more space for the robot, and realize the lightweight design of the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a waist-hip integration mechanism and a humanoid robot. Background Art

[0002] With the development of intelligent technology, robotics has become a hot topic in research today. Humanoid robots, as a type of robot with similar mobility to humans, have also attracted the attention of more and more researchers. In the prior art, in order to make the robot more flexible and able to complete various complex motion postures, the waist of a humanoid robot generally contains three degrees of freedom, which are used for pitch, rotation and lateral movement, while the hip joint contains six degrees of freedom, and the hip joints of the left and right thighs are used for pitch, rotation and lateral movement respectively.

[0003] Nine degrees of freedom means that at least nine motors are needed to drive each joint separately, which not only increases the weight of the robot and reduces its overall flexibility, but also increases energy consumption, making it difficult for the robot to operate for a long time with limited battery capacity. In addition, the installation of nine motors takes up a lot of internal space, which is not conducive to the lightweight design of the overall structure. Summary of the invention

[0004] Based on this, the present application provides a waist-hip integration mechanism and a humanoid robot to solve the problems of overall flexibility and lightness of the humanoid robot.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] On the one hand, the present application provides a waist-hip integration mechanism, provided in a humanoid robot, comprising:

[0007] Hip braces;

[0008] A waist rotation driving member, which is arranged on the hip support, and a driving end of the waist rotation driving member is connected to the chest mechanism of the humanoid robot, and is used to drive the chest mechanism to perform a rotational movement;

[0009] Two side-spreading driving members, the two side-spreading driving members are arranged on the hip support opposite to each other, and the axes of the driving ends of the two side-spreading driving members coincide with each other;

[0010] Two side extension brackets, the two side extension brackets are connected to the driving ends of the two side extension driving members in a one-to-one correspondence, so as to perform side extension movement relative to the hip bracket under the drive of the side extension driving members;

[0011] Two pitch driving members, the two pitch driving members are arranged on the two side support brackets in a one-to-one correspondence;

[0012] Two pitch brackets, the two pitch brackets are connected to the driving ends of the two pitch driving members in a one-to-one correspondence, so as to perform pitch motion relative to the side spread bracket under the driving of the pitch driving members;

[0013] Two hip rotation driving members are arranged on the two pitch brackets in a one-to-one correspondence, and the driving ends of the hip rotation driving members are connected to the two leg mechanisms of the humanoid robot in a one-to-one correspondence to drive the corresponding leg mechanisms to perform rotational motion.

[0014] In a possible implementation, along the axial direction of the driving end of the lateral drive member, the two lateral drive members are located on both sides of the waist circulation drive member; and / or

[0015] The driving ends of the two side drive members are arranged opposite to each other.

[0016] In a possible implementation, the hip support includes a first fixing plate and two first side plates, the two first side plates are respectively connected to opposite sides of the first fixing plate, the waist rotation drive component is arranged on the first fixing plate, and the two side extension drive components are arranged on the two first side plates one by one.

[0017] In a possible implementation, the first fixing plate is provided with a fixing groove, and the waist circulation driving member is provided in the fixing groove.

[0018] In a possible implementation, the distance between the center axis of the fixing groove and the two first side plates is equal.

[0019] In a possible implementation, the central axis of the fixing slot coincides with the central axis of the hip support; and / or

[0020] The central axis of the fixing groove is perpendicular to the plate surface of the first fixing plate.

[0021] In a possible implementation, the side extension bracket includes a second fixing plate and a second side plate, and the second side plate is connected to one side of the second fixing plate;

[0022] There is an angle between the plate surface direction of the second side plate and the plate surface direction of the second fixed plate. The driving end of the lateral extension driving component is arranged on the second fixed plate, and the pitch driving component is arranged on the second side plate.

[0023] In a possible implementation, the pitch bracket includes a third fixing plate and a third side plate, and the third side plate is connected to one side of the third fixing plate;

[0024] There is an angle between the board surface direction of the third side plate and the board surface direction of the third fixed plate. The driving end of the pitch driving component is arranged on the third fixed plate, and the hip rotation driving component is arranged on the third side plate.

[0025] In a possible implementation, the axis of the driving end of the side extension driving member and the axis of the driving end of the waist rotation driving member are perpendicular to each other; and / or

[0026] The axis of the driving end of the pitch driving member and the axis of the driving end of the corresponding spread driving member are perpendicular to each other; and / or

[0027] The axis of the driving end of the hip rotation driving member and the axis of the driving end of the corresponding pitch driving member are perpendicular to each other.

[0028] On the other hand, the present application provides a humanoid robot comprising the above-mentioned waist-hip integration mechanism.

[0029] The present application provides a waist-hip integration mechanism and a humanoid robot. By arranging two side extension drive members on the hip bracket and coinciding the axes of the drive ends of the two side extension drive members, the side extension of the thigh is integrated with the side extension of the waist; by arranging pitch drive members on the two side extension brackets respectively, the pitch of the thigh is integrated with the pitch of the waist. The nine degrees of freedom at the waist and hip joints of the traditional humanoid robot are optimized to seven degrees of freedom, which not only reduces the number of motors and the overall weight, but also retains a high degree of flexibility and maneuverability. At the same time, the overall weight reduction also helps to improve the endurance. By reducing two degrees of freedom, the waist-hip integration mechanism of the present application also frees up more space for the chest and waist areas of the robot, improves the space utilization of the robot, and realizes the lightweight design of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of the structure of a waist-hip integration mechanism provided in an embodiment of the present application provided on a humanoid robot;

[0032] Figure 2 for Figure 1 A schematic diagram of a partially exploded structure of the waist and hip integration mechanism shown;

[0033] Figure 3 for Figure 1 The schematic diagram of the structure of the humanoid robot performing a side extension action of the waist;

[0034] Figure 4 for Figure 1 The schematic diagram of the structure of the humanoid robot performing a side swing of a single leg and a side extension of the waist;

[0035] Figure 5 for Figure 1 The schematic diagram of the structure of the humanoid robot performing the leg-lifting action is shown;

[0036] Figure 6 for Figure 1 The schematic diagram of the structure of the humanoid robot performing the knee-bending squatting action;

[0037] Figure 7 for Figure 1 The structural schematic diagram of the humanoid robot performing a sitting action is shown.

[0038] Description of reference numerals:

[0039] 100-waist and hip integration mechanism; 10-hip support; 11-first fixing plate; 111-fixing slot; 12-first side plate; 121-installing slot; 20-waist rotation drive member; 30-side extension drive member; 40-side extension support; 41-second fixing plate; 42-second side plate; 50-pitch drive member; 60-pitch support; 61-third fixing plate; 62-third side plate; 70-hip rotation drive member; 200-humanoid robot; 201-thoracic mechanism; 202-leg mechanism; 203-head mechanism; 204-arm mechanism. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than 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. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0041] With the development of intelligent technology, robotics has become a hot topic in research today. Humanoid robots, as a type of robot with similar mobility to humans, have also attracted the attention of more and more researchers. In the prior art, in order to make the robot more flexible and able to complete various complex motion postures, the waist of a humanoid robot generally contains three degrees of freedom, which are used for pitch, rotation and lateral movement, while the hip joint contains six degrees of freedom, and the hip joints of the left and right thighs are used for pitch, rotation and lateral movement respectively.

[0042] Nine degrees of freedom means that at least nine motors are needed to drive each joint separately, which not only increases the weight of the robot and reduces its overall flexibility, but also increases energy consumption, making it difficult for the robot to operate for a long time with limited battery capacity. In addition, the installation of nine motors takes up a lot of internal space, which is not conducive to the lightweight design of the overall structure.

[0043] In order to overcome the defects in the prior art, after repeated thinking and verification, the inventors found that if the motors at the waist and hip joints are reused so that the pitch, rotation and lateral movement of the waist can be integrated with the pitch, rotation and lateral movement of the hip joint, the use of motors can be reduced while retaining flexibility and maneuverability, thereby reducing the overall weight and achieving a lightweight design of the robot.

[0044] In view of this, the present application provides a waist-hip integration mechanism, which is provided in a humanoid robot, comprising:

[0045] Hip braces;

[0046] A waist rotation driving member, which is arranged on the hip support, and a driving end of the waist rotation driving member is connected to the chest mechanism of the humanoid robot, and is used to drive the chest mechanism to perform a rotational movement;

[0047] Two side-spreading driving members, the two side-spreading driving members are arranged on the hip support opposite to each other, and the axes of the driving ends of the two side-spreading driving members coincide with each other;

[0048] Two side extension brackets, the two side extension brackets are connected to the driving ends of the two side extension driving members in a one-to-one correspondence, so as to perform side extension movement relative to the hip bracket under the drive of the side extension driving members;

[0049] Two pitch driving members, the two pitch driving members are arranged on the two side support brackets in a one-to-one correspondence;

[0050] Two pitch brackets, the two pitch brackets are connected to the driving ends of the two pitch driving members in a one-to-one correspondence, so as to perform pitch motion relative to the side spread bracket under the driving of the pitch driving members;

[0051] Two hip rotation driving members are arranged on the two pitch brackets in a one-to-one correspondence, and the driving ends of the hip rotation driving members are connected to the two leg mechanisms of the humanoid robot in a one-to-one correspondence to drive the corresponding leg mechanisms to perform rotational motion.

[0052] By arranging two lateral extension drive members on the hip support and aligning the axes of the driving ends of the two lateral extension drive members, the lateral extension of the thigh is integrated with the lateral extension of the waist; by arranging pitch drive members on the two lateral extension supports respectively, the pitch of the thigh is integrated with the pitch of the waist. The nine degrees of freedom at the waist and hip joints of the traditional humanoid robot are optimized to seven degrees of freedom, which not only reduces the number of motors and the overall weight, but also retains a high degree of flexibility and maneuverability. At the same time, the overall weight reduction also helps to improve the endurance. By reducing two degrees of freedom, the waist-hip integration mechanism of the present application also frees up more space for the chest and waist areas of the robot, improves the space utilization of the robot, and realizes the lightweight design of the robot.

[0053] The contents of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application more clearly and in detail.

[0054] Figure 1 This is a schematic diagram of the structure of a waist-hip integration mechanism provided in an embodiment of the present application provided on a humanoid robot. Figure 2 for Figure 1 Schematic diagram of the partial decomposition structure of the waist and hip integration mechanism shown. Figure 3 for Figure 1 The structure diagram of the humanoid robot performing the side extension action of the waist is shown. Figure 4 for Figure 1 The structure diagram of the humanoid robot shown is a schematic diagram of the structure of the humanoid robot performing a side swing of a single leg and a side extension of the waist. Figure 5 for Figure 1 The structural schematic diagram of the humanoid robot performing the leg-lifting action is shown. Figure 6 for Figure 1 The schematic diagram of the structure of the humanoid robot performing the knee-bending squat action is shown. Figure 7 for Figure 1 The schematic diagram of the structure of the humanoid robot performing the sitting action is shown.

[0055] The specific structure of the waist-hip integration mechanism and various possible implementation methods are described in detail below.

[0056] like Figure 1 and Figure 2 As shown, the waist-hip integration mechanism 100 provided in the embodiment of the present application is used in a humanoid robot 200. The waist-hip integration mechanism 100 is arranged in the middle of the humanoid robot 200 to connect the upper body and the lower body of the humanoid robot 200.

[0057] The waist-hip integration mechanism 100 includes a hip support 10 , a waist circulation driver 20 , two lateral extension drivers 30 , two lateral extension supports 40 , two pitch drivers 50 , two pitch supports 60 and two hip circulation drivers 70 .

[0058] The waist rotation drive member 20 and the two side extension drive members 30 are respectively arranged on the hip support 10. The driving end of the waist rotation drive member 20 is connected to the chest mechanism 201 of the humanoid robot 200. The waist rotation drive member 20 is used to drive the chest mechanism 201 to perform rotational motion.

[0059] The two side-spreading driving members 30 are arranged opposite to each other, and the axes of the driving ends of the two side-spreading driving members 30 coincide with each other.

[0060] The two side extension brackets 40 are connected to the driving ends of the two side extension driving members 30 in a one-to-one correspondence. The side extension driving members 30 are used to drive the side extension brackets 40 to rotate, so that the side extension brackets 40 perform side extension movement relative to the hip bracket 10.

[0061] The two pitch driving members 50 are disposed on the two side extension brackets 40 in a one-to-one correspondence. The two pitch brackets 60 are disposed on the driving ends of the two pitch driving members 50 in a one-to-one correspondence. The pitch driving members 50 are used to drive the pitch brackets 60 to rotate, so that the pitch brackets 60 perform pitch motion relative to the side extension brackets 40.

[0062] Two hip rotation driving members 70 are disposed on the two pitch brackets 60 in a one-to-one correspondence. The driving end of the hip rotation driving member 70 is connected to the corresponding leg mechanism 202 of the humanoid robot 200. The hip rotation driving member 70 is used to drive the leg mechanism 202 to perform rotational motion.

[0063] The chest mechanism 201 of the humanoid robot 200 performs a rotational motion under the drive of the waist rotation driving member 20 , thereby realizing the rotational motion of the waist of the humanoid robot 200 .

[0064] like Figure 3 and Figure 4 As shown, two lateral extension driving members 30 are provided on the hip support 10, and the axes of the driving ends of the two lateral extension driving members 30 are coincident, so that the lateral extension of the thigh is integrated with the lateral extension of the waist. That is, the two lateral extension driving members 30 are used to realize the lateral extension movement of the two hip joints and the waist of the humanoid robot 200, and the integration of movement is realized through the different driving forms of the two lateral extension driving members 30.

[0065] like Figure 3 As shown, when both legs of the humanoid robot 200 stand on the ground, the two side extension driving members 30 move simultaneously, so that the hip support 10 can rotate relatively, thereby realizing the side extension of the waist of the humanoid robot 200; Figure 4As shown, when a single side drive member 30 moves, the corresponding side support 40 can rotate relatively, thereby driving the leg mechanism 202 arranged thereon to rotate, thereby realizing the side swing of a single leg of the humanoid robot 200; when standing on one leg, the two side drive members 30 move at the same time, thereby realizing the side swing of a single leg of the humanoid robot 200 and the side expansion combined movement of the waist.

[0066] like Figures 5 to 7 As shown, by respectively arranging pitch driving components 50 on the two side extension brackets 40 and arranging the pitch bracket 60 at the driving end of the pitch driving component 50, the pitch of the thigh is integrated with the pitch of the waist, that is, the two pitch driving components 50 are used to realize the pitch movement of the two hip joints and the waist of the humanoid robot 200, and the movement integration is realized through the different driving forms of the two pitch driving components 50.

[0067] When both legs of the humanoid robot 200 stand on the ground, the two pitch driving members 50 move simultaneously, so that the side support 40 and the hip support 10 connected thereto can rotate relative to each other, thereby achieving the pitch of the waist of the humanoid robot 200; Figure 5 As shown, when a single pitch driving member 50 moves, the corresponding pitch bracket 60 can be relatively rotated, thereby driving the leg mechanism 202 disposed thereon to rotate, so as to achieve the pitch of a single leg of the humanoid robot 200. In conjunction with the movement of the leg mechanism 202, actions such as leg lifting can be achieved; Figure 6 and Figure 7 As shown, when both legs are standing on the ground, the two side drive members 30 move simultaneously, and in coordination with the movement of the two leg mechanisms 202, the humanoid robot 200 can achieve compound movements such as bending the knees to squat or sit down.

[0068] The leg mechanism 202 of the humanoid robot 200 performs a rotational motion under the drive of the corresponding hip rotational drive member 70 , thereby realizing the rotational motion of the left and right legs of the humanoid robot 200 .

[0069] The waist and hip joints of the traditional humanoid robot with nine degrees of freedom are optimized to seven degrees of freedom, which not only reduces the number of motors and the overall weight, but also retains a high degree of flexibility and maneuverability. At the same time, the overall weight reduction also helps to improve the endurance. By reducing two degrees of freedom, the waist and hip integration mechanism 100 of the present application also frees up more space for the chest and waist areas of the humanoid robot 200, improves the space utilization rate of the humanoid robot 200, and realizes the lightweight design of the humanoid robot 200.

[0070] By reducing two degrees of freedom, the waist-hip integration mechanism 100 frees up more space for the chest and waist areas of the humanoid robot 200, providing a more reasonable layout space for key electronic components such as batteries, onboard computing units, and sensors, thereby improving the utilization rate of the internal space of the humanoid robot 200 and allowing small and medium-sized robots to effectively increase loads or expand functions without affecting volume and weight.

[0071] In a possible implementation, the hip support 10, the lateral extension support 40 and the pitch support 60 are all modularly designed to facilitate quick assembly and disassembly to adapt to different robot models.

[0072] In a possible implementation, along the axial direction of the driving end of the side-spreading driving member 30 , the two side-spreading driving members 30 are located on both sides of the waist circulation driving member 20 .

[0073] By arranging two side-extension driving members 30 on both sides of the waist circulation driving member 20 , it is convenient to arrange various components of the hip, thereby optimizing the space utilization of the hip support 10 and realizing a lightweight design of the humanoid robot 200 .

[0074] In a possible implementation, the hip support 10 includes a first fixing plate 11 and two first side plates 12. The two first side plates 12 are respectively connected to opposite sides of the first fixing plate 11. The waist rotation drive member 20 is disposed on the first fixing plate 11. Two side extension drive members 30 are disposed on the two first side plates 12 in a one-to-one correspondence.

[0075] By connecting the two first side panels 12 to the opposite sides of the first fixed plate 11, respectively, the waist circulation driving component 20 and the side extension driving component 30 are respectively arranged on the first fixed plate 11 and the first side panel 12, which facilitates the installation of the waist circulation driving component 20 and the side extension driving component 30, thereby improving the installation efficiency and facilitating maintenance and replacement when the waist circulation driving component 20 and the side extension driving component 30 are damaged.

[0076] In a possible implementation, the first fixing plate 11 and the two first side plates 12 are integrally formed, thereby improving structural stability.

[0077] In other possible implementations, the first fixing plate 11 is connected to the two first side plates 12 via detachable fasteners to facilitate quick assembly and maintenance.

[0078] In a possible implementation, the first fixing plate 11 is provided with a fixing groove 111 , and the waist circulation driving member 20 is disposed in the fixing groove 111 .

[0079] By setting the fixing groove 111, the waist circulation drive member 20 can be effectively fixed, and its displacement and vibration during the movement process can be reduced, thereby improving the stability of the overall structure, as well as the smoothness and comfort of the operation. In addition, by installing the waist circulation drive member 20 in the fixing groove 111, the limited space can be better utilized, which helps to reduce the volume of the overall structure and make the structure more compact. The fixing groove 111 can ensure the precise positioning of the waist circulation drive member 20, thereby improving the installation accuracy and allowing the waist circulation drive member 20 to move with high precision. The fixing groove 111 can also provide additional protection for the waist circulation drive member 20 to prevent external environmental factors (such as dust, moisture, etc.) from damaging the waist circulation drive member 20, thereby extending the service life of the waist circulation drive member 20. In addition, since the waist circulation drive member 20 is fixed in a specific position, it can be more easily positioned and operated during maintenance and replacement, thereby simplifying the maintenance process.

[0080] In a possible implementation, the distance between the center axis of the fixing groove 111 and the two first side plates 12 is equal.

[0081] By making the distance between the central axis of the fixing groove 111 and the two first side plates 12 equal, the symmetrical arrangement of the waist rotary drive member 20 on the hip support 10 can be ensured, balance can be achieved, and stress concentration caused by asymmetric load can be reduced, thereby improving the stability and durability of the overall structure. At the same time, the humanoid robot 200 is more beautiful and coordinated visually.

[0082] In a possible implementation, the central axis of the fixing slot 111 coincides with the central axis of the hip support 10 .

[0083] By aligning the central axis of the fixing slot 111 with the central axis of the hip support 10 , the installation position of the waist rotary drive member 20 can be accurately ensured, thereby optimizing the driving efficiency and movement balance.

[0084] In a possible implementation, the central axis of the fixing groove 111 is perpendicular to the plate surface of the first fixing plate 11 .

[0085] By making the central axis of the fixing groove 111 perpendicular to the plate surface of the first fixing plate 11, the force on the lumbar rotating drive component 20 can be more evenly distributed on the first fixing plate 11, which helps to reduce local stress concentration, reduce the risk of structural deformation or damage, and facilitates the precise positioning and installation of the lumbar rotating drive component 20.

[0086] In a possible implementation, a mounting groove 121 is provided on the first side plate 12 , and the side-spreading driving member 30 is disposed in the mounting groove 121 .

[0087] By arranging the side extension drive member 30 in the installation slot 121, the limited space can be better utilized, which helps to reduce the volume of the overall structure and make the structure more compact. The installation slot 121 can ensure the precise positioning of the side extension drive member 30, thereby improving the installation accuracy and allowing the side extension drive member 30 to move with high precision.

[0088] In a possible implementation, the central axis of the mounting groove 121 is perpendicular to the plate surface of the first side plate 12 .

[0089] By making the central axis of the installation groove 121 perpendicular to the plate surface of the first side plate 12, the force on the side drive member 30 can be more evenly distributed on the first side plate 12, which helps to reduce local stress concentration, reduce the risk of structural deformation or damage, and facilitate the precise positioning and installation of the side drive member 30.

[0090] In a possible implementation, the driving ends of the two side-spreading driving members 30 are arranged opposite to each other.

[0091] The drive ends disposed in opposite directions help to achieve a balance of forces during operation. The forces generated by the two side drive members 30 can partially offset each other, thereby reducing unnecessary lateral forces and torques and improving the stability of the overall structure. At the same time, the drive ends disposed in opposite directions can more effectively utilize limited space, making the overall design more compact, which is conducive to realizing a lightweight design of the humanoid robot 200. In addition, the drive ends disposed in opposite directions can provide a certain degree of fault redundancy. If one side drive member 30 fails, the other side drive member 30 can still provide partial functions to maintain the basic operating capabilities of the humanoid robot 200.

[0092] When the humanoid robot 200 is walking, the side extension drive member 30 connected to the leg mechanism 202 touching the ground needs to maintain a certain torque to ensure that the body of the humanoid robot 200 does not tilt. After force analysis, this torque is the same as the torque of a conventional robot, that is, a conventional robot that does not adopt a waist and hip integration design. Therefore, compared with a conventional robot, there is no disadvantage, that is, the side extension drive member 30 does not need to be subjected to a larger torque and does not require more energy consumption.

[0093] In a possible implementation, the side extension drive member 30 uses a motor with a brake.

[0094] When the humanoid robot 200 stands still on the ground with its legs, the lateral friction of the ground will balance the gravity to a certain extent, causing the legs to be subjected to a torque tilting outward. A motor with a brake can withstand this torque when stationary, thereby ensuring the stability of the humanoid robot 200 when its legs are standing still on the ground.

[0095] In a possible implementation, the side extension bracket 40 includes a second fixing plate 41 and a second side plate 42. The second side plate 42 is connected to one side of the second fixing plate 41, and the plate surface direction of the second side plate 42 is at an angle to the plate surface direction of the second fixing plate 41. The driving end of the side extension driving member 30 is disposed on the second fixing plate 41, and the pitch driving member 50 is disposed on the second side plate 42.

[0096] Since the driving ends of the lateral drive member 30 and the pitch drive member 50 are respectively mounted on different plates, the installation and maintenance process may be more intuitive and simple, and it is convenient to adjust and replace them separately. By installing the drive members on different planes, the space can be used more effectively, making the overall design more compact, which is conducive to realizing the lightweight design of the humanoid robot 200. At the same time, the setting of the angle allows the lateral drive member 30 and the pitch drive member 50 to operate on different planes, thereby providing the humanoid robot 200 with greater freedom of movement, realizing more complex and flexible movement modes, and adapting to diverse application requirements.

[0097] In a possible implementation, a plate surface direction of the second side plate 42 and a plate surface direction of the second fixing plate 41 are perpendicular to each other.

[0098] By operating in a vertical plane, interference between the spread actuator 30 and the pitch actuator 50 can be minimized, which helps to improve the smoothness and reliability of movement and avoid physical conflicts between components.

[0099] In a possible implementation, the pitch driving member 50 is disposed on a side of the second side plate 42 away from the other side deployment bracket 40 .

[0100] By arranging the two pitch drive components 50 on the outside of the two side support brackets 40, it is convenient to layout various components of the hip, thereby optimizing the space utilization of the side support brackets 40 and realizing the lightweight design of the humanoid robot 200. At the same time, the interference between the side drive components 30 and the pitch drive components 50 can be minimized, which helps to improve the smoothness and reliability of the movement and avoid physical conflicts between components.

[0101] In a possible implementation, the second side plate 42 is provided with a groove, and the pitch driving member 50 is disposed in the groove.

[0102] By arranging the pitch drive member 50 in the groove, the limited space can be better utilized, which helps to reduce the volume of the overall structure and make the structure more compact. The groove can ensure the precise positioning of the pitch drive member 50, thereby improving the installation accuracy and allowing the pitch drive member 50 to move with high precision.

[0103] In a possible implementation, the pitch bracket 60 includes a third fixing plate 61 and a third side plate 62. The third side plate 62 is connected to one side of the third fixing plate 61, and the plate surface direction of the third side plate 62 is at an angle to the plate surface direction of the third fixing plate 61. The driving end of the pitch driving member 50 is disposed on the third fixing plate 61, and the hip rotation driving member 70 is disposed on the third side plate 62.

[0104] Since the driving end of the pitch drive member 50 and the hip rotation drive member 70 are respectively mounted on different plates, the installation and maintenance process may be more intuitive and simple, and it is convenient to adjust and replace them separately. By installing the drive members on different planes, the space can be used more effectively, making the overall design more compact, which is conducive to the lightweight design of the humanoid robot 200. At the same time, the setting of the angle allows the pitch drive member 50 and the hip rotation drive member 70 to operate on different planes, thereby providing the humanoid robot 200 with greater freedom of movement, realizing more complex and flexible movement modes, and adapting to diverse application requirements.

[0105] In a possible implementation, a plate surface direction of the third side plate 62 and a plate surface direction of the third fixing plate 61 are perpendicular to each other.

[0106] By operating in the vertical plane, interference between the pitch drive 50 and the hip epicyclic drive 70 can be minimized, helping to improve the smoothness and reliability of movement and avoiding physical interference between components.

[0107] In a possible implementation, the pitch bracket 60 includes two third fixing plates 61 . The third side plate 62 is connected to the same side of the two third fixing plates 61 at the same time.

[0108] By connecting the third side plate 62 to the two third fixing plates 61, a more solid frame structure can be formed, which helps to disperse and withstand forces from different directions, and improve the rigidity and stability of the overall structure. The support of the two third fixing plates 61 helps to reduce vibration and deviation during movement, and provides more stable support for the pitch drive member 50, so that the leg mechanism 202 of the humanoid robot 200 is more stable and precise during pitch movement.

[0109] In a possible implementation, the third side plate 62 is provided with a groove, and the hip rotation driving member 70 is disposed in the groove.

[0110] By arranging the hip rotation driver 70 in the groove, the limited space can be better utilized, which helps to reduce the volume of the overall structure and make the structure more compact. The groove can ensure the accurate positioning of the hip rotation driver 70, thereby improving the installation accuracy and allowing the hip rotation driver 70 to move with high precision.

[0111] In a possible implementation, the axis of the driving end of the side-extension driving member 30 and the axis of the driving end of the waist rotation driving member 20 are perpendicular to each other.

[0112] The axis of the driving end of the pitch driving member 50 and the axis of the driving end of the corresponding spread driving member 30 are perpendicular to each other.

[0113] The axis of the driving end of the hip rotation driving member 70 and the axis of the driving end of the corresponding pitch driving member 50 are perpendicular to each other.

[0114] The vertical axis configuration between different drivers allows each driver to operate on an independent plane, thereby providing the humanoid robot 200 with greater freedom of movement, enabling complex three-dimensional movements, and enabling the humanoid robot 200 to more flexibly adapt to a variety of operational requirements. At the same time, the vertical configuration helps to reduce mutual interference between drivers, thereby improving the accuracy and consistency of movement. Each driver can focus on its specific direction of movement, reducing the accumulation of errors. In addition, the vertical axis design can more effectively transmit and distribute the force applied to the driver. This can reduce unnecessary lateral forces and torques, and improve the stability and durability of the system.

[0115] In a possible implementation, the waist rotation drive member 20, the lateral extension drive member 30, the pitch drive member 50 and the hip rotation drive member 70 are all motors.

[0116] Optionally, the waist rotation drive member 20, the lateral extension drive member 30, the pitch drive member 50 and the hip rotation drive member 70 use servo motors.

[0117] In a possible implementation, the waist-hip integration mechanism 100 also includes a plurality of posture sensors, which are respectively arranged on the waist rotation drive member 20, the lateral extension drive member 30, the pitch drive member 50 and the hip rotation drive member 70, for real-time monitoring of the motion state and feeding back to the control system.

[0118] The waist-hip integration mechanism 100 provided in the embodiment of the present application is provided in a humanoid robot 200, and includes:

[0119] Hip brace 10;

[0120] The waist rotation driving member 20 is arranged on the hip support 10, and the driving end of the waist rotation driving member 20 is connected to the chest mechanism 201 of the humanoid robot 200, and is used to drive the chest mechanism 201 to perform a rotational motion;

[0121] Two side-spreading driving members 30, the two side-spreading driving members 30 are disposed on the hip support 10 opposite to each other, and the axes of the driving ends of the two side-spreading driving members 30 coincide with each other;

[0122] Two side extension brackets 40, the two side extension brackets 40 are respectively connected to the driving ends of the corresponding side extension driving members 30, so as to perform side extension movement relative to the hip bracket 10 under the drive of the side extension driving members 30;

[0123] Two pitch driving members 50, the two pitch driving members 50 are respectively arranged on corresponding side extension brackets 40;

[0124] Two pitch brackets 60, the two pitch brackets 60 are respectively connected to the driving ends of the corresponding pitch driving members 50, so as to perform pitch motion relative to the side spread bracket 40 under the driving of the pitch driving members 50;

[0125] Two hip rotary drive members 70 are respectively arranged on the corresponding pitch brackets 60, and the driving ends of the hip rotary drive members 70 are respectively connected to the corresponding leg mechanisms 202 of the humanoid robot 200 for driving the corresponding leg mechanisms 202 to perform rotary motion.

[0126] By arranging two lateral extension driving members 30 on the hip support 10 and aligning the axes of the driving ends of the two lateral extension driving members 30, the lateral extension of the thigh is integrated with the lateral extension of the waist; by arranging pitch driving members 50 on the two lateral extension supports 40, respectively, the pitch of the thigh is integrated with the pitch of the waist. The waist and hip joints of the traditional humanoid robot with nine degrees of freedom are optimized to seven degrees of freedom, which not only reduces the number of motors and the overall weight, but also retains a high degree of flexibility and maneuverability. At the same time, the overall weight reduction also helps to improve the endurance. By reducing two degrees of freedom, the waist-hip integration mechanism 100 of the present application also frees up more space for the chest and waist areas of the humanoid robot 200, improves the space utilization of the humanoid robot 200, and realizes the lightweight design of the humanoid robot 200.

[0127] On the other hand, the embodiment of the present application further provides a humanoid robot 200. The humanoid robot 200 includes a leg mechanism 202, a waist-hip integration mechanism 100, a chest mechanism 201, a head mechanism 203 and an arm mechanism 204.

[0128] The waist-hip integration mechanism 100 is connected to the leg mechanism 202 and the chest mechanism 201 respectively. The head mechanism 203 and the arm mechanism 204 are connected to the chest mechanism 201 respectively.

[0129] Since the humanoid robot 200 in this embodiment includes the waist-hip integration mechanism 100 described in any of the above embodiments, the structural features and beneficial effects of the waist-hip integration mechanism 100 included in the humanoid robot 200 will not be further elaborated in this embodiment.

[0130] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0131] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0132] It should be easily understood that the terms “on,” “above,” and “over” in this application should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above something” or “over,” but also may include the meaning of “above something” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0133] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90° or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A waist-hip integration mechanism, provided in a humanoid robot (200), comprising a hip support (10) and a waist circulation drive component (20), wherein the waist circulation drive component (20) is provided on the hip support (10), and is characterized in that: The driving end of the waist rotary driving member (20) is connected to the chest mechanism (201) of the humanoid robot (200) and is used to drive the chest mechanism (201) to perform rotary motion; The waist and hip integration mechanism also includes: Two side-spreading driving members (30), the two side-spreading driving members (30) being arranged on the hip support (10) opposite to each other, and the axes of the driving ends of the two side-spreading driving members (30) being coincident; Two side extension brackets (40), the two side extension brackets (40) being connected to the driving ends of the two side extension driving members (30) in a one-to-one correspondence so as to perform side extension movement relative to the hip bracket (10) under the drive of the side extension driving members (30); Two pitch driving components (50), the two pitch driving components (50) being arranged on the two side extension brackets (40) in a one-to-one correspondence; Two pitch brackets (60), the two pitch brackets (60) being connected to the driving ends of the two pitch driving members (50) in a one-to-one correspondence, so as to perform pitch motion relative to the side extension bracket (40) under the drive of the pitch driving members (50); Two hip rotation drive members (70), the two hip rotation drive members (70) are arranged on the two pitch brackets (60) in a one-to-one correspondence, and the driving ends of the hip rotation drive members (70) are connected to the two leg mechanisms (202) of the humanoid robot (200) in a one-to-one correspondence, so as to drive the corresponding leg mechanisms (202) to perform rotational motion.

2. The waist-hip integration mechanism according to claim 1, characterized in that: Along the axial direction of the driving end of the side-spreading driving member (30), the two side-spreading driving members (30) are located on both sides of the waist rotation driving member (20); and / or The driving ends of the two side-spreading driving members (30) are arranged opposite to each other.

3. The waist-hip integration mechanism according to claim 2, characterized in that: The hip support (10) comprises a first fixing plate (11) and two first side plates (12), the two first side plates (12) being respectively connected to opposite sides of the first fixing plate (11), the waist rotation driving member (20) being arranged on the first fixing plate (11), and the two side extension driving members (30) being arranged on the two first side plates (12) in a one-to-one correspondence.

4. The waist-hip integration mechanism according to claim 3, characterized in that: The first fixing plate (11) is provided with a fixing groove (111), and the waist rotation driving member (20) is arranged in the fixing groove (111).

5. The waist-hip integration mechanism according to claim 4, characterized in that: The distance between the central axis of the fixing groove (111) and the two first side plates (12) is equal.

6. The waist-hip integration mechanism according to claim 4, characterized in that: The central axis of the fixing groove (111) coincides with the central axis of the hip support (10); and / or The central axis of the fixing groove (111) is perpendicular to the plate surface of the first fixing plate (11).

7. The waist-hip integration mechanism according to claim 1, characterized in that: The side extension bracket (40) comprises a second fixing plate (41) and a second side plate (42), wherein the second side plate (42) is connected to one side of the second fixing plate (41); There is an angle between the plate surface direction of the second side plate (42) and the plate surface direction of the second fixed plate (41); the driving end of the lateral extension driving component (30) is arranged on the second fixed plate (41); and the pitch driving component (50) is arranged on the second side plate (42).

8. The waist-hip integration mechanism according to claim 1, characterized in that: The pitch bracket (60) comprises a third fixing plate (61) and a third side plate (62), wherein the third side plate (62) is connected to one side of the third fixing plate (61); There is an angle between the plate surface direction of the third side plate (62) and the plate surface direction of the third fixed plate (61); the driving end of the pitch driving component (50) is arranged on the third fixed plate (61); and the hip rotation driving component (70) is arranged on the third side plate (62).

9. The waist-hip integration mechanism according to any one of claims 1 to 8, characterized in that: The axis of the driving end of the side-extension driving member (30) and the axis of the driving end of the waist rotation driving member (20) are perpendicular to each other; and / or The axis of the driving end of the pitch driving member (50) and the axis of the driving end of the corresponding lateral driving member (30) are perpendicular to each other; and / or The axis of the driving end of the hip rotation driving member (70) and the axis of the driving end of the corresponding pitch driving member (50) are perpendicular to each other.

10. A humanoid robot, characterized in that: It comprises the waist-hip integration mechanism as described in any one of claims 1-9.

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