A robot hip structure and biped walking robot

Abstract

This invention provides a robotic hip structure and a bipedal walking robot, comprising: a hip joint base and two hip joint mechanisms; each hip joint mechanism is symmetrically mounted on both sides of the hip joint base; each hip joint mechanism includes: a first motor, a first telescopic rod, a second motor, a second telescopic rod, a connecting assembly, a hip joint gear assembly, a differential gear assembly, a hip joint link, a thigh support column, a hinge, and a four-bar linkage assembly; this application uses the first motor to control the first telescopic rod to perform linear motion, which enables the thigh support column to swing back and forth; the second motor controls the second telescopic rod to perform linear motion, causing the hip joint link to rotate under the action of the second motor, and the rotation of the hip joint link drives the differential gear assembly to rotate, enabling two-degree-of-freedom movement of the hip, while the hip structure can adapt to various complex terrains.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a robot hip structure and a bipedal walking robot. Background Technology

[0002] Humanoid robots have seen rapid development in recent years due to their ability to better replace human workers in high-risk tasks. While the arms of humanoid robots have become increasingly sophisticated, insufficient attention has been paid to the design of their hips and legs, resulting in relatively poor biomimetic effects in the leg structures of current humanoid robots. Summary of the Invention

[0003] To address the existing technical problems, embodiments of the present invention provide a robot hip structure and a bipedal walking robot.

[0004] In a first aspect, embodiments of the present invention provide a robot hip structure, including: a hip joint base and two hip joint mechanisms;

[0005] Each of the two hip joint mechanisms is symmetrically mounted on both sides of the hip joint base;

[0006] The hip joint mechanism includes: a first motor, a first telescopic rod, a second motor, a second telescopic rod, a connecting assembly, a hip joint gear assembly, a differential gear assembly, a hip joint link, a thigh support column, a hinge, and a four-bar linkage assembly;

[0007] The first telescopic rod is installed at one end of the first motor;

[0008] The end of the first motor away from the first telescopic rod is movably connected to one end of the connecting assembly, and the connecting assembly is also connected to one end of the hip joint toothed plate assembly; the end of the hip joint toothed plate assembly away from the connecting assembly is fixedly connected to the thigh support column.

[0009] The second telescopic rod is installed at one end of the second motor;

[0010] The other end of the second motor away from the second telescopic rod is movably connected to one end of the hip joint link, and the other end of the hip joint link away from the second motor is connected to the differential gear assembly; the differential gear assembly and the four-bar assembly are connected through a hinge, and the end of the four-bar assembly away from the hinge is connected to the hip joint base;

[0011] When the first motor controls the first telescopic rod to move in a straight line and the second motor is not started, the connecting component controls the hip joint toothed assembly to rotate under the push of the first motor, and the rotating hip joint toothed assembly drives the thigh support column to swing back and forth.

[0012] When the second motor controls the second telescopic rod to move in a straight line and the first motor is not started, the hip joint linkage rotates under the pushing action of the second motor. After the hip joint linkage rotates, it drives the differential gear assembly to rotate. The differential gear assembly controls the hinge to tilt up. When the hinge tilts up, it drives the four-bar linkage to perform a lateral swing motion.

[0013] In a second aspect, embodiments of the present invention also provide a bipedal walking robot, comprising: the robot hip structure described in any of the first aspects above.

[0014] In the solutions provided in the first and second aspects of this application, the first telescopic rod is controlled by the first motor to move linearly, causing the connecting assembly to control the rotation of the hip joint gear assembly, which in turn drives the thigh support column to swing back and forth. The second telescopic rod is controlled by the second motor to move linearly, causing the hip joint link to rotate under the action of the second motor. After the hip joint link rotates, it drives the differential gear assembly to rotate. The differential gear assembly controls the hinge to lift and tilt, and the hinge drives the four-bar linkage to swing laterally. Compared with the use of servo motors and rotary motors in the hip structure of humanoid robots in related technologies, the hip structure achieves two degrees of freedom of movement in two directions through gear motion and linkage transmission, and can adapt to various complex terrains.

[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the background art, the accompanying drawings used in the embodiments of the present invention or the background art will be described below.

[0017] Figure 1 This shows a front view of the humanoid robot provided in an embodiment of the present invention;

[0018] Figure 2 This diagram illustrates a hip joint mechanism on one side of the hip structure provided in an embodiment of the present invention. Figure 1 ;

[0019] Figure 3 A first side view of the hip structure provided in an embodiment of the present invention is shown;

[0020] Figure 4 This diagram illustrates a hip joint mechanism on one side of the hip structure provided in an embodiment of the present invention. Figure 2 ;

[0021] Figure 5 It shows Figure 4 Enlarged schematic diagram of part A;

[0022] Figure 6 A second side view of the hip structure provided in an embodiment of the present invention is shown;

[0023] Figure 7 It shows Figure 6 Schematic diagram of the cross section at BB;

[0024] Figure 8 A schematic diagram of the differential gear assembly structure provided in an embodiment of the present invention is shown;

[0025] Figure 9 A schematic diagram of the differential upper gear structure provided in an embodiment of the present invention is shown;

[0026] Figure 10 A schematic diagram of the differential lower gear structure provided in an embodiment of the present invention is shown;

[0027] Figure 11 A schematic diagram of the hip joint toothed plate assembly structure provided in an embodiment of the present invention is shown;

[0028] Figure 12 A schematic diagram of the hip joint linkage structure provided in an embodiment of the present invention is shown;

[0029] Figure 13 A schematic diagram of the connection component structure provided in an embodiment of the present invention is shown;

[0030] Figure 14 A schematic diagram of the hip joint external connecting piece structure provided in an embodiment of the present invention is shown;

[0031] Figure 15 A schematic diagram of the side swing linkage structure provided in an embodiment of the present invention is shown;

[0032] Figure 16 This diagram illustrates the connection relationship of the four-bar linkage provided in an embodiment of the present invention. Figure 1 ;

[0033] Figure 17 This diagram illustrates the connection relationship of the four-bar linkage provided in an embodiment of the present invention. Figure 2 ;

[0034] Figure 18 This diagram illustrates the back-and-forth swinging of the hip structure of the humanoid robot provided in an embodiment of the present invention. Figure 1 ;

[0035] Figure 19 This diagram illustrates the back-and-forth swinging of the hip structure of the humanoid robot provided in an embodiment of the present invention. Figure 2 ;

[0036] Figure 20 This diagram illustrates the lateral swing motion of the hip structure of the humanoid robot provided in an embodiment of the present invention. Figure 1 ;

[0037] Figure 21 This diagram illustrates the lateral swing motion of the hip structure of the humanoid robot provided in an embodiment of the present invention. Figure 2 .

[0038] Figure 10: First motor; 11: First telescopic rod; 12: Second motor; 13: Second telescopic rod; 14: Hip joint inner connecting plate; 15: Hip joint outer connecting plate; 16: Connecting pin; 17: Upper gear pin; 18: Lower gear pin; 19: Motor pin; 20: Hip joint upper gear; 21: Hip joint lower gear; 22: Differential upper gear; 23: Side swing link; 24: Upper plate; 25: Differential lower gear; 26: Hip joint base; 27: Lower plate; 28: Hip joint link; 29: Thigh support column; 30: Hinge; 31: Side swing rocker arm; 32: Connecting rod; 33: Hip joint bracket; 34: Side swing shaft seat. Detailed Implementation

[0039] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0040] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] Humanoid robots have seen rapid development in recent years due to their ability to better replace human workers in high-risk tasks. While the arms of humanoid robots have become increasingly sophisticated, insufficient attention has been paid to the design of their hips and legs, resulting in relatively poor biomimetic effects in the leg structures of current humanoid robots.

[0044] Based on this, the present invention proposes the following embodiments of a robot hip structure and a humanoid robot.

[0045] The humanoid robot, by simulating the walking motions of real human legs, is better able to adapt to more complex terrains, especially in its climbing ability, which is superior to existing rotary motor-based humanoid robots. Furthermore, the humanoid robot proposed in this embodiment can achieve two degrees of freedom of movement at the hip position, allowing it to adjust its walking posture according to different road surface types.

[0046] Example 1

[0047] This invention provides a robot hip structure, see [link / reference] Figure 1 The front view of the humanoid robot shown and references Figure 2 Schematic diagram of the hip joint mechanism on one side of the hip structure shown. Figure 1The hip structure includes: each of the two hip joint mechanisms is symmetrically mounted on both sides of the hip joint base 26; each hip joint mechanism includes: a first motor 10, a first telescopic rod 11, a second motor 12, a second telescopic rod 13, a connecting assembly, a hip joint gear assembly, a differential gear assembly, a hip joint link 28, a thigh support column 29, a hinge 30, and a four-bar linkage assembly; the first telescopic rod 11 is mounted on one end of the first motor 10; the other end of the first motor 10 away from the first telescopic rod 11 is movably connected to one end of the connecting assembly, and the connecting assembly is also connected to one end of the hip joint gear assembly; the other end of the hip joint gear assembly away from the connecting assembly is fixedly connected to the thigh support column 29; the second telescopic rod 13 is mounted on one end of the second motor 12; the other end of the second motor 12 away from the second telescopic rod 13 is hinged to one end of the hip joint link 28 (hinge point is E), and the hip joint link 28 is hinged to one end of the hip joint base 28. The other end of the second motor 12 is connected to the differential gear assembly; the differential gear assembly and the four-bar linkage are connected by a hinge 30, and the end of the four-bar linkage away from the hinge 30 is connected to the hip joint base 26; when the first motor 10 controls the first telescopic rod 11 to move linearly and the second motor 12 is not started, the connecting assembly controls the hip joint gear assembly to rotate under the push of the first motor 10, and the rotating hip joint gear assembly drives the thigh support column 29 to swing back and forth; when the second motor 12 controls the second telescopic rod 13 to move linearly and the first motor 10 is not started, the hip joint linkage 28 rotates under the push of the second motor 12, and the rotation of the hip joint linkage 28 drives the differential gear assembly to rotate, the differential gear assembly controls the hinge 30 to tilt up, and when the hinge 30 tilts up, it drives the four-bar linkage to perform a lateral swinging motion. Specifically, the term "raised up" means that, in the vertical plane, one end of the differential gear assembly remains in the same position, while the other end, which is connected to the hinge portion 30, moves upward.

[0048] In one implementation, see Figure 3 The first side view of the hip structure shown, see also Figure 4 Schematic diagram of the hip joint mechanism on one side of the hip structure shown. Figure 2 And see also Figure 5 shown Figure 4The enlarged schematic diagram of section A shows that both the first motor 10 and the second motor 12 are linear motors. The four-bar linkage is rectangular in its normal state and becomes rhomboid in its startup state. The lateral swing motion described above refers to continuous oscillation in the left-right direction. If the direction of the lateral swing motion is set as the x-axis, then the direction of the forward-backward motion is the y-axis. Since the motion of the hinge 30 and the four-bar linkage is a spatial linkage transmission relationship, and the hinge 30 is a spherical hinge, it can prevent the hinge 30 from jamming when the differential gear assembly controls the state change of the four-bar linkage through the hinge 30.

[0049] In this embodiment of the invention, see Figure 8 The schematic diagram of the differential gear assembly shown is provided below. Figure 9 The schematic diagram of the differential upper gear structure and see also Figure 10 The schematic diagram of the differential gear assembly shown illustrates the differential gear structure, which includes an upper differential gear 22 and a lower differential gear 25. Both the upper and lower differential gears are mounted on the connecting assembly. The end of the upper differential gear 22 furthest from the connecting assembly is connected to the hinge portion 30. The lower differential gear 25 is connected to the connecting assembly. The other end of the hip joint link 28 furthest from the second motor 12 is connected to the lower differential gear 25. The lower differential gear 25 meshes with the upper differential gear 22. The upper differential gear 22 is ball-jointed to the four-bar linkage via the hinge portion 30. When the hip joint link 28 rotates, it drives the lower differential gear 25 to rotate, causing the lower differential gear 25 to mesh with the upper differential gear 22. After the upper differential gear 22 rotates, it controls the hinge portion 30 to tilt upwards, and the hinge portion 30 controls the four-bar linkage to undergo a lateral swing motion.

[0050] In one embodiment, both the upper differential gear 22 and the lower differential gear 25 are circular and mesh with each other. However, the rotation that occurs during the meshing process between the upper differential gear 22 and the lower differential gear 25 is restricted, as only a semi-circular raised tooth block is provided at the periphery of the upper differential gear 22 and the lower differential gear 25. This embodiment of the invention mimics the human hip structure. During normal walking or exercise, the normal rotation angle of the human hip structure is generally limited to within 180 degrees. Except for gymnastic exercises that may require raising the legs, the rotation angle of the hip structure may exceed 180 degrees. Therefore, in this embodiment of the invention, the upper differential gear 22 and the lower differential gear 25 only need to have a semi-circular raised tooth block at their periphery.

[0051] In this embodiment of the invention, see Figure 13 The schematic diagram of the connection component structure shown and references Figure 14The schematic diagram of the external hip joint connecting piece shown includes: an internal hip joint connecting piece 14, an external hip joint connecting piece 15, a connecting pin 16, an upper toothed pin 17, a lower toothed pin 18, and a motor pin 19. Both ends of the connecting pin 16, the upper toothed pin 17, and the lower toothed pin 18 are respectively connected to the internal hip joint connecting piece 14 and the external hip joint connecting piece 15. The connection point N between the connecting pin 16 and both the external hip joint connecting piece 15 and the internal hip joint connecting piece 14 is N. The motor pin 19 is connected to the hip joint... The connection point between the external connecting piece 15 and the internal connecting piece 14 of the hip joint is B; the connection point between the upper toothed pin 17 and the external connecting piece 15 and the internal connecting piece 14 of the hip joint is hole A1; specifically, both the external connecting piece 15 and the internal connecting piece 14 of the hip joint have holes A1, and after the upper toothed pin 17 passes through the holes A1 on the external connecting piece 15 and the internal connecting piece 14 of the hip joint, the external connecting piece 15 and the internal connecting piece 14 of the hip joint can be connected and assembled; the connecting pin 16 and the lower toothed pin A motor pin 19 is provided between shafts 18, and the motor pin 19 is connected to the first motor 10, the inner hip joint connecting piece 14, and the outer hip joint connecting piece 15 respectively; the upper gear pin 17 passes through the outer hip joint connecting piece 15 and the upper hip joint gear 20 and is connected to the upper differential gear 22, and the lower gear pin 18 passes through the outer hip joint connecting piece 15 and the lower hip joint gear 21 and is connected to the lower differential gear 25; when the first motor 10 pushes the motor pin 19 away from the first telescopic rod 11... When the direction is moved and the second motor 12 is not started, the upper toothed plate 20 of the hip joint is fixed. The first motor 10 controls the outer connecting plate 15 and the inner connecting plate 14 of the hip joint to rotate around the upper toothed plate pin 17. When the outer connecting plate 15 and the inner connecting plate 14 of the hip joint rotate, they drive the lower toothed plate 21 of the hip joint to make a fan-shaped motion with the upper toothed plate pin 17 as the center. While the lower toothed plate 21 of the hip joint makes a fan-shaped motion around the upper toothed plate pin 17, it meshes with the upper toothed plate 20 of the hip joint. The thigh support column 29 swings back and forth with the lower toothed plate 21 of the hip joint.

[0052] In one implementation, see Figure 12 The schematic diagram of the hip joint linkage structure shown shows that the hip joint linkage 28 and the lower gear pin 18 are fastened together. The hip joint linkage 28 is provided with a hole C3, through which the lower gear pin 18 passes. The hip joint linkage 28 is also provided with a hole M and a set bolt. When the lower gear pin 18 passes through the first opening C1 on the hip joint linkage 28, the set bolt is inserted into the hole M. At this time, the diameter of the hole C3 is reduced and the lower gear pin 18 is fastened to the hip joint linkage 28, so as to realize the synchronous movement of the lower gear pin 18 and the hip joint linkage 28.

[0053] In this embodiment of the invention, the upper differential gear 22 is provided with an upper patch 24, which is fixedly connected by a bolt through two threaded holes. The lower differential gear 25 is provided with a lower patch 27, which is fixedly connected by a bolt through two threaded holes. Specifically, the upper patch 24 is provided with two matching first openings C1, and the lower patch 27 is provided with two matching second openings C2. Additionally, the upper patch 24 has a hole A1 at its center, and the lower patch 25 has a hole C3 at its center. It should be noted that the hip joint upper gear plate 20, the hip joint external connecting plate 15, the differential upper gear plate 22, and the upper patch 24 all require the upper gear pin 17 to pass through before they can be connected together. Therefore, all four components have holes A1 for the upper gear pin 17 to pass through. Similarly, the hip joint lower gear plate 21, the hip joint external connecting plate 15, the differential lower gear plate 25, and the lower patch 27 all require the lower gear pin 18 to pass through before they can be connected together. Therefore, the hip joint lower gear plate 21, the hip joint external connecting plate 15, the differential lower gear plate 25, the hip joint connecting rod 28, and the lower patch 27 all require the lower gear pin 18 to pass through before they can be connected together. Each plate 27 has a hole C3 for the lower gear pin 18 to pass through; a first set screw is fitted therein; a second set screw is fitted in the second opening C2; after the upper gear pin 17 is connected to the differential upper gear 22, the first set screw is threaded into the first opening C1, which reduces the diameter A1 of the center hole of the upper plate 24, thus fastening the upper plate 24 to the upper gear pin 17. Because the upper plate 24 and the differential upper gear... 22 is fixedly connected, thereby achieving the fixed connection between the upper gear pin 17 and the differential upper gear 22; after the lower gear pin 18 is connected to the differential lower gear 25, the second set screw is threadedly connected to the second opening C2, which reduces the size of the hole C3 at the center of the lower patch 27, and fastens the lower patch 27 to the lower gear pin 18. Since the lower patch 27 is fixedly connected to the differential lower gear 25, the fixed connection between the lower gear pin 18 and the differential lower gear 25 is achieved.

[0054] Further, see Figure 11The schematic diagram of the hip joint toothed plate assembly shown includes: an upper hip joint toothed plate 20 and a lower hip joint toothed plate 21; the upper hip joint toothed plate 20 is connected to an upper toothed plate pin 17; one end of the lower hip joint toothed plate 21 is connected to a lower toothed plate pin 18, and the other end of the lower hip joint toothed plate 21 is fixedly connected to the thigh support column 29 (fixed connection points are H and L respectively); the upper hip joint toothed plate 20 and the lower hip joint toothed plate 21 mesh with each other; when the first motor 10 is started and the second motor 12 is not started, the... The upper toothed plate 20 of the hip joint is fixed. The first motor 10 controls the outer connecting plate 15 and the inner connecting plate 14 of the hip joint to rotate around the upper toothed plate pin 17. After the outer connecting plate 15 and the inner connecting plate 14 of the hip joint rotate, they drive the lower toothed plate pin 18 to rotate. The lower toothed plate pin 18 drives the lower toothed plate 21 of the hip joint to make a fan-shaped motion with the upper toothed plate pin 17 as the center. While the lower toothed plate 21 of the hip joint is making a fan-shaped motion around the upper toothed plate pin 17, it meshes with the upper toothed plate 20 of the hip joint. The thigh support column 29 swings back and forth with the lower toothed plate 21 of the hip joint.

[0055] See Figure 16 The diagram shows the connection relationship of the four-bar linkage. Figure 1 and see Figure 15 The schematic diagram of the lateral swing linkage structure shown indicates that a lateral swing linkage 23 connects the hinge portion 30 to the four-bar linkage assembly. The four-bar linkage assembly includes: a lateral swing arm 31, a connecting rod 32, a hip joint support 33, and a lateral swing bearing 34. One end of the lateral swing linkage 23 is ball-jointed to the hinge portion 30, and the other end of the lateral swing linkage 23 is ball-jointed to one end of the lateral swing arm 31 (hinge point V). The other end of the lateral swing arm 31, away from the lateral swing linkage 23, is hinged to the lateral swing bearing 34 (hinge point T). The end of the lateral swing arm 31 near the lateral swing linkage 23 is also hinged to one end of the connecting rod 32 (hinge point U). The connecting rod 32... The other end of the swing arm 31, away from the lateral swing arm 31, is connected to one end of the hip joint bracket 33 (hinge point S); the other side of the hip joint bracket 33, away from the connecting rod 32, is connected to the lateral swing bearing 34 (hinge point R); the hip joint bracket 33 is also fixedly connected to the hip joint base 26; when the hinge 30 is raised, the end of the lateral swing link 23 that is hinged to the lateral swing arm 31 is raised, and after the end of the lateral swing arm 31 is raised, the lateral swing arm 31 as a whole tilts towards the lateral swing link 23, and the lateral swing bearing 34 tilts along with the lateral swing arm 31 under the traction of the hinge point with the lateral swing arm 31, realizing the lateral swing motion of the four-bar linkage assembly. Figure 11As shown, the lateral swing bearing 34 is fixedly connected to the upper hip joint toothed plate 20, the upper hip joint toothed plate 20 meshes with the lower hip joint toothed plate 21, and the lower hip joint toothed plate 21 is fixedly connected to the thigh support column 29. When the lateral swing bearing 34 begins to swing laterally, it will drive the entire leg structure (hip joint mechanism), including the upper hip joint toothed plate 20, the lower hip joint toothed plate, and the thigh support column 29, to swing laterally.

[0056] The first motor 10 controls the thigh support column 29 to swing back and forth, and the second motor 12 controls the four-bar linkage assembly to swing sideways. The opening and closing combinations of the first motor 10 and the second motor 12 can be in the following four situations:

[0057] (1) See Figure 17 The diagram shows the connection relationship of the four-bar linkage. Figure 2 See also Figure 18 The diagram shows the hip structure of the humanoid robot swinging back and forth. Figure 1 And see also Figure 19 The diagram shows the hip structure of the humanoid robot swinging back and forth. Figure 2 When the first motor 10 is started and the second motor 12 is in standby mode, the first motor 10 starts and controls the first telescopic rod 11 to move linearly. The first motor 10 generates a reverse thrust on the first telescopic rod 11 and moves upward. At the same time as the first motor 10 moves upward, the motor pin 19 moves upward synchronously. Under the pull of the motor pin 19, the inner hip joint connecting piece 14 and the outer hip joint connecting piece 15 both move upward. The upper hip joint toothed piece 20 and the second motor 12 remain stationary. The outer hip joint connecting piece 15 and the inner hip joint connecting piece 14 rotate around the upper toothed piece pin 17. At the same time, the lower hip joint toothed piece 21 moves in a fan shape with the upper toothed piece pin 17 as the center. While the lower hip joint toothed piece 21 moves in a fan shape around the upper toothed piece pin 17, it meshes with the upper hip joint toothed piece 20. The thigh support column 29 swings back and forth with the lower hip joint toothed piece 21.

[0058] (2) See Figure 6 The second side view of the hip structure shown, see also Figure 7 shown Figure 6 Schematic diagram of cross section at BB, see Figure 20 The diagram shows the lateral swing motion of the hip structure of the humanoid robot. Figure 1 and see Figure 21 The diagram shows the lateral swing motion of the hip structure of the humanoid robot. Figure 2When the second motor 12 is started and the first battery 10 is in standby mode, the second motor 12 starts and controls the second telescopic rod 13 to move linearly. Under the action of the second telescopic rod 13, the second motor 12 generates a reverse thrust to move upward. The second motor 12 pushes the hip joint connecting rod 28 to rotate around the axis of the hole C3. The hip joint connecting rod 28 is fixedly connected to the lower gear pin 18 and the differential lower gear 25. The rotation of the hip joint connecting rod 28 drives the lower gear pin 18 to rotate, and the lower gear pin 18 drives... When the lower differential gear 25 rotates, it meshes with the upper differential gear 22, causing the upper differential gear 22 to rotate. This rotation of the upper differential gear 22 causes the hinge 30 to lift, and the side swing link 23, subjected to an upward thrust from the lower hinge 30, rises, causing one end of the side swing arm 31 to rise. The raised end of the side swing arm 31 causes the entire side swing arm 31 to tilt towards the side swing link 23. The side swing bearing 34, under the traction of the hinge point between itself and the side swing arm 31, also tilts along with the side swing arm 31. Figure 11 As shown, the lateral swing bearing 34 is fixedly connected to the upper hip joint gear plate 20, the upper hip joint gear plate 20 meshes with the lower hip joint gear plate 21, and the lower hip joint gear plate 21 is fixedly connected to the thigh support column 29. When the lateral swing bearing 34 begins to swing laterally, it will drive the entire leg structure (hip joint mechanism), including the upper hip joint gear plate 20, the lower hip joint gear plate, and the thigh support column 29, to swing laterally. Ultimately, this achieves the lateral swing motion of the four-bar linkage assembly and the robot's hip structure.

[0059] (3) When the first motor 10 and the second motor 12 start simultaneously, the robot's hip structure can achieve the combined motion of situation (1) and situation (2).

[0060] (4) When the first motor 10 and the second motor 12 are not started at the same time, the robot's hip structure is in a static state.

[0061] In this embodiment of the invention, the first motor 10 and the second motor 12 have a self-locking function. The first telescopic rod 11 and the second telescopic rod 13 cannot extend outward when the first motor 10 and the second motor 12 are self-locked. The self-locking of the motors can be done in any way in the prior art, and no specific limitation is made here. Accordingly, the self-locking principle will not be repeated.

[0062] In summary, this embodiment proposes a robot hip structure. The first motor 10 controls the first telescopic rod 11 to move linearly, causing the connecting assembly to control the rotation of the hip joint gear assembly, which in turn drives the thigh support column 29 to swing back and forth. The second motor 12 controls the second telescopic rod 13 to move linearly, causing the hip joint link 28 to rotate under the action of the second motor 12. The rotation of the hip joint link 28 drives the differential gear assembly to rotate, which in turn controls the lifting of the hinge 30. The hinge 30 then drives the four-bar linkage to perform a lateral swing motion, which in turn drives the entire thigh assembly (hip joint mechanism) to perform a lateral swing motion. Through gearing and linkage transmission, two degrees of freedom of movement in the hip are achieved, and the hip structure can adapt to various complex terrains.

[0063] Example 2

[0064] The present invention also discloses a humanoid robot, including the aforementioned robot hip structure. Therefore, this humanoid robot possesses all the technical effects described in Embodiment 1, which will not be repeated here.

[0065] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot hip structure, characterized in that, include: Hip joint base and two hip joint mechanisms; Each of the two hip joint mechanisms is symmetrically mounted on both sides of the hip joint base; The hip joint mechanism includes: a first motor, a first telescopic rod, a second motor, a second telescopic rod, a connecting assembly, a hip joint gear assembly, a differential gear assembly, a hip joint link, a thigh support column, a hinge, and a four-bar linkage assembly; The first telescopic rod is installed at one end of the first motor; The end of the first motor away from the first telescopic rod is movably connected to one end of the connecting assembly, and the connecting assembly is also connected to one end of the hip joint toothed plate assembly; the end of the hip joint toothed plate assembly away from the connecting assembly is fixedly connected to the thigh support column. The second telescopic rod is installed at one end of the second motor; The other end of the second motor away from the second telescopic rod is movably connected to one end of the hip joint link, and the other end of the hip joint link away from the second motor is connected to the differential gear assembly; the differential gear assembly and the four-bar assembly are connected through a hinge, and the end of the four-bar assembly away from the hinge is connected to the hip joint base; When the first motor controls the first telescopic rod to move in a straight line and the second motor is not started, the connecting component controls the hip joint toothed assembly to rotate under the push of the first motor, and the rotating hip joint toothed assembly drives the thigh support column to swing back and forth. When the second motor controls the second telescopic rod to move linearly and the first motor is not started, the hip joint linkage rotates under the pushing action of the second motor. After the hip joint linkage rotates, it drives the differential gear assembly to rotate. The differential gear assembly controls the hinge to tilt up. When the hinge tilts up, it drives the four-bar linkage to perform a lateral swing motion. When the four-bar linkage performs a lateral swing motion, it drives the hip joint mechanism to perform a lateral swing motion.

2. The robot hip structure according to claim 1, characterized in that, The differential gear assembly includes: an upper differential gear and a lower differential gear; Both the upper differential gear and the lower differential gear are mounted on the connecting assembly; The differential upper gear is connected to the end away from the end that is mounted on the connecting assembly and the hinge portion; The lower differential gear is connected to the connecting assembly; The other end of the hip joint linkage away from the second motor is connected to the lower differential gear, the lower differential gear meshes with the upper differential gear, and the upper differential gear is connected to the four-bar linkage through the hinge. When the second motor drives the hip joint linkage to rotate, the hip joint linkage drives the differential lower gear to rotate, the differential lower gear meshes with the differential upper gear, and after the differential upper gear rotates, it controls the hinge to tilt up, and the hinge controls the four-bar linkage to sway sideways.

3. The robot hip structure according to claim 2, characterized in that, The connecting assembly includes: an inner hip joint connecting piece, an outer hip joint connecting piece, a connecting pin, an upper toothed pin, a lower toothed pin, and a motor pin; Both ends of the connecting pin, the upper toothed pin, and the lower toothed pin are respectively connected to the inner hip joint connecting piece and the outer hip joint connecting piece; A motor pin is provided between the connecting pin and the lower gear pin, and the motor pin is connected to the first motor, the inner hip joint connecting piece and the outer hip joint connecting piece respectively. The hip joint toothed plate assembly includes: an upper hip joint toothed plate and a lower hip joint toothed plate; The upper toothed plate of the hip joint is connected to the upper toothed plate pin; One end of the lower hip joint toothed plate is connected to the lower toothed plate pin, and the other end is fixedly connected to the thigh support column; The upper toothed plate of the hip joint and the lower toothed plate of the hip joint mesh with each other; The upper gear pin passes through the hip joint outer connecting piece and the hip joint upper gear and connects to the differential upper gear; the lower gear pin passes through the hip joint outer connecting piece and the hip joint lower gear and connects to the differential lower gear. When the first motor is started and the second motor is not started, the upper toothed plate of the hip joint is fixed. The first motor controls the outer connecting plate and the inner connecting plate of the hip joint to rotate around the upper toothed plate pin. After the outer connecting plate and the inner connecting plate of the hip joint rotate, they drive the lower toothed plate pin to rotate. The lower toothed plate pin drives the lower toothed plate of the hip joint to make a fan-shaped motion with the upper toothed plate pin as the center. While the lower toothed plate of the hip joint is making a fan-shaped motion around the upper toothed plate pin, it meshes with the upper toothed plate of the hip joint. The thigh support column swings back and forth with the lower toothed plate of the hip joint.

4. The robot hip structure according to claim 3, characterized in that, The upper differential gear is provided with an upper patch, and the lower differential gear is provided with a lower patch. The upper patch and the lower patch are respectively provided with a first opening and a second opening. The first opening is fitted with a first set screw; the second opening is fitted with a second set screw; After the upper gear pin is connected to the differential upper gear, the first set screw is threaded to the first opening to fasten the upper patch to the upper gear pin; after the lower gear pin is connected to the differential lower gear, the second set screw is threaded to the second opening to fasten the lower patch to the lower gear pin.

5. The robot hip structure according to claim 4, characterized in that, Both the internal hip joint connector and the external hip joint connector are irregularly shaped structures.

6. The robot hip structure according to claim 3, characterized in that, A side-swing link is connected between the hinge and the four-bar linkage. The four-bar linkage includes: a side-swing rocker arm, a connecting rod, a hip joint bracket, and a side-swing pivot seat. One end of the side swing link is hinged to the hinge part, and the other end of the side swing link is hinged to one end of the side swing rocker arm; The other end of the side-swing rocker arm, away from the side-swing connecting rod, is hinged to the side-swing shaft seat; The end of the side-swing rocker arm near the side-swing connecting rod is also hinged to one end of the connecting rod; The other end of the connecting rod away from the side swing arm is connected to one end of the hip joint bracket; The hip joint bracket is connected to the side swing shaft seat on the side away from the connecting rod. The hip joint bracket is also fixedly connected to the hip joint base; The lateral swing bearing is fixedly connected to the upper gear plate of the hip joint; When the hinge is raised, the end of the lateral swing link that is hinged to the lateral swing arm is raised. After the end of the lateral swing arm is raised, the lateral swing arm as a whole tilts to one side of the lateral swing link. The lateral swing bearing seat tilts with the lateral swing arm under the traction of the hinge point with the lateral swing arm, realizing the lateral swing movement of the four-bar linkage. When the four-bar linkage swings, it drives the hip joint mechanism to swing.

7. The robot hip structure according to claim 6, characterized in that, Both ends of the side-swing link that connect to the hinge and the side-swing rocker arm are spherical hinge joints.

8. A bipedal walking robot, characterized in that, include: The robot hip structure according to any one of claims 1-7.

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