Hip assembly and humanoid robot

Abstract

A crotch assembly and a humanoid robot. The crotch assembly is used for the humanoid robot, and includes a sacral joint mechanism and a hip joint mechanism. The sacral joint mechanism is used to connect with the waist assembly and is used to drive the waist assembly to rotate around a first axis. The hip joint mechanism is used to connect with the leg assembly. The hip joint mechanism includes a pitch drive member, which is connected to the sacral joint mechanism, and the pitch drive member is used to drive the leg assembly to rotate around a second axis. The first axis intersects with the second axis and has an inclined angle. By setting the pitch drive member of the hip joint mechanism to an inclined design, that is, the first axis intersects with the second axis and has an inclined angle, the crotch assembly structure is reasonably arranged, which can enable the leg assembly to have a larger movement angle and can perform large-angle movements.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a crotch component and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes leg components, hip components and waist components, and the hip components are connected between the leg components and the waist components.

[0003] The hip assembly is mainly used to realize the function of the hip joint, which is used to drive the leg assembly to move to simulate the movement posture of the human body. The current structural setting of the hip assembly is unreasonable, resulting in the leg assembly being able to move at too small an angle and unable to make large-angle movements. Summary of the invention

[0004] The purpose of the present invention is to provide a crotch assembly and a humanoid robot to solve the problem that the leg assembly cannot perform large-angle movements due to the unreasonable structure of the crotch assembly.

[0005] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a crotch assembly for a humanoid robot, comprising:

[0007] A sacral joint mechanism, used to connect with the waist component and drive the waist component to rotate around a first axis;

[0008] A hip joint mechanism, used to connect with the leg assembly; the hip joint mechanism includes a pitch drive member, the pitch drive member is connected to the sacral joint mechanism, and the pitch drive member is used to drive the leg assembly to rotate around a second axis;

[0009] Wherein, the first axis intersects with the second axis and has an inclined angle.

[0010] The hip assembly provided by the present invention has an inclined design of the pitch drive member of the hip joint mechanism, that is, the first axis intersects with the second axis and has an inclined angle. The hip assembly structure is reasonably arranged, which can enable the leg assembly to have a larger movement angle and perform large-angle movements.

[0011] In one embodiment, the angle between the first axis and the second axis is A, which satisfies: 90°<A≤160°. When 90°<A≤160° is satisfied, the pitch drive member is moderately tilted relative to the sacral joint mechanism, so that the leg assembly can move at a large angle. When the angle A is within the above range, a rotation angle similar to the human body's movement posture can be obtained, which can have a good human-like effect.

[0012] In one embodiment, the sacral joint mechanism includes a first side surface in the left-right direction of the humanoid robot, one side of the pitch drive member is connected to the first side surface, and the other side opposite to the first side surface is located on the side of the sacral joint mechanism facing the leg assembly, and the side of the pitch drive member away from the sacral joint mechanism falls on the sacral joint mechanism in the orthographic projection of the first axis. Such an arrangement, compared with the current scheme in which the axis of the pitch drive member is perpendicular to the first axis, can make the axis of the leg assembly and the axis of the crotch assembly (i.e., the first axis) in the left-right direction of the humanoid robot closer, more similar to the human body structure, so that when the crotch assembly drives the leg assembly to walk, the walking action is more anthropomorphic.

[0013] In one embodiment, the sacral joint mechanism further includes a second side opposite to the first side, and there are two hip joint mechanisms, one side of the pitch driving member of the other hip joint mechanism is connected to the second side, and the other opposite side is located on the side of the sacral joint mechanism facing the leg assembly, and falls on the sacral joint mechanism in the orthographic projection of the first axis. In this arrangement, the two hip joint mechanisms are respectively used to drive the movement of the two leg assemblies to simulate the walking action of the left and right legs of the human body, and the walking action is more anthropomorphic.

[0014] In one embodiment, the pitch drive components of the two hip joint mechanisms are connected and fixed at a side away from the sacral joint mechanism. This arrangement enables the two pitch drive components and the sacrum component to form a stable structure, ensuring that the crotch assembly as a whole has a stable structure.

[0015] In one embodiment, the two hip joint mechanisms are symmetrically arranged relative to the first axis. By arranging two symmetrical hip joint mechanisms, the control logic and motion posture of the two hip joint mechanisms can be similar, which can save the time of control program development and reduce the control requirements. In addition, since the pitch drive parts of the two hip joint mechanisms are both inclined, the two symmetrically arranged hip joint mechanisms can shorten the distance between the two leg components (i.e., the size in the left and right direction of the humanoid robot), and the symmetrical hip joint mechanisms are more similar to the human body in appearance, and the humanoid effect is good.

[0016] In one embodiment, the hip joint mechanism further includes a roll drive and a yaw drive, wherein the roll drive is connected to the pitch drive, and the yaw drive is connected to the roll drive, wherein the pitch drive is used to drive the roll drive to rotate around the second axis, wherein the roll drive is used to drive the yaw drive to rotate around the third axis, and wherein the yaw drive is used to drive the leg assembly to rotate around the fourth axis, wherein the second axis, the third axis, and the fourth axis intersect at one point. The pitch drive is used to drive the leg assembly to swing in the front-to-back direction of the humanoid robot, the roll drive is used to drive the leg assembly to swing in the left-to-right direction of the humanoid robot, and the yaw drive is used to drive the leg assembly to rotate around its own axis, so that the leg assembly can simulate various motion postures of the human body, and has rich functions. In addition, because the pitch drive member is tilted, the roll drive member can make the leg assembly have a larger swing angle when driving the leg assembly to swing in the left and right directions of the humanoid robot, and when the leg assembly is in an upright state in the initial state, the leg assembly is located in a roughly middle position within the angle range within which it can swing in the left and right directions of the humanoid robot, and the torque required by the roll drive member to drive the leg assembly to swing outward or inward can be smaller, that is, the tilted setting of the pitch drive member can reduce the torque requirement of the roll drive member. The second axis, the third axis and the fourth axis intersect at one point, which can make the hip joint mechanism more similar to the human body structure and make the walking action of the leg assembly more anthropomorphic.

[0017] In one embodiment, the third axis is perpendicular to the fourth axis. In this way, the structure of the roll drive member and the yaw drive member can be simpler, which can reduce costs, and make the hip joint mechanism more similar to the human body structure, making the walking action of the leg assembly more anthropomorphic.

[0018] In one embodiment, the roll drive member and the sacral joint mechanism are respectively located on opposite sides of the pitch drive member in the extension direction of the second axis, so that the structural arrangement is reasonable and interference is avoided.

[0019] In a second aspect, the present invention further provides a humanoid robot, comprising a waist assembly, a leg assembly and a hip assembly described in any one of the various embodiments of the first aspect, wherein the sacral joint mechanism of the hip assembly is connected to the waist assembly, and the hip joint mechanism of the hip assembly is connected to the leg assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a perspective view of a crotch assembly of an embodiment;

[0022] Figure 2 is a front view of a crotch assembly of one embodiment;

[0023] Figure 3 is a top view of a crotch assembly of one embodiment;

[0024] Figure 4 is a schematic diagram of the application of a crotch component of an embodiment;

[0025] Figure 5 It is a schematic diagram of the application of the crotch component of a comparative scale.

[0026] Description of reference numerals:

[0027] 100-crotch assembly;

[0028] 10-sacral joint mechanism, 11-sacral member, 111-first side surface, 112-second side surface, 12-lumbar driving member;

[0029] 20-hip joint mechanism, 21-pitch drive member, 211-second stator, 212-second rotor, 213-bracket, 214-first end surface, 215-second end surface, 22-roll drive member, 221-third stator, 222-third rotor, 23-yaw drive member, 231-fourth stator, 232-fourth rotor;

[0030] E1-first axis, E2-second axis, E3-third axis, E4-fourth axis;

[0031] X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0034] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0035] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0036] refer to Figures 1 to 3 An embodiment of the present invention provides a humanoid robot, including a waist assembly (not shown), a leg assembly (not shown) and a hip assembly 100 in an embodiment of the present invention, wherein a sacral joint mechanism 10 of the hip assembly 100 is connected to the waist assembly, and a hip joint mechanism 20 of the hip assembly 100 is connected to the leg assembly.

[0037] The specific structures of the waist component and the leg component are not limited, and both can be set to a humanoid shape. The sacral joint mechanism 10 of the crotch component 100 is connected to the waist component and can rotate relatively, realizing a sacral joint function similar to that of the human body. The hip joint mechanism 20 of the crotch component 100 is connected to the leg component and can rotate relatively, realizing a hip joint function similar to that of the human body. For the convenience of subsequent description, a coordinate system XYZ is established, wherein the X direction is the left-right direction X of the humanoid robot, the Y direction is the front-back direction Y of the humanoid robot, and the Z direction is the up-down direction Z of the humanoid robot.

[0038] In the embodiment of the present invention, by providing a unique crotch component 100, the structure of the crotch component 100 is reasonably arranged, and the function of driving the leg components to perform large-angle movements can be realized.

[0039] The crotch assembly 100 according to the embodiment of the present invention is described in detail below.

[0040] refer to Figures 1 to 3 An embodiment of the present invention provides a crotch assembly 100 for a humanoid robot, including a sacral joint mechanism 10 and a hip joint mechanism 20 .

[0041] The sacral joint mechanism 10 is used to connect with the waist component and to drive the waist component to rotate around the first axis E1. The specific structure of the sacral joint mechanism 10 is not limited, and it is used to simulate the sacral joint of the human body. The hip joint mechanism 20 is used to connect with the sacral joint mechanism 10 and the leg component, and to drive the leg component to move relative to the sacral joint mechanism 10. The specific structure of the hip joint mechanism 20 is not limited, and it is used to simulate the hip joint of the human body.

[0042] The hip joint mechanism 20 includes a pitch drive member 21, which is connected to the sacral joint mechanism 10 and is used to drive the leg assembly to rotate around the second axis E2. The first axis E1 intersects with the second axis E2 and has an inclined angle.

[0043] Optionally, the sacral joint mechanism 10 includes a sacral member 11 and a waist driving member 12, wherein the sacral member 11 is sleeved on the outer periphery of the waist driving member 12, and the waist driving member 12 is used to connect with the waist assembly. The waist driving member 12 can rotate relative to the sacral member 11 around the first axis E1 to drive the waist assembly to rotate relative to the sacral member 11 around the first axis E1. When the humanoid robot is in a state where both feet stand upright on a horizontal plane, the first axis E1 can extend approximately in the vertical direction.

[0044] Optionally, the lumbar drive member 12 and the sacrum member 11 are integrated into a first motor, the sacrum member 11 serves as a first stator of the first motor, and the lumbar drive member 12 serves as a first rotor of the first motor. Optionally, the lumbar drive member 12 is a first motor, the first stator of the first motor is connected and fixed to the sacrum member 11, and the first rotor of the first motor is arranged in the first stator and can rotate relative to the first stator. The first output shaft of the first rotor is connected and fixed to the lumbar component, and the rotation of the lumbar component relative to the first stator is realized by the rotation of the first rotor relative to the first stator, that is, the lumbar component rotates relative to the sacrum member 11.

[0045] The pitch driving member 21 may be substantially cylindrical, and one end thereof in the axial direction (i.e., the extension direction of the second axis E2) is connected and fixed to the sacrum member 11. Specifically, the pitch driving member 21 includes a first end face 214 and a second end face 215 opposite to each other in the extension direction of the second axis E2, the first end face 214 is used to be connected and fixed to the sacrum member 11, and the second end face 215 is used to be connected to other components, and the other components are used to be connected to the leg assembly.

[0046] Optionally, the pitch driving member 21 is a second motor, and the second stator 211 of the second motor is connected and fixed to the sacral joint mechanism 10, specifically, the second stator 211 is connected and fixed to the sacral member 11, and the second rotor 212 of the second motor can be arranged in the second stator 211 or sleeved outside the second stator 211, and the second rotor 212 and the second stator 211 can rotate relative to each other around the second axis E2. The second rotor 212 is used to connect with the leg assembly through other components, and can drive the leg assembly to rotate relative to the sacral member 11 around the second axis E2 through the relative rotation of the second rotor 212 and the second stator 211.

[0047] The hip joint mechanism 20 is used to simulate the hip joint function of the human body, and the leg assembly can be rotated through the hip joint mechanism 20. With the hip joint mechanism 20 as the center, the leg assembly can swing in the left and right direction X and the front and back direction of the humanoid robot, and can also rotate around the center line of the leg assembly itself (that is, the leg assembly rotates around the fourth axis E4 in the following text, that is, the fourth axis E4 is the center line of the leg assembly itself). When the leg assembly swings in the left and right direction X of the humanoid robot, it is similar to the action of the human body splitting the legs left and right or putting the legs together, and the movement of the humanoid robot in the left and right direction X can be achieved. The pitch drive member 21 drives the leg assembly to rotate around the second axis E2, which can make the leg assembly swing in the front and back direction Y of the humanoid robot, similar to the action of the human body kicking the legs forward and backward, and the movement of the humanoid robot in the front and back direction Y can be achieved. When the leg assembly rotates around its own center line, it is similar to the action of the human body turning around, and the turning of the humanoid robot can be achieved.

[0048] Considering that a humanoid robot should simulate the appearance and movement posture of the human body as much as possible, the range of movement of the leg assembly of the humanoid robot should simulate the range of movement of the human body's legs as much as possible, that is, the leg assembly can swing outward to a certain angle in the left and right direction X of the humanoid robot.

[0049] Combination Figure 2 and Figure 4 In one embodiment, when the leg assembly swings outward to the maximum angle in the left-right direction X of the humanoid robot, the angle between the center line of the leg assembly and the second end face 215 of the pitch drive member 21 is B1. When the leg assembly swings inward in the left-right direction X of the humanoid robot, the second end face 215 of the pitch drive member 21 has a limiting effect on the leg assembly. The leg assembly can only swing inward to a position parallel to the second end face 215 of the pitch drive member 21 at most. In other words, the angle that the leg assembly can move in the left-right direction X of the humanoid robot is B1. Since the first axis E1 and the second axis E2 in the embodiment of the present invention have an inclined angle, rather than being vertical, the angle B1 can be made larger.

[0050] Combination Figure 2 and Figure 5 In a comparative example, the leg assembly swings outward in the left-right direction X of the humanoid robot to the same Figure 4 The angle between the center line of the leg assembly and the second end face 215 of the pitch drive member 21 is B2. As can be seen from the above, the angle that the leg assembly in the comparative example can move in the left-right direction X of the humanoid robot is B2. The first axis E1 and the second axis E2 in the comparative example are perpendicular, that is, the angle A' is 90°, and the second end face 215 of the pitch drive member 21 in the comparative example is roughly a vertical surface, so that when the humanoid robot swings inward, the leg assembly can only swing to a roughly vertical state at most and cannot continue to swing inward.

[0051] right Figure 4 Examples and Figure 5 By comparing with the comparative example, it can be seen that when the leg assembly swings in the left-right direction X of the humanoid robot, the angle that the leg assembly of the embodiment of the present invention can move is greater than the angle that the leg assembly of the comparative example can move, that is, B1>B2.

[0052] It should be understood that Figure 4 and Figure 5 The middle leg assembly is compared by swinging outward to the same maximum angle in the left-right direction X of the humanoid robot. When the leg assembly is at the maximum angle, the leg assembly only needs its own center line to be perpendicular to the first axis E1 at most. At this time, it is similar to the human body doing a split in the left-right direction, and the leg assembly basically does not need to continue to increase the swing angle. Even if it increases the angle, it is limited. The second axis E2 of the pitch drive member 21 of the embodiment of the present invention has an inclined angle with the first axis E1, which can also meet the maximum outward swing angle of the leg assembly itself The center line is perpendicular to the first axis E1.

[0053] In the embodiment of the present invention, reference Figures 1 to 3 The first axis E1 intersects with the second axis E2, so that the first axis E1 and the second axis E2 are in the same plane, and the center of gravity of the hip assembly 100 is closer to the center of the structure, which can make the leg assembly stable when rotating and avoid affecting the stability due to the excessive deviation of the center of gravity from the center of the structure caused by the non-intersection of the first axis E1 and the second axis E2.

[0054] Therefore, the hip assembly 100 provided in the embodiment of the present invention has an inclined design for the pitch drive member 21 of the hip joint mechanism 20, that is, the first axis E1 intersects with the second axis E2 and has an inclined angle. The hip assembly 100 has a reasonable structure, which can enable the leg assembly to have a larger movement angle and perform large-angle movements.

[0055] In one embodiment, reference Figure 2 and Figure 4, the included angle between the first axis E1 and the second axis E2 is A, which satisfies: 90°<A≤160°.

[0056] Optionally, the angle A can be 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, etc. without limitation.

[0057] Satisfying 90°<A≤160°, the pitch drive member 21 has a moderate inclination relative to the sacral joint mechanism 10, so that the leg assembly can move at a large angle. If the angle A is less than or equal to 90°, when the leg assembly rotates inward from the vertical state to a smaller angle, it may contact and interfere with the second end face 215 of the pitch drive member 21, and the effect of increasing the angle that the leg assembly can move is limited. If the angle A is greater than 160°, in the left and right directions X of the humanoid robot, when the leg assembly rotates outward, it may also interfere with the second end face 215 of the pitch drive member 21, limiting the angle range of the leg assembly when it rotates outward. In short, if the angle A is too large or too small, the rotation angle range of the leg assembly will be limited, and the human-like effect will be poor. When the angle A is within the above range, a rotation angle that is more similar to the movement posture of the human body can be obtained, which can have a good human-like effect.

[0058] In one embodiment, reference Figure 1 and Figure 2 The sacral joint mechanism 10 includes a first side surface 111 in the left-right direction X of the humanoid robot. Specifically, the first side surface 111 is one of the end surfaces of the sacrum component 11 in the left-right direction X of the humanoid robot.

[0059] One side of the pitch drive member 21 is connected to the first side surface 111 , and the other side opposite thereto is located on the side of the sacroiliac joint mechanism 10 facing the leg assembly. The side of the pitch drive member 21 away from the sacroiliac joint mechanism 10 falls on the sacroiliac joint mechanism 10 in the orthographic projection of the first axis E1 .

[0060] Specifically, the first end surface 214 of the pitch driving member 21 is connected to the sacrum member 11 at a position close to the edge, and the connection method can be any feasible method such as screw connection, clamping connection, riveting, etc. The first end surface 214 of the pitch driving member 21 is symmetrical to the position connected to the sacrum member 11 in the radial direction, and falls on the sacral joint mechanism 10 in the orthographic projection of the first axis E1, and can fall on the sacrum member 11 or the lumbar driving member 12, without limitation.

[0061] In other words, the pitch drive member 21 is retracted inward from the sacral joint mechanism 10 in the left-right direction X of the humanoid robot, rather than being expanded outward. Compared with the current solution in which the axis of the pitch drive member 21 is perpendicular to the first axis E1, this arrangement can make the axis of the leg assembly and the axis of the crotch assembly 100 (i.e., the first axis E1) closer in the left-right direction X of the humanoid robot, which is more similar to the human body structure, so that when the crotch assembly 100 drives the leg assembly to walk, the walking action is more anthropomorphic.

[0062] In one embodiment, reference Figure 1 and Figure 2 The sacral joint mechanism 10 also includes a second side surface 112 opposite to the first side surface 111. There are two hip joint mechanisms 20, one side of the pitch driving member 21 of the other hip joint mechanism 20 is connected to the second side surface 112, and the other side opposite to the first side is located on the side of the sacral joint mechanism 10 facing the leg assembly and falls on the sacral joint mechanism 10 in the orthographic projection of the first axis E1.

[0063] Specifically, the two hip joint mechanisms 20 are respectively used to connect with the two leg components in a one-to-one correspondence. The two leg components are used to simulate the left leg and the right leg of the human body. Similar to the aforementioned hip joint mechanism 20 connected to the first side surface 111, another hip joint mechanism 20 connected to the second side surface 112 is set for reference and will not be repeated here.

[0064] With such arrangement, the two hip joint mechanisms 20 are respectively used to drive the two leg components to move, so as to simulate the walking action of the left and right legs of the human body, and the walking action is more anthropomorphic.

[0065] Optionally, the pitch drive members 21 of the two hip joint mechanisms 20 are connected and fixed at a side away from the sacral joint mechanism 10. Specifically, one end of the second stator 211 of one pitch drive member 21 is connected and fixed to the first side surface 111, and one end of the second stator 211 of the other pitch drive member 21 is connected and fixed to the second side surface 112, and the two pitch drive members 21 are connected and fixed at one end away from the sacrum member 11. In this way, the two pitch drive members 21 and the sacrum member 11 are connected to form a stable structure, ensuring that the crotch assembly 100 has a stable structure as a whole.

[0066] The two pitch driving components 21 may be directly connected and fixed, or may be connected and fixed via an intermediate component, without limitation.

[0067] Optional, reference Figure 2, the two hip joint mechanisms 20 are symmetrically arranged relative to the first axis E1. It should be understood that the symmetry of this embodiment refers to the symmetrical arrangement of the two hip joint mechanisms 20 driving the two leg assemblies symmetrically, for example, the two leg assemblies are both in an upright state, or in a state where they have the same angle with the first axis E1, at which time the two hip joint mechanisms 20 are symmetrical relative to the first axis E1. From another perspective, when one of the hip joint mechanisms 20 is in a certain posture relative to the first axis E1, the other hip joint mechanism 20 can achieve another posture that is symmetrical with the aforementioned hip joint mechanism 20 relative to the first axis E1 through posture adjustment.

[0068] By setting two symmetrical hip joint mechanisms 20, the control logic and motion posture of the two hip joint mechanisms 20 can be similar, which can save the control program development time and reduce the control requirements. In addition, since the pitch drive members 21 of the two hip joint mechanisms 20 are both inclined, the two symmetrically set hip joint mechanisms 20 can shorten the distance between the two leg components (i.e., the size in the left-right direction X of the humanoid robot). The symmetrical hip joint mechanisms 20 are also more similar to the human body in appearance, and the humanoid effect is good.

[0069] In one embodiment, reference Figures 1 to 3 The hip joint mechanism 20 also includes a roll drive 22 and a yaw drive 23. The roll drive 22 is connected to the pitch drive 21, and the yaw drive 23 is connected to the roll drive 22, and is suitable for being connected to the leg assembly. The pitch drive 21 is used to drive the roll drive 22 to rotate around the second axis E2, the roll drive 22 is used to drive the yaw drive 23 to rotate around the third axis E3, and the yaw drive 23 is used to drive the leg assembly to rotate around the fourth axis E4. In this way, the leg assembly has three degrees of freedom of rotation, namely, the front-to-back rotation, left-to-right rotation and self-rotation of the legs similar to those of the human body, so that the humanoid robot can achieve forward and backward movement, left-to-right movement and turning movements.

[0070] Optionally, the roll drive member 22 is a third motor, and the yaw drive member 23 is a fourth motor. The third stator 221 of the third motor (i.e., the roll drive member 22) is connected and fixed to the second rotor 212 of the second motor (i.e., the pitch drive member 21), the third rotor 222 of the third motor is connected and fixed to the fourth stator 231 of the fourth motor (i.e., the yaw drive member 23), and the fourth rotor 232 of the fourth motor is used to be connected and fixed to the leg assembly.

[0071] The second rotor 212 rotates relative to the second stator 211, which can drive the third stator 221 to rotate around the second axis E2. The third rotor 222 rotates relative to the third stator 221, which can drive the fourth stator 231 to rotate around the third axis E3. The fourth rotor 232 rotates relative to the fourth stator 231, which can drive the leg assembly to rotate around the fourth axis E4.

[0072] According to the above description, the extension direction of the first axis E1 is substantially the vertical direction, that is, the up-down direction Z of the humanoid robot, and the extension direction of the second axis E2 has an inclined angle with the extension direction of the first axis E1.

[0073] In this embodiment, the third axis E3 extends in the front-rear direction Y of the humanoid robot. In this embodiment, when the humanoid robot is in an upright state, the fourth axis E4 extends in the up-down direction Z of the humanoid robot and is substantially parallel to the first axis E1.

[0074] In this embodiment, the pitch drive 21 is used to drive the leg assembly to swing in the front-back direction Y of the humanoid robot, the roll drive 22 is used to drive the leg assembly to swing in the left-right direction X of the humanoid robot, and the yaw drive 23 is used to drive the leg assembly to rotate around its own axis, so that the leg assembly can simulate various motion postures of the human body, and the function is rich. In addition, because the pitch drive 21 is tilted, the roll drive 22 can drive the leg assembly to swing in the left-right direction X of the humanoid robot, and the leg assembly has a larger swing angle, and when the leg assembly is in an upright state in the initial state, the leg assembly is located in the approximate middle position within the angle range in which it can swing in the left-right direction X of the humanoid robot, and the torque required by the roll drive 22 to drive the leg assembly to swing outward or inward can be smaller, that is, the tilted setting of the pitch drive 21 mentioned above can reduce the torque demand of the roll drive 22.

[0075] The embodiments of the present invention do not limit the structures of the stators and rotors of the second motor, the third motor and the fourth motor, as well as the connection relationship between them. In a specific embodiment, the second stator 211 of the second motor is sleeved on the outer periphery of the second rotor 212, the third stator 221 of the third motor is sleeved on the outer periphery of the third rotor 222, and the fourth stator 231 of the fourth motor is sleeved on the outer periphery of the fourth rotor 232; the second rotor 212 can be connected and fixed to the third stator 221 through the bracket 213, and the fourth stator 231 can be directly connected and fixed to the third rotor 222.

[0076] Among them, the second axis E2, the third axis E3 and the fourth axis E4 are three rotation axes in the coordinate system; the second axis E2 is the pitch axis, the conventional pitch axis is the X-axis, and the second axis E2 in the embodiment of the present invention has an angle with the X-axis; the third axis E3 is the roll axis, the roll axis is the Y-axis; the fourth axis E4 is the yaw axis, and the yaw axis is the Z-axis.

[0077] Optionally, the second axis E2, the third axis E3 and the fourth axis E4 intersect at one point. The second axis E2, the third axis E3 and the fourth axis E4 intersect at one point, which can make the hip joint mechanism 20 more similar to the human body structure and make the walking action of the leg assembly more anthropomorphic.

[0078] Optionally, the third axis E3 is perpendicular to the fourth axis E4. In this way, the structure of the roll drive member 22 and the yaw drive member 23 can be relatively simple, which can reduce costs, and make the hip joint mechanism 20 more similar to the human body structure, making the walking action of the leg assembly more anthropomorphic.

[0079] In one embodiment, the roll driving component 22 and the sacroiliac joint mechanism 10 are respectively located on opposite sides of the pitch driving component 21 in the extending direction of the second axis E2.

[0080] Specifically, the sacral joint mechanism 10 is located on the first end surface 214 side of the pitch drive component 21, the roll drive component 22 is located on the second end surface 215 side of the pitch drive component 21, and the yaw drive component 23 is also located on the second end surface 215 side of the pitch drive component 21, so that the structural arrangement is reasonable and interference is avoided.

[0081] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0082] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A crotch component, characterized in that: For humanoid robots, including: A sacral joint mechanism, used to connect with the waist component and drive the waist component to rotate around a first axis; A hip joint mechanism, used to connect with the leg assembly; the hip joint mechanism includes a pitch drive member, the pitch drive member is connected and fixed to the sacral joint mechanism, and the pitch drive member is used to drive the leg assembly to rotate around a second axis; Wherein, the first axis intersects with the second axis and has a fixed inclined angle; The sacral joint mechanism includes a sacral component and a lumbar driving component, wherein the sacral component is sleeved on the outer periphery of the lumbar driving component, and the lumbar driving component is used to connect with the lumbar component; The waist driving member and the sacrum member are integrated into a first motor, the sacrum member serves as a first stator of the first motor, and the waist driving member serves as a first rotor of the first motor; or, the waist driving member is a first motor, the first stator of the first motor is connected and fixed to the sacrum member, the first rotor of the first motor is arranged in the first stator and can rotate relative to the first stator; the first rotor is connected and fixed to the waist component; The pitch driving member is a second motor, and a second stator of the second motor is connected and fixed to the sacrum member; The hip joint mechanism further comprises a roll drive member and a yaw drive member, the roll drive member is connected and fixed to the second rotor of the second motor, the yaw drive member is connected to the roll drive member, the pitch drive member is used to drive the roll drive member to rotate around the second axis, the roll drive member is used to drive the yaw drive member to rotate around the third axis, and the yaw drive member is used to drive the leg assembly to rotate around the fourth axis; the second axis is the pitch axis, the third axis is the roll axis, and the fourth axis is the yaw axis; The roll driving component and the sacral joint mechanism are respectively located on two opposite sides of the pitch driving component in the extending direction of the second axis.

2. The crotch assembly according to claim 1, characterized in that: The included angle between the first axis and the second axis is A, which satisfies: 90°<A≤160°.

3. The crotch assembly according to claim 2, characterized in that: The sacrum component includes a first side surface in the left-right direction of the humanoid robot, one side of the first end surface of the pitch drive component is connected to the first side surface, the other side of the first end surface away from the sacral joint mechanism is located on the side of the sacral joint mechanism facing the leg assembly, and the other side of the first end surface away from the sacral joint mechanism has its orthographic projection on the first axis falling on the sacral joint mechanism.

4. The crotch assembly according to claim 3, characterized in that: The sacral joint mechanism also includes a second side surface opposite to the first side surface, and there are two hip joint mechanisms. One side of the first end surface of the pitch driving component of the other hip joint mechanism is connected to the second side surface, and the other side of the first end surface of the other pitch driving component away from the sacral joint mechanism is located on the side of the sacral joint mechanism facing the leg assembly, and the other side of the first end surface of the other pitch driving component away from the sacral joint mechanism has its orthographic projection on the first axis falling on the sacral joint mechanism.

5. The crotch assembly according to claim 4, characterized in that: The pitch driving components of each of the two hip joint mechanisms are connected and fixed at a side away from the sacral joint mechanism.

6. The crotch assembly according to claim 4, characterized in that: The two hip joint mechanisms are symmetrically arranged relative to the first axis.

7. The crotch assembly according to any one of claims 1 to 6, characterized in that: The second axis, the third axis, and the fourth axis intersect at one point.

8. The crotch assembly according to claim 7, characterized in that: The third axis is perpendicular to the fourth axis.

9. A humanoid robot, characterized in that: It comprises a waist component, a leg component and a crotch component as claimed in any one of claims 1 to 8, wherein the sacral joint mechanism of the crotch component is connected to the waist component, and the hip joint mechanism of the crotch component is connected to the leg component.

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