Waist and hip assembly and humanoid robot

Abstract

A waist and hip assembly and a humanoid robot, the waist and hip assembly includes a first waist support, a second waist support, a first drive mechanism and a second drive mechanism. The first waist support is used to rotate around a first axis; the second waist support is connected to the first waist support for rotation around a second axis and a third axis; the first drive mechanism and the second drive mechanism are both arranged on the second waist support and are connected to the first waist support; wherein the first drive mechanism and the second drive mechanism are used to work simultaneously to drive the second waist support to rotate around the second axis or the third axis relative to the first waist support. In the present application, the waist and hip assembly can realize bending movements such as forward tilt, backward tilt, left tilt, right tilt and rotation, thereby improving the flexibility of the waist; the first drive mechanism and the second drive mechanism are both arranged on the second waist support and directly connected to the first waist support for rotation around the first axis, thereby reducing the overall occupied space of the waist and hip assembly.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a waist-hip assembly and a humanoid robot. Background Art

[0002] With the rapid development of robots, the application fields of robots are becoming more and more extensive, such as service robots, medical robots and industrial robots. Humanoid robots can imitate the appearance and movement posture of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes head, torso, waist and hips, upper limbs, lower limbs, etc. The waist and hips mainly include the waist and hips. The humanoid robot is equipped with a driving structure to drive the waist and hips to rotate relative to each other, so as to achieve bending movements such as leaning forward and backward.

[0003] In the related art, the driving structures for driving the waist and hips to rotate relative to each other are arranged in a dispersed manner, resulting in a large space occupied by the waist and hips as a whole. Summary of the invention

[0004] The purpose of the present application is to provide a waist and hip assembly and a humanoid robot to solve the problem that the drive structure for driving the relative rotation of the waist and hip is dispersed, resulting in a large space occupied by the waist and hip as a whole.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a waist and hip assembly, applied to a humanoid robot, comprising:

[0007] a first lumbar support member, adapted to rotate about a first axis;

[0008] a second lumbar support member, connected to the first lumbar support member for rotation about a second axis and a third axis, wherein the first axis, the second axis and the third axis intersect each other;

[0009] A first driving mechanism and a second driving mechanism, both of which are disposed on the second lumbar support component and are connected to the first lumbar support component;

[0010] The first driving mechanism and the second driving mechanism are used to work simultaneously to drive the second lumbar support component to rotate relative to the first lumbar support component around the second axis or the third axis.

[0011] The waist and hip assembly of the embodiment of the present application can drive the first waist support member and the second waist support member to rotate around the second axis or the third axis by setting the first driving mechanism and the second driving mechanism, so as to realize bending movements such as leaning forward, leaning backward, leaning left and leaning right, and the first waist support member can rotate around the first axis, so as to realize waist rotation movement and improve the flexibility of the waist; the first driving mechanism and the second driving mechanism are both set on the second waist support member and directly connected to the first waist support member for rotating around the first axis. This layout is compact, and the first driving mechanism and the second driving mechanism directly act on the rotating connection of the second waist support member, which reduces the large space occupied due to the excessively long transmission chain, and reduces the overall occupied space of the waist and hip assembly.

[0012] In one embodiment, the first lumbar support member includes a first body, a first bracket and a second bracket, the first bracket and the second bracket are sequentially arranged on the first body along the second axis, and the second lumbar support member is rotatably connected to the first bracket around the second axis and the third axis;

[0013] The first driving mechanism includes a first driving member and a first transmission component, the first driving member is arranged on the second lumbar support member, one end of the first transmission component is connected to the first driving member, and the other end of the first transmission component is rotatably connected to the second bracket;

[0014] The second driving mechanism includes a second driving member and a second transmission member. The second driving member is arranged on the second lumbar support member. One end of the second transmission member is connected to the second driving member, and the other end of the second transmission member is rotatably connected to the second bracket.

[0015] In this way, the first driving member and the second driving member are both arranged on the second lumbar support member, thereby improving the integration of the waist and hip components; the first bracket of the first lumbar support member is connected to the second lumbar support member for rotation around the second axis and the third axis, so that the second lumbar support member can rotate around the two axes relative to the first bracket to achieve flexible lumbar movement; and the first driving member is connected to the second bracket of the first lumbar support member through the first transmission member, and the second driving member is connected to the second bracket of the first lumbar support member through the second transmission member, and the cooperation of the first driving member and the second driving member can drive the second lumbar support member to rotate around the two axes relative to the first bracket.

[0016] In one embodiment, the second lumbar support member includes a second body and two support portions, the two support portions are spaced apart and arranged on the second body, and the first driving member and the second driving member are respectively fixed on two side walls of the two support portions which are opposite to each other;

[0017] The first transmission component and the second transmission component are both located between the two supporting parts.

[0018] In this way, by fixing the first driving member and the second driving member on the two supporting parts of the second lumbar support member respectively, the first driving member, the second driving member and the second lumbar support member are integrated to further reduce the occupied space of the waist and hip assembly as a whole. The two supporting parts are arranged at intervals, which not only provides a stable support foundation, but also enhances the stability of the waist and hip assembly in dynamic movement, and reduces the performance degradation caused by vibration or impact.

[0019] In one embodiment, the second lumbar support member is rotatably connected to the first bracket via a first rotating shaft and a second rotating shaft, an axis of one of the first rotating shaft and the second rotating shaft is coaxial with the second axis, and an axis of the other of the first rotating shaft and the second rotating shaft is coaxial with the third axis.

[0020] In this way, the second lumbar support component is connected to the first bracket through the first rotating shaft and the second rotating shaft. Under the drive of the first driving member and the second driving member, the second lumbar support component can be rotated around the second axis and the third axis relative to the first bracket, thereby simplifying the structure of the waist and hip assembly and making more effective use of space.

[0021] In one embodiment, the axis of the first rotating shaft is coaxial with the second axis, the axis of the second rotating shaft is coaxial with the third axis, the first rotating shaft is rotatably connected to the first bracket, the second rotating shaft is fixedly connected to the first rotating shaft, and the second lumbar support is rotatably connected to the second rotating shaft.

[0022] In this way, the axis of the first rotating shaft is coaxial with the second axis, and the axis of the second rotating shaft is coaxial with the third axis. This coaxial design helps to reduce space occupation and make the waist and hip assembly more compact. The second rotating shaft is fixedly connected to the first rotating shaft. This design simplifies the transmission structure and reduces the number of moving parts, thereby reducing the failure rate and maintenance cost.

[0023] In one embodiment, a third rotating shaft is rotatably connected to the second bracket, and the axis of the third rotating shaft, the first axis and the second axis are perpendicular to each other;

[0024] The first transmission component includes a first crank and a first connecting rod, the first driving member is connected to the first crank, and drives the first crank to rotate around a fourth axis, the fourth axis is parallel to the axis of the third rotating shaft, the first crank is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to one end of the third rotating shaft;

[0025] The second transmission component includes a second crank and a second connecting rod. The second driving member is connected to the second crank and drives the second crank to rotate around the fourth axis. The second crank is rotationally connected to one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected to the other end of the third rotating shaft.

[0026] In this way, the first driving member and the second driving member transmit power to the first connecting rod and the second connecting rod through the first crank and the second crank respectively, thereby driving the third rotating shaft to rotate. This transmission method is not only simple and compact in structure, but also can effectively convert the rotational motion of the driving member into the complex motion of the waist and hip assembly. At the same time, since the connections between the transmission parts are all rotational connections, friction and wear are reduced, and the efficiency and service life of power transmission are improved.

[0027] In one embodiment, the two support portions are spaced apart along the fourth axis, and a region between the two support portions forms a receiving space, and the first crank and the second crank are both received in the receiving space.

[0028] In this way, accommodating the first crank and the second crank in the accommodating space between the two supporting parts can significantly reduce the overall volume of the waist and hip assembly, making the structure of the waist and hip assembly more compact.

[0029] In one embodiment, at least a portion of the projection of the second bracket in the direction of the second axis is located within the accommodating space.

[0030] In this way, by projecting part of the structure of the second bracket into the accommodation space, the overall volume of the waist and hip assembly can be further reduced, making the waist and hip assembly structure more compact and improving space utilization. When the second waist support member rotates, the second bracket and the second waist support member can be prevented from interfering with each other.

[0031] In one embodiment, the support portion is provided with a first arc surface, a second arc surface and a connecting plane, the connecting plane is connected between the first arc surface and the second arc surface, and the connecting plane is tangent to the first arc surface and the second arc surface;

[0032] The axis of the first arc surface is coaxial with the fourth axis, the axis of the second arc surface is coaxial with the third axis, and the diameter of the first arc surface is greater than the diameter of the second arc surface.

[0033] In this way, the outer shape of the support part is surrounded by the first arc surface, the second arc surface and the connecting plane, so that the surface of the support part has a smooth transition, and the smooth transition surface makes the appearance of the waist and hip assembly more smooth, improving the overall aesthetics. In addition, the diameter of the first arc surface is larger than the diameter of the third arc surface, and the second arc surface is closer to the first bracket than the first arc surface. The second arc surface with a smaller diameter can inhibit the second waist support component from interfering with the first waist support component during the rotation process.

[0034] In one embodiment, the first driving mechanism further includes a first spherical bearing, the first spherical bearing includes a first inner ring and a first outer ring, the first inner ring and the first outer ring are connected to form a spherical pair, the first inner ring is fixed to the first crank, and the first outer ring is fixed to the first connecting rod;

[0035] The second driving mechanism also includes a second spherical bearing, which includes a second inner ring and a second outer ring. The second inner ring and the second outer ring are connected to form a spherical pair. The second inner ring is fixed to the second crank, and the second outer ring is fixed to the second connecting rod.

[0036] In this way, the spherical pair connection of the joint bearing allows greater angle changes and rotational freedom, improves the flexibility of the waist and hip assembly, and enables the first waist support member to rotate relative to the second waist support member around the second axis and the third axis. At the same time, the contact area of ​​the spherical pair is relatively large and more evenly distributed, which helps to reduce wear and extend service life.

[0037] In one embodiment, the third rotating shaft is provided with a fourth rotating shaft and a fifth rotating shaft, the fourth rotating shaft and the fifth rotating shaft are spaced apart in the axial direction of the third rotating shaft, the first connecting rod is connected to the fourth rotating shaft, the second connecting rod is connected to the fifth rotating shaft, and the axis of the fourth rotating shaft, the axis of the fifth rotating shaft and the second axis are parallel to each other.

[0038] In this way, the transmission load can be shared by connecting the first connecting rod and the second connecting rod respectively through the two relatively independent fourth rotating shafts and the fifth rotating shaft, thereby improving the stability and reliability of the transmission. The first connecting rod rotates around the fourth rotating shaft and the second connecting rod rotates around the fifth rotating shaft, so that the second waist support member rotates around the second axis, thereby realizing the side swinging action of the waist.

[0039] In one embodiment, the first driving mechanism further includes a third joint bearing, the third joint bearing includes a third inner ring and a third outer ring, the third inner ring and the third outer ring are connected to form a spherical pair, the third inner ring is fixed to the fourth rotating shaft, and the third outer ring is fixed to the first connecting rod;

[0040] The second driving mechanism also includes a fourth joint bearing, which includes a fourth inner ring and a fourth outer ring, the fourth inner ring and the fourth outer ring are connected to form a spherical pair, the fourth inner ring is fixed to the fifth rotating shaft, and the fourth outer ring is fixed to the second connecting rod.

[0041] In this way, the fourth rotating shaft is connected to the first connecting rod through the third joint bearing, and the fifth rotating shaft is connected to the second connecting rod through the fourth joint bearing, so that the transmission connection is more flexible and can adapt to the rotation requirements of the second lumbar support component relative to the first lumbar support component around the second axis and the third axis; and it helps to reduce friction and resistance in the transmission process and improve transmission efficiency.

[0042] In one embodiment, the waist and hip assembly further includes a hip support member and a third driving member, wherein the third driving member is disposed on the hip support member, an output end of the third driving member is connected to the first waist support member, and the third driving member drives the first waist support member to rotate around the first axis.

[0043] In this way, the third driving member is used to drive the first lumbar support member to rotate around the first axis, thereby driving the second lumbar support member to rotate relative to the hip support member around the first axis, thereby realizing the rotation of the waist and increasing the movement dimension and flexibility of the waist.

[0044] In one embodiment, the waist and hip assembly further includes a fourth driving member and a fifth driving member, wherein the fourth driving member is used to drive the first thigh member to rotate, and the fifth driving member is used to drive the second thigh member to rotate;

[0045] The crotch support member includes a first mounting position, a second mounting position and a third mounting position. The third driving member is mounted at the first mounting position, the fourth driving member is mounted at the second mounting position, and the fifth driving member is mounted at the third mounting position.

[0046] In this way, through the multi-installation position design of the hip support component, the third drive component, the fourth drive component and the fifth drive component are installed in an integrated manner, further improving the compactness of the overall structure of the waist and hip assembly and reducing the occupied space.

[0047] In a second aspect, the present application also provides a humanoid robot, comprising a waist and hip assembly as described in any one of the various embodiments of the first aspect.

[0048] The humanoid robot of the embodiment of the present application integrates the above waist and hip assembly, which improves the movement ability, flexibility, stability and overall coordination of the waist and hip, thereby improving the overall performance of the robot. The modular design and high flexibility of the waist and hip assembly enable the humanoid robot to better adapt to different application scenarios and task requirements, and also provide convenience for subsequent upgrades and expansions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A three-dimensional diagram of a waist and hip assembly according to an embodiment of the present application;

[0051] Figure 2 for Figure 1 Exploded diagram of

[0052] Figure 3 A partial structural side view of a waist and hip assembly according to an embodiment of the present application;

[0053] Figure 4 for Figure 3 Exploded diagram of

[0054] Figure 5 for Figure 3 Another exploded view of

[0055] Figure 6 This is a partial structural exploded view of a waist and hip assembly according to an embodiment of the present application;

[0056] Figure 7 for Figure 3 AA section view.

[0057] Description of reference numerals:

[0058] 100, first lumbar support member; 110, first main body; 120, first bracket; 121, first rotating shaft; 122, second rotating shaft; 130, second bracket; 131, third rotating shaft; 132, fourth rotating shaft; 133, fifth rotating shaft; 200, second lumbar support member; 210, second main body; 220, supporting part; 221, first arc surface; 222, second arc surface; 223, connecting plane; 230, accommodating space; 300, first driving mechanism; 310, first driving member; 320, first transmission member ; 321, the first crank; 322, the first connecting rod; 330, the first joint bearing; 340, the third joint bearing; 400, the second driving mechanism; 410, the second driving member; 420, the second transmission member; 421, the second crank; 422, the second connecting rod; 430, the second joint bearing; 440, the fourth joint bearing; 500, the hip support member; 510, the first mounting position; 520, the second mounting position; 530, the third mounting position; 600, the third driving member; 700, the fourth driving member; 800, the fifth driving member. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] 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.

[0061] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0062] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0063] refer to Figures 1 to 7 An embodiment of the present application provides a humanoid robot, including the waist and hip assembly in the embodiment of the present application.

[0064] The humanoid robot of the embodiment of the present application can imitate the appearance and movement posture of a human, and may include a head component (not shown), a torso component (not shown), a waist and hip component, an upper limb component (not shown), and a lower limb component (not shown). The waist and hip component may include a first waist support 100, a second waist support 200, a hip support 500, etc. The waist and hip component of the embodiment of the present application also includes a first driving mechanism 300 and a second driving mechanism 400. Through reasonable design, while driving the second waist support 200 and the first waist support 100 to rotate relative to each other to realize the waist joint function, it has a small space occupation and can be reduced to the size of the entire waist and hip component.

[0065] The waist and hip assembly of the embodiment of the present application is introduced in detail below.

[0066] refer to Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a waist and hip assembly, which is applied to a humanoid robot. It should be understood that the waist and hip assembly is a part connected between the trunk assembly and the lower limb assembly. The waist and hip assembly includes a first waist support member 100, a second waist support member 200, a first driving mechanism 300, and a second driving mechanism 400.

[0067] The first lumbar support component 100 is used to rotate around the first axis X, and the second lumbar support component 200 is rotatably connected to the first lumbar support component 100 around the second axis Y and the third axis Z. The first axis X, the second axis Y and the third axis Z intersect each other. The first lumbar support component 100 is used to connect with the lower limb component, and the second lumbar support component 200 is used to connect with the trunk component. Through the rotatable connection between the first lumbar support component 100 and the second lumbar support component 200, the second lumbar support component 200 can be rotated around the first axis X, the second axis Y and the third axis Z, thereby improving the flexibility of the waist joint.

[0068] The first driving mechanism 300 and the second driving mechanism 400 are both disposed on the second lumbar support 200 and are both connected to the first lumbar support 100; wherein the first driving mechanism 300 and the second driving mechanism 400 are used to work simultaneously to drive the second lumbar support 200 to rotate relative to the first lumbar support 100 around the second axis Y or the third axis Z. Specifically, when the driving forces of the first driving mechanism 300 and the second driving mechanism 400 acting on the first lumbar support 100 are in the same direction, the second lumbar support 200 can be driven to rotate relative to the first lumbar support 100 around the third axis Z to achieve the forward and backward tilting movements of the lumbar joint; when the driving forces of the first driving mechanism 300 and the second driving mechanism 400 acting on the first lumbar support 100 are in opposite directions, the second lumbar support 200 can be driven to rotate relative to the first lumbar support 100 around the second axis Y to achieve the leftward and rightward tilting movements of the lumbar joint.

[0069] The first driving mechanism 300 and the second driving mechanism 400 can be any feasible structure. At least part of the first driving mechanism 300 and at least part of the second driving mechanism 400 are disposed on the second lumbar support member 200. They can be connected to the second lumbar support member 200 in any feasible manner such as being embedded in the second lumbar support member 200 or installed outside the second lumbar support member 200. The first driving mechanism 300 and the second driving mechanism 400 can be disposed at any position on the second lumbar support member 200.

[0070] However, the current drive structure of the waist and hip assembly is dispersed, resulting in the waist and hip assembly occupying a large space as a whole.

[0071] For example, currently, multiple driving structures for realizing waist joint movements are respectively connected to multiple support members, and the waist and hip assembly has many overall parts and components, and the structural layout is scattered. The first driving mechanism 300 and the second driving mechanism 400 in the embodiment of the present application are both arranged on the second waist support member 200, and are directly connected to the first waist support member 100 for rotating around the first axis X. This layout is compact, and the first driving mechanism 300 and the second driving mechanism 400 directly act on the rotating connection of the second waist support member 200, which reduces the large space occupied due to the excessively long transmission chain, and reduces the overall occupied space of the waist and hip assembly. After installing the outer shell (not shown), the overall size of the waist and hip assembly of the present application is significantly reduced compared with the size of the current conventional waist and hip assembly, and can be more like the structure of the human body.

[0072] In addition, the waist and hip assembly of the present application can realize the rotation of the second waist support component 200 relative to the first waist support component 100 around the second axis Y and the third axis Z through the linkage of the first driving mechanism 300 and the second driving mechanism 400, so as to simplify the structure of the waist and hip assembly, thereby reducing the overall occupied space of the waist and hip assembly.

[0073] When in use, the first driving mechanism 300 and the second driving mechanism 400 provide driving force to drive the second lumbar support member 200 to rotate relative to the first lumbar support member 100 around the second axis Y and the third axis Z, thereby realizing the function of the lumbar joint. It should be understood that when the first driving mechanism 300 and the second driving mechanism 400 drive the second lumbar support member 200 to rotate relative to the first lumbar support member 100, the rotation angle range of the first driving mechanism 300 and the second driving mechanism 400 can be set as needed, so that the relative rotation angle of the first lumbar support member 100 and the second lumbar support member 200 is in a reasonable range, similar to the human body structure.

[0074] Therefore, the waist and hip assembly of the embodiment of the present application can drive the second waist support component 200 to rotate relative to the first waist support component 100 by providing the first driving mechanism 300 and the second driving mechanism 400, so as to realize the function of the waist joint; the first driving mechanism 300 and the second driving mechanism 400 are both provided on the second waist support component 200, so as to reduce the space occupied by the driving structure, reduce the overall size of the waist and hip assembly, have an appearance more similar to the human body structure, and have a good humanoid effect.

[0075] refer to Figure 2 , Figure 3 and Figure 4 The first lumbar support 100 includes a first body 110, a first bracket 120 and a second bracket 130, and the first bracket 120 and the second bracket 130 are sequentially arranged on the first body 110 along the second axis Y direction. Among them, the first bracket 120 and the second bracket 130 can be a split structure and are respectively arranged on the first body 110, and the first bracket 120 and the second bracket 130 can also be an integrated structure, which is not limited. The specific structure of the first bracket 120 and the second bracket 130 is not limited. Optionally, the first bracket 120 and the second bracket 130 are an integrated structure to make the structure of the first lumbar support 100 more compact and reduce space occupation.

[0076] The second lumbar support 200 is rotatably connected to the first bracket 120 around the second axis Y and the third axis Z, so that the second lumbar support 200 is rotatably connected to the first lumbar support 100 around the second axis Y and the third axis Z, so that the second lumbar support 200 can rotate around two axes relative to the first bracket 120 to achieve flexible lumbar movement.

[0077] The first driving mechanism 300 includes a first driving member 310 and a first transmission member 320. The first driving member 310 is disposed on the second lumbar support member 200. One end of the first transmission member 320 is connected to the first driving member 310, and the other end of the first transmission member 320 is rotatably connected to the second bracket 130. That is, the first driving member 310 is connected to the second bracket 130 of the first lumbar support member 100 through the first transmission member 320, and the second lumbar support member 200 can be driven to rotate around the second axis Y or the third axis Z relative to the first bracket 120 through the first driving member 310.

[0078] The second driving mechanism 400 includes a second driving member 410 and a second transmission member 420. The second driving member 410 is disposed on the second lumbar support member 200. One end of the second transmission member 420 is connected to the second driving member 410, and the other end of the second transmission member 420 is rotatably connected to the second bracket 130. That is, the second driving member 410 is connected to the second bracket 130 of the first lumbar support member 100 through the second transmission member 420, and the second driving member 410 can drive the second lumbar support member 200 to rotate around the second axis Y or the third axis Z relative to the first bracket 120.

[0079] Among them, the cooperation of the first driving member 310 and the second driving member 410 can drive the second lumbar support member 200 to rotate around two axes relative to the first bracket 120. The first driving member 310 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The first driving member 310 is installed on the second lumbar support member 200, and can be embedded, that is, the main body of the first driving member 310 is embedded in the second lumbar support member 200, and its output shaft extends out of the second lumbar support member 200. The second driving member 410 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The second driving member 410 is installed on the second lumbar support member 200, and can be embedded, that is, the main body of the second driving member 410 is embedded in the second lumbar support member 200, and its output shaft extends out of the second lumbar support member 200.

[0080] In one embodiment, the second lumbar support member 200 is rotatably connected to the first bracket 120 via the first rotating shaft 121 and the second rotating shaft 122, wherein the axis of one of the first rotating shaft 121 and the second rotating shaft 122 is coaxial with the second axis Y, and the axis of the other of the first rotating shaft 121 and the second rotating shaft 122 is coaxial with the third axis Z.

[0081] The first rotating shaft 121 and the second rotating shaft 122 may both be arranged on the first bracket 120 or the second lumbar support 200, or one of them may be arranged on the first bracket 120 and the other on the second lumbar support 200, without limitation. The first rotating shaft 121 and the second rotating shaft 122 may be fixed to at least one of the first bracket 120 and the second lumbar support 200, and the other may rotate relatively; the first rotating shaft 121 and the second rotating shaft 122 may also rotate relatively with the first bracket 120 and the second lumbar support 200, without limitation. At the position where relative rotation is possible, a hole-shaft matching structure may be used, or a bearing may be provided, the inner ring of the bearing is connected to the rotating shaft, and the outer ring of the bearing is connected to the second lumbar support 200 or the first bracket 120, so as to realize the relative rotation of the second lumbar support 200 and the first bracket 120.

[0082] In this embodiment, the second lumbar support member 200 is connected to the first bracket 120 through the first rotating shaft 121 and the second rotating shaft 122. Under the drive of the first driving member 310 and the second driving member 410, the second lumbar support member 200 can be rotated relative to the first bracket 120 around the second axis Y and the third axis Z, thereby simplifying the structure of the waist and hip assembly and making more efficient use of space. It should be understood that the first rotating shaft 121 and the second rotating shaft 122 can be connected to each other or have no connection relationship, and there is no limitation.

[0083] For example, the axis of the first rotating shaft 121 is coaxial with the second axis Y, and the axis of the second rotating shaft 122 is coaxial with the third axis Z. This coaxial design helps to reduce space occupation and makes the waist and hip assembly more compact. When the second lumbar support member 200 and the first bracket 120 rotate relative to each other around the first rotating shaft 121, the second lumbar support member 200 can achieve a pitching motion relative to the first lumbar support member 100; when the second lumbar support member 200 and the first bracket 120 rotate relative to each other around the second rotating shaft 122, the second lumbar support member 200 can achieve a left-right swinging motion relative to the first lumbar support member 100.

[0084] Among them, the first rotating shaft 121 is rotatably connected to the first bracket 120, the second rotating shaft 122 is fixedly connected to the first rotating shaft 121, and the second waist support member 200 is rotatably connected to the second rotating shaft 122. This design simplifies the transmission structure and reduces the number of moving parts, thereby reducing the failure rate and maintenance cost. Since the first rotating shaft 121 is rotatably connected to the first bracket 120, the second rotating shaft 122 is fixedly connected to the first rotating shaft 121, and the second waist support member 200 is rotatably connected to the second rotating shaft 122, this structure enables the waist and hip assembly to flexibly rotate in multiple directions, providing a rich range of motion postures for the humanoid robot.

[0085] In one embodiment, the second bracket 130 is rotatably connected to a third rotating shaft 131, and the axis of the third rotating shaft 131, the first axis X, and the second axis Y are perpendicular to each other. Similar to the aforementioned structure, the third rotating shaft 131 and the second bracket 130 can rotate relative to each other, and the third rotating shaft 131 and the second bracket 130 can be hole-shaft matched, or a bearing can be provided.

[0086] The first transmission component 320 includes a first crank 321 and a first connecting rod 322. The first driving member 310 is connected to the first crank 321 and drives the first crank 321 to rotate around the fourth axis W. The fourth axis W is parallel to the axis of the third rotating shaft 131. The first crank 321 is rotatably connected to one end of the first connecting rod 322, and the other end of the first connecting rod 322 is rotatably connected to one end of the third rotating shaft 131; the second transmission component 420 includes a second crank 421 and a second connecting rod 422. The second driving member 410 is connected to the second crank 421 and drives the second crank 421 to rotate around the fourth axis W. The second crank 421 is rotatably connected to one end of the second connecting rod 422, and the other end of the second connecting rod 422 is rotatably connected to the other end of the third rotating shaft 131. Specifically, the first driving member 310 and the second driving member 410 transmit power to the first connecting rod 322 and the second connecting rod 422 through the first crank 321 and the second crank 421, respectively, thereby driving the first connecting rod 322 and the second connecting rod 422 to rotate around the third rotating shaft 131. This transmission method is not only simple and compact in structure, but also can effectively convert the rotational motion of the driving member into the complex motion of the waist and hip assembly. At the same time, since the connections between the transmission components are all rotational connections, friction and wear are reduced, and the efficiency and service life of power transmission are improved.

[0087] By providing the first crank 321, the first connecting rod 322, the second crank 421 and the second connecting rod 422, a simple structure is used to achieve transmission connection, which has a simple structure and good reliability.

[0088] It should be understood that the relative rotation of the first lumbar support member 100 and the second lumbar support member 200 is driven by the first driving mechanism 300 and the second driving mechanism 400, that is, the first driving member 310 drives the first connecting rod 322 to move through the first crank 321, and the second driving member 410 drives the second connecting rod 422 to move through the second crank 421 to achieve the relative rotation of the first lumbar support member 100 and the second lumbar support member 200 around the first rotating shaft 121 or the second rotating shaft 122. For example, the first crank 321, the first connecting rod 322, the second crank 421, and the second connecting rod 422 are respectively arranged at intervals on the second lumbar support member 200 along the fourth axis W. When the first crank 321 and the second crank 421 rotate in the same direction, the first connecting rod 322 and the second connecting rod 422 move in the same direction, so that the first lumbar support member 100 and the second lumbar support member 200 rotate around the second rotating shaft 122. When the first crank 321 and the second crank 421 rotate in opposite directions, the first connecting rod 322 and the second connecting rod 422 move in opposite directions, so that the first lumbar support member 100 and the second lumbar support member 200 rotate around the first rotating shaft 121.

[0089] Therefore, a first rotating shaft 121, a second rotating shaft 122 and a third rotating shaft 131 are provided, and the first lumbar support member 100 and the second lumbar support member 200 are connected via the first rotating shaft 121 and the second rotating shaft 122. The first driving mechanism 300 and the second driving mechanism 400 can realize the relative rotation of the first lumbar support member 100 and the second lumbar support member 200 around the first rotating shaft 121 or the second rotating shaft 122, thereby realizing two rotational degrees of freedom, so that the lower limb assembly has high flexibility and good anthropomorphic effect.

[0090] refer to Figure 2 , Figure 3 and Figure 5The second lumbar support member 200 includes a second body 210 and two support parts 220, the two support parts 220 are arranged on the second body 210 at intervals along the fourth axis W, the first driving member 310 is fixed on one support part 220, and the second driving member 410 is fixed on the other support part 220. The second lumbar support member 200 can be an integrated structure to reduce the number of overall parts of the waist and hip assembly. The first driving member 310 and the second driving member 410 are respectively fixed on the two opposite side walls of the two support parts 220; the first transmission member 320 and the second transmission member 420 are both located between the two support parts 220. By fixing the first driving member 310 and the second driving member 410 on the two support parts 220 of the second lumbar support member 200, the integration of the first driving member 310, the second driving member 410 and the second lumbar support member 200 is achieved, so as to further reduce the overall occupied space of the waist and hip assembly. Among them, the two support parts 220 are arranged at intervals along the fourth axis W, which not only provides a stable support basis, but also enhances the stability of the waist and hip assembly in dynamic movement, and reduces the performance degradation caused by vibration or impact; at the same time, it can accommodate the first transmission component 320 and the second transmission component 420, thereby improving space utilization.

[0091] Exemplarily, the area between the two supporting parts 220 forms a receiving space 230, and the first crank 321 and the second crank 421 are both received in the receiving space 230. The first crank 321 and the second crank 421 are received in the receiving space 230 between the two supporting parts 220, which can significantly reduce the overall volume of the waist and hip assembly, making the waist and hip assembly structure more compact. Optionally, the output end of the first driving member 310 and the output end of the second driving member 410 are also located in the receiving space 230, so as to be connected to the first crank 321 and the second crank 421 respectively.

[0092] The projection of at least part of the second bracket 130 in the direction of the second axis Y is located in the accommodation space 230, which can further reduce the overall volume of the waist and hip assembly, make the waist and hip assembly structure more compact, and improve space utilization. When the second waist support member 200 rotates, the second bracket 130 can be prevented from interfering with the second waist support member 200.

[0093] The support portion 220 is provided with a first arc surface 221, a second arc surface 222 and a connecting plane 223. The connecting plane 223 is connected between the first arc surface 221 and the second arc surface 222, and the connecting plane 223 is tangent to the first arc surface 221 and the second arc surface 222. The axis of the first arc surface 221 is coaxial with the fourth axis W, the axis of the second arc surface 222 is coaxial with the third axis Z, and the diameter of the first arc surface 221 is greater than the diameter of the second arc surface 222. Specifically, the outer shape of the support portion 220 is surrounded by the first arc surface 221, the second arc surface 222 and the connecting plane 223, so that the surface of the support portion 220 has a smooth transition. The smooth transition surface makes the appearance of the waist and hip assembly more smooth, improving the overall aesthetics. The diameter of the first arc surface 221 is larger than the diameter of the third arc surface, and the second arc surface 222 is closer to the first bracket 120 than the first arc surface 221. The second arc surface 222 with a smaller diameter can prevent the second lumbar support component 200 from interfering with the first lumbar support component 100 during rotation.

[0094] refer to Figure 2 and Figure 6 The waist and hip assembly further includes a hip support member 500 and a third driving member 600. The third driving member 600 is disposed on the hip support member 500. The output end of the third driving member 600 is connected to the first waist support member 100. The third driving member 600 drives the first waist support member 100 to rotate around the first axis X. The third driving member 600 drives the first waist support member 100 to rotate around the first axis X, thereby driving the second waist support member 200 to rotate relative to the hip support member 500 around the first axis X, thereby realizing the rotation of the waist and increasing the movement dimension and flexibility of the waist.

[0095] The waist and hip assembly further includes a fourth driving member 700 and a fifth driving member 800, wherein the fourth driving member 700 is used to drive the first thigh member to rotate, and the fifth driving member 800 is used to drive the second thigh member to rotate; the hip support member 500 includes a first mounting position 510, a second mounting position 520 and a third mounting position 530, wherein the third driving member 600 is mounted at the first mounting position 510, the fourth driving member 700 is mounted at the second mounting position 520, and the fifth driving member 800 is mounted at the third mounting position 530. The multi-mounting position design of the hip support member 500 allows the third driving member 600, the fourth driving member 700 and the fifth driving member 800 to be integrated, thereby further improving the compactness of the overall structure of the waist and hip assembly and reducing the occupied space.

[0096] refer to Figure 3 , Figure 4 and Figure 7The first driving mechanism 300 further includes a first joint bearing 330, which includes a first inner ring and a first outer ring, which are connected to form a spherical pair, the first inner ring is fixed to the first crank 321, and the first outer ring is fixed to the first connecting rod 322; the second driving mechanism 400 further includes a second joint bearing 430, which includes a second inner ring and a second outer ring, which are connected to form a spherical pair, the second inner ring is fixed to the second crank 421, and the second outer ring is fixed to the second connecting rod 422. Specifically, the spherical pair connection of the first joint bearing 330 and the second joint bearing 430 allows a greater angle change and rotational freedom, improves the flexibility of the waist and hip assembly, and enables the first lumbar support 100 to rotate relative to the second lumbar support 200 around the second axis Y and the third axis Z. At the same time, the contact area of ​​the spherical pair is relatively large and more evenly distributed, which helps to reduce wear and extend the service life.

[0097] In one embodiment, the third rotating shaft 131 is provided with a fourth rotating shaft 132 and a fifth rotating shaft 133, and the fourth rotating shaft 132 and the fifth rotating shaft 133 are spaced apart in the axial direction of the third rotating shaft 131, the first connecting rod 322 is connected to the fourth rotating shaft 132, the second connecting rod 422 is connected to the fifth rotating shaft 133, and the axis of the fourth rotating shaft 132, the axis of the fifth rotating shaft 133 and the second axis Y are parallel to each other. By connecting the first connecting rod 322 and the second connecting rod 422 respectively with the two relatively independent fourth rotating shafts 132 and the fifth rotating shaft 133, the transmission load can be shared, and the stability and reliability of the transmission can be improved. By rotating the first connecting rod 322 around the fourth rotating shaft 132 and the second connecting rod 422 around the fifth rotating shaft 133, the second lumbar support member 200 can be rotated around the second axis Y, and the side swinging action of the waist can be realized.

[0098] Similar to the aforementioned structure, the third rotating shaft 131 and the second bracket 130 can rotate relative to each other, the fourth rotating shaft 132 and at least one of the third rotating shaft 131 and the first connecting rod 322 can rotate relative to each other, and the fifth rotating shaft 133 and at least one of the third rotating shaft 131 and the second connecting rod 422 can rotate relative to each other. The third rotating shaft 131 and the second bracket 130 can be hole-shaft matched, or a bearing can be provided. The first connecting rod 322 and the fourth rotating shaft 132 can be hole-shaft matched, or a bearing can be provided. The second connecting rod 422 and the fifth rotating shaft 133 can also be hole-shaft matched, or a bearing can be provided.

[0099] The fourth rotating shaft 132 and the fifth rotating shaft 133 can be disposed at any position of the third rotating shaft 131 without limitation.

[0100] By providing the third rotating shaft 131 , the first connecting rod 322 , the second connecting rod 422 and the second lumbar support member 200 can rotate around the third rotating shaft 131 , so that the first connecting rod 322 , the second connecting rod 422 can drive the second lumbar support member 200 and the first lumbar support member 100 to rotate around the second rotating shaft 122 .

[0101] By providing the fourth rotating shaft 132 and the fifth rotating shaft 133, the first connecting rod 322 and the second lumbar support member 200 can rotate around the fourth rotating shaft 132, and the second connecting rod 422 and the second lumbar support member 200 can rotate around the fifth rotating shaft 133, so that the first connecting rod 322 and the second connecting rod 422 can drive the second lumbar support member 200 and the first lumbar support member 100 to rotate around the first rotating shaft 121.

[0102] The third to fifth rotating shafts 131 to 133 are provided as above, so as to realize the driving of the second lumbar support member 200 and the first lumbar support member 100 to rotate in two directions, and the structure is simple and easy to realize.

[0103] In one embodiment, the first driving mechanism 300 further includes a third joint bearing 340, the third joint bearing 340 includes a third inner ring and a third outer ring, the third inner ring and the third outer ring are connected to form a spherical pair, the third inner ring is fixed to the fourth rotating shaft 132, and the third outer ring is fixed to the first connecting rod 322; the second driving mechanism 400 further includes a fourth joint bearing 440, the fourth joint bearing 440 includes a fourth inner ring and a fourth outer ring, the fourth inner ring and the fourth outer ring are connected to form a spherical pair, the fourth inner ring is fixed to the fifth rotating shaft 133, and the fourth outer ring is fixed to the second connecting rod 422. Specifically, the fourth rotating shaft 132 is connected to the first connecting rod 322 through the third joint bearing 340, and the fifth rotating shaft 133 is connected to the second connecting rod 422 through the fourth joint bearing 440, so that the transmission connection is more flexible, which can meet the requirements of the second lumbar support 200 rotating relative to the first lumbar support 100 around the second axis Y and the third axis Z; and it helps to reduce friction and resistance in the transmission process and improve transmission efficiency.

[0104] In the description of the embodiments of the present application, 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 application and simplifying the description, and do not indicate or imply 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 application.

[0105] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A waist and hip assembly, applied to a humanoid robot, It is characterized in that include: A first lumbar support member, configured to rotate about a first axis, the first lumbar support member comprising a first body, a first bracket and a second bracket, the first bracket and the second bracket being sequentially arranged on the first body; A second lumbar support member is rotatably connected to the first bracket around a second axis and a third axis, wherein the first axis, the second axis and the third axis intersect each other; A first driving mechanism and a second driving mechanism, both of which are disposed on the second lumbar support component and are connected to the first lumbar support component; wherein the first driving mechanism and the second driving mechanism are used to work simultaneously to drive the second lumbar support member to rotate relative to the first lumbar support member around the second axis or the third axis; A crotch support member, comprising a first mounting plate and a second mounting plate, wherein the first mounting plate comprises a first side surface and a second side surface opposite to each other in the extending direction of the second axis, the second mounting plate is connected to the first side surface, a first mounting position is provided on the second mounting plate, and a second mounting position and a third mounting position are provided on the first mounting plate; a third driving member, a fourth driving member and a fifth driving member, wherein the third driving member is installed at the first installation position, the fourth driving member is installed at the second installation position, and the fifth driving member is installed at the third installation position, wherein the output end of the third driving member is connected to the first lumbar support member to drive the first lumbar support member to rotate around the first axis, the fourth driving member is used to drive the first thigh member to rotate, and the fifth driving member is used to drive the second thigh member to rotate; In an orthographic projection of the extension direction of the first axis, the second bracket at least partially overlaps with the first mounting plate; In the extension direction of the second axis, the first bracket, the first thigh member and the second thigh member are all located on the side of the first side away from the second side, and the fourth driving member and the fifth driving member are both protruding from the second side.

2. The waist and hip assembly according to claim 1, It is characterized in that The first driving mechanism includes a first driving member and a first transmission component, the first driving member is arranged on the second lumbar support member, one end of the first transmission component is connected to the first driving member, and the other end of the first transmission component is rotatably connected to the second bracket; The second driving mechanism includes a second driving member and a second transmission member. The second driving member is arranged on the second lumbar support member. One end of the second transmission member is connected to the second driving member, and the other end of the second transmission member is rotatably connected to the second bracket.

3. The waist and hip assembly according to claim 2, It is characterized in that The second lumbar support member comprises a second main body and two support parts, the two support parts are arranged on the second main body at intervals, and the first driving member and the second driving member are respectively fixed on two side walls of the two support parts that are opposite to each other; The first transmission component and the second transmission component are both located between the two supporting parts.

4. The waist and hip assembly according to claim 2, It is characterized in that The second lumbar support member is rotatably connected to the first bracket via a first rotating shaft and a second rotating shaft, an axis of one of the first rotating shaft and the second rotating shaft is coaxial with the second axis, and an axis of the other of the first rotating shaft and the second rotating shaft is coaxial with the third axis.

5. The waist and hip assembly according to claim 4, It is characterized in that The axis of the first rotating shaft is coaxial with the second axis, the axis of the second rotating shaft is coaxial with the third axis, the first rotating shaft is rotatably connected to the first bracket, the second rotating shaft is fixedly connected to the first rotating shaft, and the second lumbar support is rotatably connected to the second rotating shaft.

6. The waist and hip assembly according to claim 3, It is characterized in that The second bracket is rotatably connected to a third rotating shaft, and the axis of the third rotating shaft, the first axis and the second axis are perpendicular to each other; The first transmission component includes a first crank and a first connecting rod, the first driving member is connected to the first crank, and drives the first crank to rotate around a fourth axis, the fourth axis is parallel to the axis of the third rotating shaft, the first crank is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to one end of the third rotating shaft; The second transmission component includes a second crank and a second connecting rod. The second driving member is connected to the second crank and drives the second crank to rotate around the fourth axis. The second crank is rotationally connected to one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected to the other end of the third rotating shaft.

7. The waist and hip assembly according to claim 6, It is characterized in that The two support portions are spaced apart along the fourth axis, and a region between the two support portions forms a receiving space, in which both the first crank and the second crank are received.

8. The waist and hip assembly according to claim 7, It is characterized in that At least a portion of the projection of the second bracket in the direction of the second axis is located in the accommodating space.

9. The waist and hip assembly according to claim 6, It is characterized in that The support portion is provided with a first arc surface, a second arc surface and a connecting plane, the connecting plane is connected between the first arc surface and the second arc surface, and the connecting plane is tangent to the first arc surface and the second arc surface; The axis of the first arc surface is coaxial with the fourth axis, the axis of the second arc surface is coaxial with the third axis, and the diameter of the first arc surface is greater than the diameter of the second arc surface.

10. The waist and hip assembly according to claim 6, It is characterized in that The first driving mechanism further includes a first spherical bearing, the first spherical bearing including a first inner ring and a first outer ring, the first inner ring and the first outer ring are connected to form a spherical pair, the first inner ring is fixed to the first crank, and the first outer ring is fixed to the first connecting rod; The second driving mechanism also includes a second spherical bearing, which includes a second inner ring and a second outer ring. The second inner ring and the second outer ring are connected to form a spherical pair. The second inner ring is fixed to the second crank, and the second outer ring is fixed to the second connecting rod.

11. The waist and hip assembly according to claim 6, It is characterized in that The third rotating shaft is provided with a fourth rotating shaft and a fifth rotating shaft, and the fourth rotating shaft and the fifth rotating shaft are spaced apart in the axial direction of the third rotating shaft, the first connecting rod is connected to the fourth rotating shaft, and the second connecting rod is connected to the fifth rotating shaft, and the axis of the fourth rotating shaft, the axis of the fifth rotating shaft and the second axis are parallel to each other.

12. The waist and hip assembly according to claim 11, It is characterized in that The first driving mechanism further includes a third joint bearing, the third joint bearing includes a third inner ring and a third outer ring, the third inner ring and the third outer ring are connected to form a spherical pair, the third inner ring is fixed to the fourth rotating shaft, and the third outer ring is fixed to the first connecting rod; The second driving mechanism also includes a fourth joint bearing, which includes a fourth inner ring and a fourth outer ring, the fourth inner ring and the fourth outer ring are connected to form a spherical pair, the fourth inner ring is fixed to the fifth rotating shaft, and the fourth outer ring is fixed to the second connecting rod.

13. A humanoid robot, It is characterized in that It comprises a waist and hip assembly as described in any one of claims 1-12.

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