Waist and hip limiting structure and humanoid robot

Abstract

The present application provides a waist-hip limiting structure and a humanoid robot, wherein the waist-hip limiting structure comprises a first driving member and a second driving member connected; the first driving member is provided with a first calibration portion and two first limiting portions, and the first driving member is used to drive the leg structure to rotate around the up and down direction of the humanoid robot; the second driving member is provided with a second calibration portion and a second limiting portion, and the second driving member is used to drive the leg structure to rotate around the left and right direction of the humanoid robot; wherein the two first limiting portions and the second limiting portions cooperate to limit the rotation angle of the second driving member relative to the first driving member; when the first calibration portion is aligned with the second calibration portion, the second limiting portion is located in the middle of the two first limiting portions. The waist-hip limiting structure and the humanoid robot provided by the present application can prevent the second driving member from interfering with surrounding parts during the rotation process, and also facilitate the simplification of the program algorithm design for the rotation angle of the second driving member.

Description

Technical Field

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

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

[0003] In current humanoid robots, the limit design of the waist-hip structure makes the design of the program algorithm for driving the waist-hip structure more complicated, which in turn easily affects the stability of the program algorithm during use. Summary of the invention

[0004] In order to address the deficiencies in the prior art, the present application provides a waist and hip limiting structure and a humanoid robot, which can prevent the second driving component from interfering with surrounding components due to excessive rotation angle, and facilitate the simplification of the design of the rotation angle program algorithm of the second driving component.

[0005] On the one hand, the present application provides a waist and hip limiting structure, which is applied to a humanoid robot, including:

[0006] a first driving member, provided with a first marking portion and two first limiting portions, the first driving member being used to drive the leg structure to rotate around the up-and-down direction of the humanoid robot; and

[0007] a second driving member connected to the first driving member, the second driving member being provided with a second marking portion and a second limiting portion arranged at intervals; the second driving member being used to drive the leg structure to rotate in a left-right direction around the humanoid robot;

[0008] The two first limiting parts cooperate with the second limiting part to limit the angle of rotation of the second driving member relative to the first driving member around the up-down direction of the humanoid robot;

[0009] Wherein, when the first marking portion is aligned with the second marking portion, the second limiting portion is located in the middle position of the two first limiting portions.

[0010] The waist and hip limiting structure provided by the present application, in the first aspect, is used to connect the waist structure and leg structure of the humanoid robot through the waist and hip limiting structure and can drive the waist structure and leg structure to perform actions similar to those of the humanoid structure, so that the waist and hip limiting structure can realize the hip joint function and sacral joint function similar to those of the human body structure. In the second aspect, the two first limiting parts of the first driving member and the second limiting part of the second driving member cooperate to limit the angle of rotation of the second driving member relative to the first driving member around the up and down direction of the humanoid robot, which can prevent the second driving member from rotating too much relative to the first driving member around the up and down direction of the humanoid robot, thereby preventing the second driving member from interfering with the surrounding parts due to the excessive rotation angle. In the third aspect, by providing a first calibration part on the first driving member and a second calibration part on the second driving member, and when the first calibration part is aligned with the second calibration part, the second limiting part is located in the middle position of the two first limiting parts, at this time, the second driving member can rotate the same angle in the clockwise direction around the up and down direction of the humanoid robot and in the counterclockwise direction around the up and down direction of the humanoid robot. Therefore, it is only necessary to design the clockwise rotation angle of the second driving component around the up and down directions of the humanoid robot and the counterclockwise rotation angle of the second driving component around the up and down directions of the humanoid robot, and the clockwise rotation angle of the second driving component around the up and down directions of the humanoid robot and the counterclockwise rotation angle of the second driving component around the up and down directions of the humanoid robot are equal, which is convenient for simplifying the design of the rotation angle program algorithm of the second driving component, so that the program stability of the rotation angle design of the second driving component is better.

[0011] In one possible embodiment, the first driving member includes a first shell and a first actuator installed on the first shell; at least a portion of the first actuator is exposed from the first shell and is connected to the second driving member so that the second driving member rotates around the up and down direction of the humanoid robot; the second driving member includes a second shell and a second actuator installed on the second shell, and the second shell and the first shell are arranged opposite to each other along the up and down direction of the humanoid robot; at least a portion of the second actuator is exposed from the second shell and is connected to the leg structure so that the leg structure rotates around the left and right direction of the humanoid robot.

[0012] The waist and hip limiting structure provided in the present application includes a first shell and a first actuator through a first driving component, and a second driving component includes a second shell and a second actuator, so as to form a structure in which the first shell, the first actuator, the second shell, the second actuator and the leg structure are connected in sequence, wherein the first actuator drives the second shell, the second actuator and the leg structure to rotate around the up and down directions of the humanoid robot, and the second actuator drives the leg structure to rotate around the left and right directions of the humanoid robot, so that the legs can simultaneously realize rotation around the up and down directions and around the left and right directions of the humanoid robot, that is, the leg structure can realize self-rotation and forward and backward swing.

[0013] In a possible embodiment, the two first limiting portions include a first boss and a second boss protruding from the side of the first shell facing the second driving member, and the first boss and the second boss are circumferentially spaced around the up-down direction of the humanoid robot and form a first limiting space; the second limiting portion is protruding from the side of the second shell facing the first shell and extends into the first limiting space; when the first marking portion is aligned with the second marking portion, the distance from the second limiting portion to the first boss in the circumferential direction around the up-down direction of the humanoid robot is equal to the distance from the second limiting portion to the second boss in the circumferential direction around the up-down direction of the humanoid robot.

[0014] The waist and hip limiting structure provided by the present application, in the first aspect, includes two first limiting parts including a first boss and a second boss, the first boss and the second boss are arranged at intervals and form a first limiting space extending circumferentially along the up-down direction of the humanoid robot, and the second limiting part is limited in the first limiting space, so that the second limiting part can only rotate around the up-down direction of the humanoid robot in the first limiting space, which can limit the rotation angle of the second driving member relative to the first driving member around the up-down direction of the humanoid robot, thereby preventing the second driving member from interfering with surrounding parts due to excessive rotation angle. In the second aspect, when the first marking part is aligned with the second marking part, the spacing from the second limiting part to the first boss in the circumferential direction of the up-down direction of the humanoid robot is equal to the spacing from the second limiting part to the second boss in the circumferential direction of the up-down direction of the humanoid robot, that is, the second limiting part is located in the middle position of the first limiting space in the circumferential direction of the up-down direction of the humanoid robot. Therefore, it is only necessary to design the rotation angle of the second limiting part in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting part in the counterclockwise direction around the up and down direction of the humanoid robot, and the rotation angle of the second limiting part in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting part in the counterclockwise direction around the up and down direction of the humanoid robot are equal, which is convenient for simplifying the program algorithm design of the rotation angle of the second driving component.

[0015] In a possible embodiment, the two first limiting portions form a groove, the opening of the groove is arranged on the side of the first shell facing the second driving member and is arranged circumferentially around the up-down direction of the humanoid robot; the second limiting portion is protrudingly arranged on the side of the second shell facing the first shell and extends into the groove; when the first calibration portion is aligned with the second calibration portion, the spacing of the second limiting portion from the circumference of the up-down direction of the humanoid robot to one inner wall surface of the groove is equal to the spacing of the second limiting portion from the circumference of the up-down direction of the humanoid robot to the other inner wall surface of the groove.

[0016] The waist and hip limiting structure provided by the present application, in the first aspect, forms a groove through two first limiting parts, and the groove extends circumferentially along the vertical direction of the humanoid robot, that is, the two limiting parts are two inner wall surfaces of the groove that are opposite to each other along the circumference, and the second limiting part is limited in the groove, so that the second limiting part can only rotate around the vertical direction of the humanoid robot in the groove, which can limit the rotation angle of the second driving member relative to the first driving member around the vertical direction of the humanoid robot, thereby preventing the second driving member from interfering with surrounding parts due to excessive rotation angle. In the second aspect, when the first marking part is aligned with the second marking part, the spacing from the second limiting part around the vertical direction of the humanoid robot to one inner wall surface of the groove is equal to the spacing from the second limiting part around the vertical direction of the humanoid robot to the other inner wall surface of the groove, that is, the second limiting part is located in the middle position of the groove in the circumference of the vertical direction of the humanoid robot. Therefore, it is only necessary to design the rotation angle of the second limiting part in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting part in the counterclockwise direction around the up and down direction of the humanoid robot, and the rotation angle of the second limiting part in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting part in the counterclockwise direction around the up and down direction of the humanoid robot are equal, which is convenient for simplifying the program algorithm design of the rotation angle of the second driving component.

[0017] In a possible embodiment, the first shell has a first notch on a side facing the second shell, and the first notch is used to accommodate the first calibration part; the second shell has a second notch on a side facing the first shell, and the second notch is used to accommodate the second calibration part; when the first notch and the second notch are relatively arranged along the up and down direction of the humanoid robot, the first calibration part is aligned with the second calibration part along the up and down direction of the humanoid robot, and the waist and hip limiting structure is in a zero point state.

[0018] The waist and hip limiting structure provided by the present application is provided with a first notch on the side of the first shell facing the second shell, and a second notch on the side of the second shell facing the first shell. The first notch is used to accommodate the first calibration part, and the second notch is used to accommodate the second calibration part, so as to reduce the influence of the first calibration part and the second calibration part on the spacing height of the first shell and the second shell along the up-down direction of the humanoid robot when they are installed, thereby reducing the assembly space of the first driving member and the second driving member along the up-down direction of the humanoid robot. Moreover, since the assembly spacing between the first shell and the second shell is small, the length setting of the output end of the first actuator can be shortened, which is conducive to enhancing the working performance of the output end of the first actuator.

[0019] In a possible embodiment, the first boss has a first notch on a side facing the second shell, and the first notch is used to accommodate the first calibration part; the second shell has a second notch on a side facing the first shell, and the second notch is used to accommodate the second calibration part; when the first notch and the second notch are relatively arranged along the up and down direction of the humanoid robot, the first calibration part is aligned with the second calibration part along the up and down direction of the humanoid robot, and the waist and hip limiting structure is in a zero point state.

[0020] The waist and hip limiting structure provided by the present application is provided with a first notch on the side of the first boss facing the second shell, and a second notch on the side of the second shell facing the first shell. The first notch is used to accommodate the first calibration part, and the second notch is used to accommodate the second calibration part, so as to reduce the influence of the spacing height of the first shell and the second shell along the vertical direction of the humanoid robot when the first calibration part and the second calibration part are installed, thereby reducing the assembly space of the first driving member and the second driving member along the vertical direction of the humanoid robot. Moreover, since the assembly spacing between the first shell and the second shell is small, the length setting of the output end of the first actuator can be shortened, which is conducive to enhancing the working performance of the output end of the first actuator.

[0021] In a possible implementation manner, a buffer is provided on the surface where the first limiting portion contacts the second limiting portion, and / or a buffer is provided on the surface where the second limiting portion contacts the first limiting portion.

[0022] The waist and hip limiting structure provided in the present application is provided with a buffer component on the surface where the first limiting part contacts the second limiting part, and / or the surface where the second limiting part contacts the first limiting part is provided with a buffer component. When a buffer is formed between the second limiting part and the first limiting part, it is beneficial to reduce the impact force and noise generated when the first limiting part contacts the second limiting part.

[0023] In a possible embodiment, the waist and hip limiting structure also includes a supporting shell, a third actuator and a fourth actuator, and the third actuator and the fourth actuator are both installed on the supporting shell; the third actuator is connected to the first driving member, and is used to drive the first driving member to rotate around the front and rear direction of the humanoid robot; the fourth actuator is connected to the waist structure, and is used to drive the waist structure to rotate around the up and down direction of the humanoid robot.

[0024] The waist and hip limiting structure provided in the present application drives the first driving component to rotate around the front and rear direction of the humanoid robot through the third actuator, so that the first driving component can swing left and right, thereby enabling the waist and hip limiting structure to achieve a hip joint function similar to that of the human body structure, and drives the waist structure to rotate around the up and down direction of the humanoid robot through the fourth actuator, so that the waist structure can rotate, thereby enabling the waist and hip limiting structure to achieve a sacral joint function similar to that of the human body structure.

[0025] In a possible embodiment, the supporting shell and the first shell are arranged opposite to each other along the front-to-back direction of the humanoid robot; a third limiting portion is provided on the side of the supporting shell facing the first shell, and a fourth limiting portion is provided on the side of the first shell facing the supporting shell; the third limiting portion cooperates with the fourth limiting portion to limit the angle of rotation of the first driving member relative to the third actuator around the front-to-back direction of the humanoid robot.

[0026] The waist and hip limiting structure provided by the present application and the waist and hip limiting structure provided by the embodiment of the present application cooperate with the third limiting portion of the supporting shell and the second limiting portion of the first driving member to limit the angle of rotation of the first driving member relative to the supporting shell around the front and rear direction of the humanoid robot, thereby preventing the first driving member from rotating too much relative to the supporting shell around the front and rear direction of the humanoid robot, thereby preventing the first driving member from interfering with surrounding components due to excessive rotation angle.

[0027] In a possible embodiment, the third limiting portion includes a third boss and a fourth boss protruding from the side of the supporting shell facing the first shell, and the third boss and the fourth boss are circumferentially spaced around the front and rear directions of the humanoid robot to form a second limiting space; the fourth limiting portion protrudes from the side of the first shell facing the supporting shell, and the fourth limiting portion extends into the second limiting space.

[0028] The waist and hip limiting structure provided by the present application and the waist and hip limiting structure provided by the embodiment of the present application include a third boss and a fourth boss through a third limiting part, the third boss and the fourth boss are arranged at intervals to form a second limiting space extending circumferentially along the front and rear directions of the humanoid robot, and the fourth limiting part is limited in the second limiting space so that the fourth limiting part can only rotate around the front and rear directions of the humanoid robot in the second limiting space, which can limit the rotation angle of the first driving component relative to the supporting shell around the front and rear directions of the humanoid robot, thereby preventing the first driving component from interfering with surrounding components due to excessive rotation angle.

[0029] In a possible embodiment, the second shell includes a first part and a second part, the first actuator, the first part and the second part are connected in sequence, the second part is bent relative to the first part toward the outside of the humanoid robot, and the space formed by the second part and the first part is used to install the leg structure; the second actuator is installed on the second part facing the outside of the humanoid robot and penetrates the second part, and the second actuator exposes the second part facing the inside of the humanoid robot and is connected to the leg structure.

[0030] The waist and hip limit structure provided by the present application is connected in sequence through the first actuator, the first part and the second part, the second part is bent relative to the first part toward the outside of the humanoid robot, the space formed by the second part and the first part is used to install the leg structure, and the leg structure is connected to the part of the second actuator that passes through the second part and exposes the second part toward the inside of the humanoid robot, so that the two leg structures of the humanoid robot can be closer, thereby reducing the installation space of the waist and hip limit structure of the humanoid robot in the left and right directions. At the same time, such a design can also make the humanoid robot have a better human-like effect.

[0031] In a possible embodiment, the support shell includes a first support portion and a second support portion connected along the front-to-back direction of the humanoid robot; the fourth actuator is installed on the first support portion and is used to connect to the waist structure; the third actuator is installed on the second support portion and is used to connect to the first driving member, and the first driving member and the first support portion are both connected to the same side of the second support portion; the number of the third actuators is two, and the two third actuators are symmetrically arranged along the left-right direction of the humanoid robot; the number of the first driving members is two, and each of the first driving members is connected to one third actuator.

[0032] The waist and hip limiting structure provided in the present application is arranged along the front and rear direction of the humanoid robot through the first support part and the second support part, the fourth actuator is installed on the first support part and connected to the waist structure, the first support part and the waist structure are arranged along the up and down direction of the humanoid robot, and the leg structure is connected to the side of the second support part connected to the first support part, that is, the waist structure and the leg structure are relatively arranged along the up and down direction of the humanoid robot, so that the leg structure can better support the waist structure along the up and down direction of the humanoid robot through the waist and hip limiting structure, which is beneficial to improving the overall structural stability of the humanoid robot.

[0033] On the other hand, the present application also provides a humanoid robot, comprising:

[0034] The above waist and hip limiting structure.

[0035] The humanoid robot provided in this embodiment, through the arrangement of the above waist and hip limiting structure, facilitates the simplification of the design of the waist and hip limiting structure and the program algorithm of the entire humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0037] Figure 1 This is a structural diagram of a waist and hip limiting structure provided by an embodiment of the present application;

[0038] Figure 2 yes Figure 1 A front view of the waist and hip limiting structure shown;

[0039] Figure 3 yes Figure 2 The cross-sectional view of the waist and hip limiting structure in the AA direction is shown;

[0040] Figure 4 is a front view of a connection assembly provided in one embodiment of the present application;

[0041] Figure 5 yes Figure 4 A cross-sectional view of the connecting assembly shown in the BB direction;

[0042] Figure 6 is a structural diagram of a first driving component provided in one embodiment of the present application;

[0043] Figure 7 is a structural diagram of a second driving component provided in one embodiment of the present application;

[0044] Figure 8 is a structural diagram of a support assembly provided by an embodiment of the present application;

[0045] Fig. 9 yes Figure 1 A side view of the waist and hip limiting structure shown;

[0046] Fig.10 yes Fig. 9 The cross-sectional view of the waist and hip limiting structure in the CC direction is shown.

[0047] Description of reference numerals:

[0048] 100-waist and hip limiting structure, 10-support assembly, 11-support shell, 111-third limiting part, 1111-third boss, 1112-fourth boss, 1113-second limiting space, 112-first supporting part, 113-second supporting part, 12-third actuator, 13-fourth actuator, 30-connecting assembly, 31-first driving member, 311-first limiting part, 3111-first boss, 3112-second boss, 3113-first limiting space, 3114-first notch, 312-first marking part, 313-first shell, 314-first actuator, 315-fourth limiting part, 32-second driving member, 321-second limiting part, 322-second marking part, 323-second shell, 3231-first part, 3232-second part, 324-second actuator, 325-second notch. DETAILED DESCRIPTION

[0049] 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.

[0050] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a component in the middle. When a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a component in the middle. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a component in the middle.

[0051] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those generally understood by technicians in the technical field of this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The directional terms mentioned in the description of this application, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "top", "side", "bottom", "top wall", "side wall", "bottom wall", "inner side wall", "outer side wall", "length direction", "width direction", "height direction", etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In the description of this application, for example, "first", "second", "third", "fourth", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0052] 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.

[0053] See also Figure 1 , an embodiment of the present application provides a humanoid robot, including a waist structure (not shown in the figure), a leg structure (not shown in the figure) and a waist and hip limiting structure 100 in the embodiment of the present application. The support assembly 10 of the waist and hip limiting structure 100 is connected to the waist structure, and the support assembly 10 is used to drive the waist structure to move. The movement of the waist structure includes the waist structure rotating around the up and down direction of the humanoid robot. The connecting assembly 30 of the waist and hip limiting structure 100 is connected to the leg structure. The number of connecting assemblies 30 of the waist and hip limiting structure 100 is two, and each connecting assembly 30 is used to drive a corresponding leg structure to move. The movement of the leg structure at least includes the leg structure swinging along the front and back direction of the humanoid robot, the leg structure swinging along the left and right direction of the humanoid robot, and the leg structure rotating around the up and down direction of the humanoid robot.

[0054] In the humanoid robot provided in the embodiment of the present application, the specific structures of the waist structure and the leg structure are not limited, and both can be set to a humanoid shape. Among them, the support component 10 of the waist and hip limiting structure 100 is fixedly arranged, and one output end of the support component 10 of the waist and hip limiting structure 100 is rotatably connected to the waist structure, so that the waist and hip limiting structure 100 can achieve a sacral joint function similar to that of the human body structure. The other output end of the support component 10 of the waist and hip limiting structure 100 is connected to the connecting component 30, so that the connecting component 30 and the leg structure swing along the left and right directions of the humanoid robot. The connecting component 30 of the waist and hip limiting structure 100 is rotatably arranged under the action of the support component 10, and the output end of the connecting component 30 of the waist and hip limiting structure 100 is rotatably connected to the leg structure, so that the waist and hip limiting structure 100 can achieve a hip joint function similar to that of the human body structure.

[0055] It is understandable that in some other embodiments, if the waist structure does not need to move, the waist and hip limiting structure 100 can be provided with only the connecting component 30, and the present application does not impose any limitation on this.

[0056] The waist and hip limiting structure 100 of the embodiment of the present application is reasonably designed to prevent the waist and hip limiting structure 100 from interfering with surrounding components due to excessive rotation angles, while simplifying the design of the program algorithm of the waist and hip limiting structure 100, under the premise that the waist and hip limiting structure 100 realizes the functions of the hip joint and sacral joint similar to those of the human body.

[0057] The waist and hip limiting structure 100 of the embodiment of the present application is introduced in detail below.

[0058] For the convenience of subsequent description, a coordinate system XYZ is established, and an X-axis, a Y-axis, and a Z-axis are formed. Among them, the Z-axis direction is the up-down direction of the humanoid robot. The Y-axis direction is the front-back direction of the humanoid robot. The X-axis direction is the left-right direction of the humanoid robot.

[0059] See also Figure 1 , Figure 2 and Figure 3 The waist and hip limiting structure 100 provided in the embodiment of the present application is applied to a humanoid robot to connect the waist structure and the leg structure of the humanoid robot. The waist and hip limiting structure 100 includes a support component 10 and a connection component 30. The support component 10 is used to connect with the waist structure and drive the waist structure to move. The connection component 30 is connected to the support component 10, and the connection component 30 is used to connect with the leg structure and drive the leg structure to move.

[0060] It is understandable that in some other embodiments, if the waist structure does not need to move, the waist and hip limiting structure 100 can be provided with only the connecting component 30, and the present application does not impose any limitation on this.

[0061] In the waist and hip limiting structure 100 provided in the embodiment of the present application, the connection assembly 30 includes a first driving member 31 and a second driving member 32, and the support assembly 10, the first driving member 31 and the second driving member 32 are connected in sequence. When the connection assembly 30 is connected to the leg structure, the first driving member 31 is used to drive the leg structure to rotate around the up and down direction of the humanoid robot, and the second driving member 32 is used to drive the leg structure to rotate around the left and right direction of the humanoid robot.

[0062] In the waist and hip limiting structure 100 provided in the embodiment of the present application, there are two first limiting portions 311 on the first driving member 31, and a second limiting portion 321 is provided on the second driving member 32. The two first limiting portions 311 and the second limiting portions 321 cooperate to limit the angle of rotation of the second driving member 32 relative to the first driving member 31 in the up and down directions around the humanoid robot.

[0063] In the waist and hip limiting structure 100 provided in the embodiment of the present application, the first driving member 31 is further provided with a first calibration portion 312, and the second driving member 32 is further provided with a second calibration portion 322, and the first calibration portion 312 is used to align with the second calibration portion 322. When the first calibration portion 312 is aligned with the second calibration portion 322, the second limiting portion 321 is located in the middle of the two first limiting portions 311. Among them, the second limiting portion 321 is located in the middle of the two first limiting portions 311, that is, the second driving member 32 is located in the middle of the angle of the second driving member 32 relative to the first driving member 31 around the up and down direction of the humanoid robot. At this time, the humanoid robot is in an upright state and facing straight ahead. Therefore, when the first calibration portion 312 is aligned with the second calibration portion 322, the clockwise rotation angle of the second drive member 32 relative to the first drive member 31 around the up and down direction of the humanoid robot is equal to the counterclockwise rotation angle of the second drive member 32 relative to the first drive member 31 around the up and down direction of the humanoid robot.

[0064] The waist and hip limiting structure 100 provided in the embodiment of the present application, on the first hand, is used to connect the waist structure and leg structure of the humanoid robot through the waist and hip limiting structure 100 and can drive the waist structure and leg structure to perform actions similar to those of the humanoid structure, so that the waist and hip limiting structure 100 can achieve hip joint functions and sacral joint functions similar to those of the human body structure. On the second hand, through the cooperation of the two first limiting parts 311 of the first driving member 31 of the connecting component 30 and the second limiting part 321 of the second driving member 32 to limit the angle of rotation of the second driving member 32 relative to the first driving member 31 around the humanoid robot in the up-down direction, it is possible to prevent the second driving member 32 from rotating too much relative to the first driving member 31 around the humanoid robot in the up-down direction, thereby preventing the second driving member 32 from interfering with surrounding parts due to the excessive rotation angle. In the third aspect, by setting the first calibration part 312 on the first driving member 31 and the second calibration part 322 on the second driving member 32, and when the first calibration part 312 is aligned with the second calibration part 322, the second limit part 321 is located at the middle position of the first limit part 311, at this time, the second driving member 32 can rotate the same angle in the clockwise direction around the up and down direction of the humanoid robot and in the counterclockwise direction around the up and down direction of the humanoid robot. Therefore, it is only necessary to design the rotation angle of the second driving member 32 clockwise around the up and down direction of the humanoid robot and the rotation angle of the second driving member 32 counterclockwise around the up and down direction of the humanoid robot, and the rotation angle of the second driving member 32 clockwise around the up and down direction of the humanoid robot and the rotation angle of the second driving member 32 counterclockwise around the up and down direction of the humanoid robot are equal, which is convenient for simplifying the program algorithm design of the rotation angle of the second driving member 32, so that the rotation angle program stability of the second driving member 32 is better.

[0065] See also Figure 1 , Figure 2 and Figure 4 In one embodiment, the first driving member 31 in the waist and hip limiting structure 100 includes a first shell 313 and a first actuator 314 installed on the first shell 313. At least a portion of the first actuator 314 is exposed from the first shell 313, and the first actuator 314 exposed from the first shell 313 is connected to the second driving member 32, so that the second driving member 32 rotates around the up and down direction of the humanoid robot. The second driving member 32 of the connecting assembly 30 in the waist and hip limiting structure 100 includes a second shell 323 and a second actuator 324 installed on the second shell 323, and the second shell 323 is arranged opposite to the first shell 313 along the up and down direction of the humanoid robot. At least a portion of the second actuator 324 is exposed from the second shell 323, and the second actuator 324 exposed from the second shell 323 is used to connect with the leg structure, so that the leg structure rotates around the left and right direction of the humanoid robot.

[0066] In other words, the first driving member 31 of the connecting assembly 30 in the waist and hip limiting structure 100 is used to drive the second driving member 32 and the leg structure to rotate around the up and down direction of the humanoid robot, and the second driving member 32 of the connecting assembly 30 in the waist and hip limiting structure 100 is used to drive the leg structure to rotate around the left and right direction of the humanoid robot. Among them, the first actuator 314 of the first driving member 31 is fixedly installed in the first shell 313, and the output end of the first actuator 314 exposed from the first shell 313 is connected to the second shell 323 of the second driving member 32 to drive the second shell 323 to rotate around the up and down direction of the humanoid robot. The second actuator 324 of the second driving member 32 is fixedly installed in the second shell 323, and the output end of the second actuator 324 exposed from the second shell 323 is connected to the leg structure to drive the leg structure to rotate around the left and right direction of the humanoid robot.

[0067] The waist and hip limiting structure 100 provided in the embodiment of the present application is formed by the arrangement of the first driving member 31 and the second driving member 32 to form a structure in which the support assembly 10, the first driving member 31, the second driving member 32 and the leg structure are connected in sequence, wherein the first driving member 31 drives the second driving member 32 and the leg structure to rotate around the up and down directions of the humanoid robot, and the second driving member 32 drives the leg structure to rotate around the left and right directions of the humanoid robot, so that the leg structure can simultaneously realize rotation around the up and down directions of the humanoid robot and rotation around the left and right directions of the humanoid robot, that is, the leg structure can realize self-rotation and forward and backward swinging.

[0068] See also Figure 1 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In one embodiment, the two first limiting portions 311 of the first driving member 31 include a first boss 3111 and a second boss 3112, and the first boss 3111 and the second boss 3112 are both protrudingly arranged on the side of the first housing 313 facing the second driving member 32. The first boss 3111 and the second boss 3112 are arranged circumferentially at intervals around the up-down direction of the humanoid robot and form a first limiting space 3113. The second limiting portion 321 of the second driving member 32 is protrudingly arranged on the side of the second housing 323 facing the first housing 313, and the second limiting portion 321 extends into the first limiting space 3113. The first boss 3111 and the second boss 3112 are used to limit the rotation angle of the second driving member 32 relative to the first driving member 31 around the up-down direction of the humanoid robot. When the first marking portion 312 is aligned with the second marking portion 322 , the distance from the second limiting portion 321 to the first boss 3111 in the circumferential direction around the up-down direction of the humanoid robot is equal to the distance from the second limiting portion 321 to the second boss 3112 in the circumferential direction around the up-down direction of the humanoid robot.

[0069] In other words, when the first driving member 31 and the second driving member 32 are assembled, that is, the output end of the first actuator 314 of the first driving member 31 is connected to the second housing 323 of the second driving member 32, at this time, the first housing 313 and the second housing 323 are arranged relatively to each other along the up-down direction of the humanoid robot. The first limiting portion 311 is arranged on a side of the first housing 313 close to the second housing 323, and the second limiting portion 321 is arranged on a side of the second housing 323 close to the first housing 313. The first limiting portion 311 and the second limiting portion 321 cooperate to limit the angle of rotation of the second housing 323 relative to the first housing 313 around the up-down direction of the humanoid robot, thereby limiting the angle of rotation of the second driving member 32 relative to the first driving member 31 around the up-down direction of the humanoid robot. Moreover, the first limiting portion 311 includes a first boss 3111 and a second boss 3112 which are arranged at intervals in the circumferential direction along the upper direction of the humanoid robot, and the second limiting portion 321 extends into the first limiting space 3113 formed by the first boss 3111 and the second boss 3112, that is, the rotation angle of the second limiting portion 321 is limited by the first limiting space 3113 formed by the first boss 3111 and the second boss 3112. When the first marking portion 312 is aligned with the second marking portion 322, the clockwise rotation angle of the second limiting portion 321 around the upper and lower directions of the humanoid robot is equal to the counterclockwise rotation angle of the second limiting portion 321 around the upper and lower directions of the humanoid robot, thereby making the clockwise rotation angle of the second driving member 32 relative to the first driving member 31 around the upper and lower directions of the humanoid robot equal to the counterclockwise rotation angle of the second driving member 32 relative to the first driving member 31 around the upper and lower directions of the humanoid robot.

[0070] The waist and hip limiting structure 100 provided in the embodiment of the present application, on the first aspect, includes a first boss 3111 and a second boss 3112 through a first limiting portion 311, the first boss 3111 and the second boss 3112 are spaced apart and form a first limiting space 3113 extending circumferentially along the up-down direction of the humanoid robot, and the second limiting portion 321 is limited in the first limiting space 3113, so that the second limiting portion 321 can only rotate around the up-down direction of the humanoid robot in the first limiting space 3113, which can limit the rotation angle of the second driving member 32 relative to the first driving member 31 around the up-down direction of the humanoid robot, thereby preventing the second driving member 32 from interfering with surrounding components due to excessive rotation angle. On the second aspect, when the first marking part 312 is aligned with the second marking part 322, the spacing from the second limiting part 321 to the first boss 3111 in the circumferential direction of the up-down direction of the humanoid robot is equal to the spacing from the second limiting part 321 to the second boss 3112 in the circumferential direction of the up-down direction of the humanoid robot, that is, the second limiting part 321 is located in the middle position of the first limiting space 3113 in the circumferential direction of the up-down direction of the humanoid robot. Therefore, it is only necessary to design the rotation angle of the second limiting part 321 clockwise around the up-down direction of the humanoid robot and the rotation angle of the second limiting part 321 counterclockwise around the up-down direction of the humanoid robot, and the rotation angle of the second limiting part 321 clockwise around the up-down direction of the humanoid robot and the rotation angle of the second limiting part 321 counterclockwise around the up-down direction of the humanoid robot are equal, which is convenient for simplifying the program algorithm design of the rotation angle of the second driving member 32.

[0071] In some other embodiments, the two first limiting portions 311 of the first driving member 31 form a groove (not shown in the figure), the opening of the groove is arranged on the side of the first shell 313 facing the second driving member 32, and the groove is arranged circumferentially around the up-down direction of the humanoid robot. The second limiting portion 321 of the second driving member 32 is protrudingly arranged on the side of the second shell 323 facing the first shell 313, and the second limiting portion 321 extends into the groove, and the two opposite inner wall surfaces of the groove along the circumference of the up-down direction of the humanoid robot are used to limit the rotation angle of the second driving member 32 relative to the first driving member 31 around the up-down direction of the humanoid robot. When the first marking portion 312 is aligned with the second marking portion 322, the spacing from the second limiting portion 321 around the circumference of the up-down direction of the humanoid robot to one inner wall surface of the groove is equal to the spacing from the second limiting portion 321 around the circumference of the up-down direction of the humanoid robot to the other inner wall surface of the groove.

[0072] The waist and hip limiting structure 100 provided in the embodiment of the present application, in the first aspect, the first limiting portion 311 includes a groove, the groove extends along the circumference of the up-down direction of the humanoid robot, and the second limiting portion 321 is limited in the groove, so that the second limiting portion 321 can only rotate around the up-down direction of the humanoid robot in the groove, which can limit the rotation angle of the second driving member 32 relative to the first driving member 31 around the up-down direction of the humanoid robot, thereby preventing the second driving member 32 from interfering with the surrounding parts due to excessive rotation angle. In the second aspect, when the first marking portion 312 is aligned with the second marking portion 322, the spacing from the second limiting portion 321 around the up-down direction of the humanoid robot to one inner wall surface of the groove is equal to the spacing from the second limiting portion 321 around the up-down direction of the humanoid robot to the other inner wall surface of the groove, that is, the second limiting portion 321 is located in the middle position of the groove in the circumference of the up-down direction of the humanoid robot. Therefore, it is only necessary to design the rotation angle of the second limiting portion 321 in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting portion 321 in the counterclockwise direction around the up and down direction of the humanoid robot, and the rotation angle of the second limiting portion 321 in the clockwise direction around the up and down direction of the humanoid robot and the rotation angle of the second limiting portion 321 in the counterclockwise direction around the up and down direction of the humanoid robot are equal, which is convenient for simplifying the program algorithm design of the rotation angle of the second driving component 32.

[0073] See also Figure 1 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In one embodiment, the first boss 3111 has a first notch 3114, which is disposed on the side of the first boss 3111 facing the second shell 323, and the first notch 3114 is used to accommodate the first calibration portion 312. The second shell 323 has a second notch 325, which is disposed on the side of the second shell 323 facing the first shell 313, and the second notch 325 is used to accommodate the second calibration portion 322. When the humanoid robot stands upright and faces forward, the first notch 3114 and the second notch 325 are disposed opposite to each other along the up-and-down direction of the humanoid robot, the first calibration portion 312 is aligned with the second calibration portion 322 along the up-and-down direction of the humanoid robot, and the waist and hip limiting structure 100 is in a zero point state.

[0074] The waist and hip limiting structure 100 provided in the embodiment of the present application is provided with a first notch 3114 on the side of the first boss 3111 facing the second shell 323, and a second notch 325 on the side of the second shell 323 facing the first shell 313. The first notch 3114 is used to accommodate the first calibration part 312, and the second notch 325 is used to accommodate the second calibration part 322, so as to reduce the influence of the spacing height between the first shell 313 and the second shell 323 along the up-down direction of the humanoid robot when the first calibration part 312 and the second calibration part 322 are installed, thereby reducing the assembly space of the first driving member 31 and the second driving member 32 along the up-down direction of the humanoid robot. Moreover, since the assembly spacing between the first shell 313 and the second shell 323 is small, the length setting of the output end of the first actuator 314 can be shortened, which is conducive to enhancing the working performance of the output end of the first actuator 314.

[0075] In some other embodiments, the first shell 313 has a first notch 3114, which is disposed on the side of the first shell 313 facing the second shell 323, and the first notch 3114 is used to accommodate the first calibration portion 312. The second shell 323 has a second notch 325, which is disposed on the side of the second shell 323 facing the first shell 313, and the second notch 325 is used to accommodate the second calibration portion 322. When the humanoid robot is upright and facing forward, the first notch 3114 and the second notch 325 are disposed opposite to each other along the up-down direction of the humanoid robot, the first calibration portion 312 is aligned with the second calibration portion 322 along the up-down direction of the humanoid robot, and the waist and hip limiting structure 100 is in a zero point state.

[0076] The waist and hip limiting structure 100 provided in the embodiment of the present application is provided with a first notch 3114 on the side of the first shell 313 facing the second shell 323, and a second notch 325 on the side of the second shell 323 facing the first shell 313. The first notch 3114 is used to accommodate the first calibration part 312, and the second notch 325 is used to accommodate the second calibration part 322, so as to reduce the influence of the spacing height between the first shell 313 and the second shell 323 along the up-down direction of the humanoid robot when the first calibration part 312 and the second calibration part 322 are installed, thereby reducing the assembly space of the first driving member 31 and the second driving member 32 along the up-down direction of the humanoid robot. Moreover, since the assembly spacing between the first shell 313 and the second shell 323 is small, the length setting of the output end of the first actuator 314 can be shortened, which is conducive to enhancing the working performance of the output end of the first actuator 314.

[0077] In some other embodiments, a buffer is provided on the surface where the first position-limiting portion 311 contacts the second position-limiting portion 321 (not shown in the figure), and / or a buffer is provided on the surface where the second position-limiting portion 321 contacts the first position-limiting portion 311 (not shown in the figure). In other words, a buffer is provided on the surface where the first boss 3111 contacts the second position-limiting portion 321 and on the surface where the second boss 3112 contacts the second position-limiting portion 321, and / or a buffer is provided on the surface where the second position-limiting portion 321 contacts the first boss 3111 and on the surface where the second position-limiting portion 321 contacts the second boss 3112.

[0078] It can be understood that the buffer can be provided only on the surface where the first limiting portion 311 contacts the second limiting portion 321. Alternatively, the buffer can be provided only on the surface where the second limiting portion 321 contacts the first limiting portion 311. Alternatively, the surface where the first limiting portion 311 contacts the second limiting portion 321 and the surface where the second limiting portion 321 contacts the first limiting portion 311 are both provided with the buffer, and the present application does not limit this.

[0079] The waist and hip limiting structure 100 provided in the embodiment of the present application is provided with a buffer component through the surface where the first limiting part 311 contacts the second limiting part 321, and / or the surface where the second limiting part 321 contacts the first limiting part 311 is provided with a buffer component. When a buffer is formed between the second limiting part 321 and the first limiting part 311, it is helpful to reduce the impact force and noise generated when the first limiting part 311 contacts the second limiting part 321.

[0080] Figure 1 , Figure 4 , Figure 8 and Fig. 9 In one embodiment, the support assembly 10 of the waist and hip limiting structure 100 includes a support shell 11, a third actuator 12 and a fourth actuator 13, and the third actuator 12 and the fourth actuator 13 are both installed on the support shell 11. At least part of the third actuator 12 is exposed from the support shell 11, and the output end of the third actuator 12 is connected to the first shell 313 of the first driving member 31, and is used to drive the first driving member 31 to rotate around the front and back direction of the humanoid robot, so that the first driving member 31 can swing left and right. At least part of the fourth actuator 13 is exposed from the support shell 11, and the fourth actuator 13 is connected to the waist structure, and is used to drive the waist structure to rotate around the up and down direction of the humanoid robot.

[0081] The waist and hip limiting structure 100 provided in the embodiment of the present application drives the first driving component 31 to rotate around the front and rear direction of the humanoid robot through the third actuator 12, so that the first driving component 31 can swing left and right, thereby enabling the waist and hip limiting structure 100 to achieve a hip joint function similar to that of the human body structure, and drives the waist structure to rotate around the up and down direction of the humanoid robot through the fourth actuator 13, so that the waist structure can rotate, thereby enabling the waist and hip limiting structure 100 to achieve a sacral joint function similar to that of the human body structure.

[0082] See also Figure 1 , Figure 4 , Figure 8 , Fig. 9 and Fig.10 In one embodiment, the support housing 11 and the first housing 313 are arranged opposite to each other along the front-to-back direction of the humanoid robot. A third limiter 111 is arranged on the side of the support housing 11 facing the first housing 313, and a fourth limiter 315 is arranged on the side of the first housing 313 facing the support housing 11. The third limiter 111 cooperates with the fourth limiter 315 to limit the angle of rotation of the first driving member 31 relative to the third actuator 12 around the front-to-back direction of the humanoid robot.

[0083] The waist and hip limiting structure 100 provided in the embodiment of the present application cooperates with the third limiting portion 111 of the support shell 11 and the second limiting portion 321 of the first driving member 31 to limit the angle of rotation of the first driving member 31 relative to the support shell 11 around the front and rear directions of the humanoid robot. This can prevent the first driving member 31 from rotating too much relative to the support shell 11 around the front and rear directions of the humanoid robot, thereby preventing the first driving member 31 from interfering with surrounding components due to excessive rotation angles.

[0084] See also Figure 1 , Figure 4 , Figure 8 , Fig. 9 and Fig.10 In one embodiment, the third limiting portion 111 includes a third boss 1111 and a fourth boss 1112. The third boss 1111 and the fourth boss 1112 are both protrudingly disposed on the side of the support shell 11 facing the first shell 313. The third boss 1111 and the fourth boss 1112 are circumferentially spaced around the front-to-back direction of the humanoid robot and form a second limiting space 1113. The fourth limiting portion 315 is protrudingly disposed on the side of the first shell 313 facing the support shell 11. The fourth limiting portion 315 extends into the second limiting space 1113. The third boss 1111 and the fourth boss 1112 are used to limit the rotation angle of the first driving member 31 relative to the third actuator 12 around the front-to-back direction of the humanoid robot.

[0085] The waist and hip limiting structure 100 provided in the embodiment of the present application includes a third boss 1111 and a fourth boss 1112 through a third limiting portion 111. The third boss 1111 and the fourth boss 1112 are spaced apart to form a second limiting space 1113 extending circumferentially along the front-to-back direction of the humanoid robot. The fourth limiting portion 315 is limited in the second limiting space 1113 so that the fourth limiting portion 315 can only rotate around the front-to-back direction of the humanoid robot in the second limiting space 1113. The rotation angle of the first driving member 31 relative to the supporting shell 11 around the front-to-back direction of the humanoid robot can be limited, thereby preventing the first driving member 31 from interfering with surrounding components due to excessive rotation angle.

[0086] See also Figure 1 , Figure 2 , Figure 4 and Figure 7 In one embodiment, the second housing 323 includes a first portion 3231 and a second portion 3232, the first actuator 314, the first portion 3231 and the second portion 3232 are connected in sequence, and the second portion 3232 is bent relative to the first portion 3231 toward the outside of the humanoid robot. The second actuator 324 is installed on the second portion 3232 toward the outside of the humanoid robot, and at least part of the second actuator 324 passes through the second portion 3232 and exposes the second portion 3232 toward the inside of the humanoid robot. The space formed by the second portion 3232 and the first portion 3231 is used to install the leg structure, and the leg structure is connected to the part of the second actuator 324 that passes through the second portion 3232 and exposes the second portion 3232 toward the inside of the humanoid robot.

[0087] The waist and hip limiting structure 100 provided in the embodiment of the present application is connected in sequence through the first actuator 314, the first part 3231 and the second part 3232, the second part 3232 is bent relative to the first part 3231 toward the outside of the humanoid robot, the space formed by the second part 3232 and the first part 3231 is used to install the leg structure, and the leg structure is connected to the second actuator 324 that passes through the second part 3232 and exposes the second part 3232 toward the inside of the humanoid robot, so that the two leg structures of the humanoid robot can be closer, thereby reducing the installation space of the waist and hip limiting structure 100 of the humanoid robot in the left and right directions. At the same time, such a design can also make the humanoid robot have a better human-like effect.

[0088] See also Figure 1 and Figure 8In one embodiment, the support shell 11 includes a first support portion 112 and a second support portion 113, and the first support portion 112 and the second support portion 113 are connected along the front-back direction of the humanoid robot. The fourth actuator 13 is installed on the first support portion 112, and at least part of the fourth actuator 13 is exposed from the first support portion 112 and is used to connect with the waist structure. The third actuator 12 is installed on the second support portion 113, and at least part of the third actuator 12 is exposed from the second support portion 113 and is used to connect with the connecting component 30, and the connecting component 30 and the first support portion 112 are both connected to the same side of the second support portion 113. The number of the third actuator 12 is two, and the two third actuators 12 are symmetrically arranged along the left-right direction of the humanoid robot. The number of the connecting components 30 is two, and each connecting component 30 is connected to a third actuator 12.

[0089] The waist and hip limiting structure 100 provided in the embodiment of the present application is arranged along the front and rear direction of the humanoid robot through the first support part 112 and the second support part 113, the fourth actuator 13 is installed on the first support part 112 and connected to the waist structure, the first support part 112 and the waist structure are arranged along the up and down direction of the humanoid robot, and the leg structure is connected to the second support part 113 connected to the side of the first support part 112, that is, the waist structure and the leg structure are relatively arranged along the up and down direction of the humanoid robot, so that the leg structure can better support the waist structure along the up and down direction of the humanoid robot through the waist and hip limiting structure 100, which is beneficial to improving the overall structural stability of the humanoid robot.

[0090] The above are some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A waist and hip limiting structure, characterized in that: Applications in humanoid robots, including: a first driving member, provided with a first marking portion and two first limiting portions, the first driving member being used to drive the leg structure to rotate around the up-and-down direction of the humanoid robot; and a second driving member connected to the first driving member, the second driving member being provided with a second marking portion and a second limiting portion arranged at intervals; the second driving member being used to drive the leg structure to rotate in a left-right direction around the humanoid robot; The two first limiting parts cooperate with the second limiting part to limit the angle of rotation of the second driving member relative to the first driving member around the up-down direction of the humanoid robot; Among them, when the first calibration part is aligned with the second calibration part, the distance from the second limiting part to one of the first limiting parts in the circumferential direction of the up and down direction of the humanoid robot is equal to the distance from the second limiting part to another of the first limiting parts in the circumferential direction of the up and down direction of the humanoid robot.

2. The waist and hip limiting structure according to claim 1, characterized in that: The first driving member includes a first shell and a first actuator installed on the first shell; at least a portion of the first actuator is exposed from the first shell and is connected to the second driving member so that the second driving member rotates around the up and down direction of the humanoid robot; the second driving member includes a second shell and a second actuator installed on the second shell, and the second shell and the first shell are arranged opposite to each other along the up and down direction of the humanoid robot; at least a portion of the second actuator is exposed from the second shell and is connected to the leg structure so that the leg structure rotates around the left and right direction of the humanoid robot.

3. The waist and hip limiting structure according to claim 2, characterized in that: The two first limiting portions include a first boss and a second boss protruding from the side of the first shell facing the second driving member, the first boss and the second boss are circumferentially spaced around the up-down direction of the humanoid robot and form a first limiting space; the second limiting portion is protruding from the side of the second shell facing the first shell and extends into the first limiting space; when the first marking portion is aligned with the second marking portion, the distance from the second limiting portion to the first boss in the circumferential direction around the up-down direction of the humanoid robot is equal to the distance from the second limiting portion to the second boss in the circumferential direction around the up-down direction of the humanoid robot.

4. The waist and hip limiting structure according to claim 2, characterized in that: The two first limiting portions form a groove, the opening of the groove is arranged on the side of the first shell facing the second driving member and is arranged circumferentially around the up-down direction of the humanoid robot; the second limiting portion is protrudingly arranged on the side of the second shell facing the first shell and extends into the groove; when the first calibration portion is aligned with the second calibration portion, the spacing of the second limiting portion from the circumference of the up-down direction of the humanoid robot to one inner wall surface of the groove is equal to the spacing of the second limiting portion from the circumference of the up-down direction of the humanoid robot to the other inner wall surface of the groove.

5. The waist and hip limiting structure according to claim 3, characterized in that: The first shell has a first notch on a side facing the second shell, and the first notch is used to accommodate the first calibration part; the second shell has a second notch on a side facing the first shell, and the second notch is used to accommodate the second calibration part; when the first notch and the second notch are relatively arranged along the up and down direction of the humanoid robot, the first calibration part is aligned with the second calibration part along the up and down direction of the humanoid robot, and the waist and hip limiting structure is in a zero point state.

6. The waist and hip limiting structure according to claim 3, characterized in that: The first boss has a first notch on the side facing the second shell, and the first notch is used to accommodate the first calibration part; the second shell has a second notch on the side facing the first shell, and the second notch is used to accommodate the second calibration part; when the first notch and the second notch are relatively arranged along the up and down directions of the humanoid robot, the first calibration part is aligned with the second calibration part along the up and down directions of the humanoid robot, and the waist and hip limiting structure is in a zero point state.

7. The waist and hip limiting structure according to claim 2, characterized in that: A buffer is provided on the surface where the first limiting portion contacts the second limiting portion, and / or a buffer is provided on the surface where the second limiting portion contacts the first limiting portion.

8. The waist and hip limiting structure according to claim 2, characterized in that: The waist and hip limiting structure also includes a supporting shell, a third actuator and a fourth actuator, and the third actuator and the fourth actuator are both installed on the supporting shell; the third actuator is connected to the first driving member and is used to drive the first driving member to rotate around the front and rear direction of the humanoid robot; the fourth actuator is connected to the waist structure and is used to drive the waist structure to rotate around the up and down direction of the humanoid robot.

9. The waist and hip limiting structure according to claim 8, characterized in that: The supporting shell and the first shell are arranged opposite to each other along the front-to-back direction of the humanoid robot; a third limiting portion is provided on the side of the supporting shell facing the first shell, and a fourth limiting portion is provided on the side of the first shell facing the supporting shell; the third limiting portion cooperates with the fourth limiting portion to limit the angle of rotation of the first driving member relative to the third actuator around the front-to-back direction of the humanoid robot.

10. The waist and hip limiting structure according to claim 9, characterized in that: The third limiting portion includes a third boss and a fourth boss protruding from the side of the supporting shell facing the first shell, the third boss and the fourth boss are circumferentially spaced around the front-to-back direction of the humanoid robot and form a second limiting space; the fourth limiting portion protrudes from the side of the first shell facing the supporting shell, and the fourth limiting portion extends into the second limiting space.

11. The waist and hip limiting structure according to claim 8, characterized in that: The second shell includes a first part and a second part, the first actuator, the first part and the second part are connected in sequence, the second part is bent relative to the first part toward the outside of the humanoid robot, and a space formed by the second part and the first part is used to install a leg structure; The second actuator is installed on the second part facing the outer side of the humanoid robot and penetrates the second part. The second actuator is connected to the leg structure by a portion of the second part exposed from the inner side of the second part facing the humanoid robot.

12. The waist and hip limiting structure according to claim 8, characterized in that: The support shell includes a first support part and a second support part connected along the front-to-back direction of the humanoid robot; the fourth actuator is installed on the first support part and is used to connect with the waist structure; the third actuator is installed on the second support part and is used to connect with the first driving member, and the first driving member and the first support part are both connected to the same side of the second support part; the number of the third actuators is two, and the two third actuators are symmetrically arranged along the left-right direction of the humanoid robot; the number of the first driving members is two, and each of the first driving members is connected to one third actuator.

13. A humanoid robot, characterized in that: include: A waist and hip limiting structure as described in any one of claims 1 to 12.

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