Waist and hip structure and humanoid robot

Abstract

The present application provides a waist-hip structure and a humanoid robot, wherein the waist-hip structure includes a support assembly, two first actuators, a second actuator and a detector, wherein the support assembly includes a first surface and a second surface disposed opposite to each other; the two first actuators are mounted on the first surface and extend from the second surface through the support assembly, and the two first actuators are spaced apart in the left-right direction of the humanoid robot; the first actuator is used to connect and drive the leg structure to move; the second actuator is mounted on the second surface and disposed between the two first actuators; the second actuator is used to connect and drive the waist structure to move; the detector is mounted on the second surface and disposed opposite to the second actuator along the up-down direction of the humanoid robot, and the detector is used to identify the external environment; wherein the waist-hip structure is a symmetrical structure, and the two first actuators are symmetrical relative to the second actuator. The waist-hip structure and the humanoid robot provided by the present application have a higher degree of integration of components and better structural stability.

Description

Technical Field

[0001] The present application belongs to the technical field of humanoid robots, and in particular, relates to a waist-hip 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 spatial layout of the components of the waist and hip structure can easily lead to uneven force on the supporting components of the waist and hip structure, which in turn can easily affect the overall structural stability of the waist and hip structure and the humanoid robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present application provides a waist-hip structure and a humanoid robot, the components of which are more integrated and have better structural stability.

[0005] On the one hand, the present application provides a waist-hip structure, applied to a humanoid robot, comprising:

[0006] A support assembly, comprising a first surface and a second surface disposed opposite to each other in a front-to-rear direction of the humanoid robot;

[0007] Two first actuators are installed on the first surface and penetrate the support assembly and extend from the second surface, and the two first actuators are arranged at intervals in the left and right directions of the humanoid robot; a portion of each first actuator extending from the second surface is used to connect with a leg structure and to drive the leg structure to move;

[0008] a second actuator, mounted on the second surface and disposed between the two first actuators; the second actuator is used to connect with the waist structure and to drive the waist structure to move; and

[0009] a detector, mounted on the second surface and arranged opposite to the second actuator along the up-down direction of the humanoid robot, the detector being used to identify the external environment;

[0010] Wherein, the waist and hip structure is a symmetrical structure, and the two first actuators are symmetrical relative to the second actuator.

[0011] The waist-hip structure provided in this embodiment, in the first aspect, the first actuator, the second actuator and the detector are all installed on the support assembly to form the waist-hip structure, so that the components of the waist-hip structure are more integrated, which is conducive to improving the space utilization of the waist-hip structure, thereby reducing the space occupancy ratio of the waist-hip structure in the humanoid robot. In the second aspect, two first actuators are installed on the first surface of the support assembly, the second actuator is installed on the second surface of the support assembly, and the detector is installed on the second surface of the support assembly. As a result, the components on the first surface of the support assembly and the second surface of the support assembly are distributed more evenly, which is conducive to improving the stability of the support assembly in the front and rear directions of the humanoid robot after the other components of the waist-hip structure are installed, thereby improving the structural stability of the humanoid robot in the front and rear directions. In the third aspect, the waist-hip structure is set as a symmetrical structure, and the two first actuators are symmetrical relative to the second actuator, so that the components of the support assembly in the left and right directions of the humanoid robot are distributed more evenly, which is conducive to improving the stability of the support assembly in the left and right directions of the humanoid robot after the other components of the waist-hip structure are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0012] In a possible embodiment, the support assembly includes a support body and a first support member, the first surface and the second surface are arranged on the support body, and the first support member is installed on the second surface of the support body; the second surface of the support body includes a first installation area, a second installation area and a third installation area connected in sequence, and the first installation area and the third installation area are symmetrical relative to the second installation area; one first actuator is installed at a position of the first surface corresponding to the first installation area, and another first actuator is installed at a position of the first surface corresponding to the third installation area; the first support member is installed in the second installation area, and the second actuator is installed on the first support member.

[0013] The waist and hip structure provided in this embodiment is symmetrical with respect to the second installation area through the first installation area and the third installation area, and the first support member is installed in the second installation area, so that the first support member is symmetrically designed on the support body. At the same time, the second actuator is installed on the first support member, so that the second actuator is symmetrically designed on the first support member. As a result, the components of the support body in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly in the left and right directions of the humanoid robot after the other components of the waist and hip structure are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0014] In a possible implementation, the support assembly further includes a second support member, the second support member is installed in the second installation area, the first support member and the second support member are spaced apart along the up and down direction of the humanoid robot; and the detector is installed on the second support member.

[0015] The waist and hip structure provided in this embodiment is installed in the second installation area through the second support member, so that the second support member is symmetrically designed on the support body. At the same time, the detector is installed on the second support member, so that the detector is symmetrically designed on the second support member. As a result, the components of the support body in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly in the left and right directions of the humanoid robot after the other components of the waist and hip structure are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0016] In a possible embodiment, the waist-hip structure also includes a first shell, the first shell is installed on the first surface, and the first shell and the first surface of the support body are surrounded by a first receiving space; part of the first actuator is received in the first receiving space, and another part of the first actuator passes through the support body and extends out of the second surface.

[0017] The waist and hip structure provided in this embodiment, through the first aspect, through the setting of the first shell, the first shell and the first surface of the support body are surrounded to form a first receiving space, and the two first actuators are both received in the first receiving space, so as to reduce the influence of dust and other impurities in the environment on the first actuator, which is conducive to improving the service life of the first actuator. On the second aspect, the first shell is installed on the first surface of the support body, so that the first shell is symmetrically designed on the support body, thereby making the distribution of the parts of the support body in the left and right directions of the humanoid robot more uniform, which is conducive to improving the stability of the support assembly in the left and right directions of the humanoid robot after installing other parts of the waist and hip structure, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0018] In a possible embodiment, the waist and hip structure also includes a second shell, the second shell is installed on the second surface, and the second shell and the second surface of the support body are surrounded to form a second receiving space; the first support member and the second support member are received in the second receiving space, part of the second actuator is located in the second receiving space, and another part of the second actuator extends out of the second receiving space; part of the detector is located in the second receiving space, and another part of the detector extends out of the second receiving space.

[0019] The waist and hip structure provided in this embodiment, in the first aspect, through the setting of the second shell, the second shell and the second surface of the support body are surrounded to form a second containing space, and the second actuator and the detector are both contained in the second containing space, so as to reduce the influence of dust and other impurities in the environment on the second actuator and the detector, which is conducive to improving the service life of the second actuator and the detector. In the second aspect, the second shell is installed on the second surface of the support body, so that the second shell is symmetrically designed on the support body, so that the parts of the support body in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly in the left and right directions of the humanoid robot after the other parts of the waist and hip structure are installed, thereby improving the structural stability of the humanoid robot in the left and right directions. In the third aspect, the first shell is installed on the first surface of the support body, and the second shell is installed on the second surface of the support body, so that the parts of the support body in the front and back directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly in the front and back directions of the humanoid robot after the other parts of the waist and hip structure are installed, thereby improving the structural stability of the humanoid robot in the front and back directions.

[0020] In a possible embodiment, a connecting channel is provided on the support body, the connecting channel passes through the first surface and the second surface of the support body, and the connecting channel connects the first receiving space and the second receiving space; a through hole is provided on the second shell, and the through hole is connected to the second receiving space.

[0021] The waist-hip structure provided by this embodiment, on the one hand, is connected in sequence through the first receiving space, the connecting channel, the second receiving space and the through hole, so that the heat generated by the two first actuators received in the first receiving space during the working process can flow to the outside of the waist-hip structure through the first receiving space, the connecting channel, the second receiving space and the through hole in sequence, which is beneficial to reduce the influence of the heating of the first actuator on the surrounding parts. On the other hand, the second receiving space is connected with the through hole, so that the heat generated by the second actuator received in the second receiving space during the working process can flow to the outside of the waist-hip structure through the second receiving space and the through hole in sequence, which is beneficial to reduce the influence of the heating of the second actuator on the surrounding parts.

[0022] In a possible embodiment, the waist and hip structure also includes a detector, which is used to detect the movement parameters of the waist and hip structure; an installation channel is provided on the support body, and the installation channel runs through the first surface and the second surface of the support body, and the detector is installed in the installation channel.

[0023] The waist and hip structure provided in this embodiment reduces the space occupied by the detector in the waist and hip structure by installing the detector in the installation channel of the support body, thereby facilitating the layout of other components of the waist and hip structure.

[0024] In a possible implementation, the installation channel is arranged at a position where the center of mass of the support body is located.

[0025] The waist and hip structure provided in this embodiment is located at the center of mass of the support body through the installation channel, so that the detector can be installed at the center of mass of the support body, which is beneficial to improving the accuracy of the detector in obtaining the motion parameters of the waist and hip structure and the humanoid robot.

[0026] In a possible embodiment, the detector includes a heat dissipation part and a detection part, the heat dissipation part is installed on the side of the second support member facing away from the first support member, and the side of the heat dissipation part facing away from the second support member is connected to the detection part; one end of the heat dissipation part connected to the second support member is accommodated in the second accommodation space, and the end of the heat dissipation part facing away from the connection with the detection part extends out of the second accommodation space.

[0027] The waist-hip structure provided in this embodiment, on the one hand, is connected to the second support member through the heat dissipation part and is accommodated in the second accommodation space, and the heat dissipation part is connected to the detection part and extends out of the second accommodation space, so that the heat dissipation part can export the heat released in the second accommodation space during the operation of the second actuator, which is conducive to reducing the influence of the heat released during the operation of the second actuator on the surrounding parts. On the other hand, the detection part is located outside the second accommodation space, so that the detector can more accurately identify the external environment, thereby improving the intelligence of the waist-hip structure and the humanoid robot.

[0028] In a possible implementation, the waist-hip structure further includes a camera assembly, and the camera assembly is mounted on an inner wall of the second receiving space, and at least a portion of the camera assembly extends out of the second receiving space.

[0029] The waist and hip structure provided in this embodiment, firstly, is conducive to improving the intelligence of the waist and hip structure and the humanoid robot by adding a camera assembly to form visual perception. Secondly, at least part of the camera assembly is extended out of the second receiving space, so that the camera assembly can form a more accurate visual perception.

[0030] In a possible embodiment, the camera assembly includes a mounting plate and a camera, wherein the mounting plate is mounted on the inner wall of the second containing space, the camera is mounted on the mounting plate and is located between the mounting plate and the inner wall of the second containing space, and at least part of the camera extends out of the second containing space; wherein the mounting plate is a heat insulation plate.

[0031] The waist and hip structure provided in this embodiment is configured as a heat insulation plate through the mounting plate to reduce the influence of the heat generated by the second actuator during operation on the camera, which is beneficial to increasing the service life of the camera.

[0032] On the other hand, the present application also provides a humanoid robot, comprising:

[0033] The waist and hip structure mentioned above.

[0034] The humanoid robot provided in this embodiment has the waist-hip structure arranged so that the components of the left and right parts of the humanoid robot are more evenly distributed, and the components of the front and rear parts of the humanoid robot are more evenly distributed, so that the overall structural stability of the humanoid robot is better. At the same time, due to the high integration of the components of the waist-hip structure, the overall space utilization rate of the humanoid robot is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 This is a partial assembly structure diagram of a waist and hip structure provided by an embodiment of the present application;

[0037] Figure 2 yes Figure 1 A top view of the waist and hip structure shown;

[0038] Figure 3 yes Figure 1 A side view of the waist and hip structure shown;

[0039] Figure 4 It is a structural diagram of a support body provided by an embodiment of the present application;

[0040] Figure 5 yes Figure 4 A front view of the support body shown;

[0041] Figure 6 This is an overall assembly structure diagram of a waist and hip structure provided by an embodiment of the present application;

[0042] Figure 7 yes Figure 6 A front view of the waist and hip structure shown;

[0043] Figure 8 yes Figure 7 The cross-sectional view of the waist and hip structure shown in the AA direction.

[0044] Description of reference numerals:

[0045] 100-waist and hip structure, 10-first actuator, 20-second actuator, 30-support assembly, 30a-first surface, 30b-second surface, 31-support body, 31a-first installation area, 31b-second installation area, 31c-third installation area, 311-connecting channel, 312-installation channel, 32-first support member, 33-second support member, 40-detector, 41-heat dissipation part, 42-detection part, 50-first shell, 51-first receiving space, 60-second shell, 61-second receiving space, 62-through hole, 70-detector, 80-camera assembly, 81-mounting plate, 82-camera, 811-first installation section, 812-second installation section, 813-third installation section. DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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-hip structure 100 in the embodiment of the present application. The two first actuators 10 of the waist-hip structure 100 are respectively connected to the leg structures, and each first actuator 10 is used to drive a corresponding leg structure to move, and the movement of the leg structure at least includes the leg structure swinging along the front-back direction of the humanoid robot, the leg structure swinging along the left-right direction of the humanoid robot, and the leg structure rotating around the up-down direction of the humanoid robot. The second actuator 20 of the waist-hip structure 100 is connected to the waist structure, and the second actuator 20 is used to drive the waist structure to move, and the movement of the waist structure includes the waist structure rotating around the up-down direction of the humanoid robot.

[0051] 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 first actuator 10 of the waist-hip structure 100 is fixedly arranged, and the output end of the first actuator 10 of the waist-hip structure 100 is rotatably connected to the leg structure, so that the waist-hip structure 100 can achieve a hip joint function similar to that of the human body. The second actuator 20 of the waist-hip structure 100 is fixedly arranged, and the output end of the second actuator 20 of the waist-hip structure 100 is rotatably connected to the waist structure, so that the waist-hip structure 100 can achieve a sacral joint function similar to that of the human body.

[0052] The waist-hip structure 100 of the embodiment of the present application also includes a support assembly 30 and a detector 40. Through reasonable design, under the premise that the waist-hip structure 100 realizes the hip joint function and sacral joint function similar to the human body structure, the space of the waist-hip structure 100 is more compact locally, which can reduce the space occupied by the waist-hip structure 100 as a whole of the humanoid robot. At the same time, the space layout of the first actuator 10, the second actuator 20, the support assembly 30 and the detector 40 of the waist-hip structure 100 is reasonable, which is conducive to improving the overall stability of the waist-hip structure 100 and the humanoid robot.

[0053] The waist and hip structure 100 of the embodiment of the present application is introduced in detail below.

[0054] 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.

[0055] See also Figure 1 , Figure 2 and Figure 3 The waist-hip 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-hip structure 100 includes a first actuator 10, a second actuator 20, a support assembly 30 and a detector 40, and the first actuator 10, the second actuator 20 and the detector 40 are all installed on the support assembly 30. There are two first actuators 10, and the two first actuators 10 are used to be connected to the two leg structures of the humanoid robot respectively, and one first actuator 10 is used to drive the corresponding leg structure to move. The second actuator 20 is used to be connected to the waist structure of the humanoid robot, and the second actuator 20 is used to drive the waist structure to move.

[0056] In the waist-hip structure 100 provided in the embodiment of the present application, a symmetry plane D is defined, and the symmetry plane D is a plane where the up-down direction of the humanoid robot and the front-back direction of the humanoid robot are located, and the waist-hip structure 100 is symmetrical about the symmetry plane D. The support assembly 30 is designed symmetrically along the symmetry plane D. The support assembly 30 includes a first surface 30a and a second surface 30b that are arranged opposite to each other along the front-back direction of the humanoid robot.

[0057] In the waist and hip structure 100 provided in the embodiment of the present application, the two first actuators 10 are both installed on the first surface 30a of the support assembly 30 and pass through the support assembly 30 and extend from the second surface 30b. The two first actuators 10 are arranged at intervals in the left and right directions of the humanoid robot, and the two first actuators 10 are designed symmetrically along the symmetry plane D. The portion of each first actuator 10 passing through the second surface 30b of the support assembly 30 is used to connect with a leg structure and to drive the corresponding leg structure to move.

[0058] In the waist and hip structure 100 provided in the embodiment of the present application, the second actuator 20 is installed on the second surface 30b of the support assembly 30 and is disposed between the two first actuators 10. The second actuator 20 is symmetrically designed along the symmetry plane D, and the two first actuators 10 are symmetrically designed relative to the second actuator 20. The second actuator 20 is used to connect with the waist structure and to drive the waist structure to move.

[0059] In the waist and hip structure 100 provided in the embodiment of the present application, the detector 40 is installed on the second surface 30b of the support assembly 30, and the detector 40 is used to identify the external environment. The detector 40 is symmetrically designed along the symmetry plane D, and the detector 40 and the second actuator 20 are arranged opposite to each other along the up and down direction of the humanoid robot. The second actuator 20 is located above the detector 40, and the detector 40 is located below the second actuator 20.

[0060] The waist-hip structure 100 provided in the embodiment of the present application, on the first hand, is formed by installing the first actuator 10, the second actuator 20 and the detector 40 on the support assembly 30 to make the waist-hip structure 100 more integrated, which is beneficial to improving the space utilization of the waist-hip structure 100, thereby reducing the space occupancy ratio of the waist-hip structure 100 in the humanoid robot. On the second hand, two first actuators 10 are installed on the first surface 30a of the support assembly 30, the second actuator 20 is installed on the second surface 30b of the support assembly 30, and the detector 40 is installed on the second surface 30b of the support assembly 30. As a result, the components on the first surface 30a of the support assembly 30 and the second surface 30b of the support assembly 30 are more evenly distributed, which is beneficial to improving the stability of the support assembly 30 in the front-to-back direction of the humanoid robot after installing other components of the waist-hip structure 100, thereby improving the structural stability of the humanoid robot in the front-to-back direction. On the third aspect, by setting the waist-hip structure 100 as a symmetrical structure and the two first actuators 10 being symmetrical with respect to the second actuator 20, the components of the support assembly 30 in the left and right directions of the humanoid robot are distributed more evenly, which is beneficial to improving the stability of the support assembly 30 in the left and right directions of the humanoid robot after the other components of the waist-hip structure 100 are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0061] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5In one embodiment, the support assembly 30 of the waist and hip structure 100 includes a support body 31 and a first support member 32. The first surface 30a of the support assembly 30 and the second surface 30b of the support assembly 30 are arranged on the support body 31, and the first support member 32 is installed on the second surface 30b of the support body 31. The second surface 30b of the support body 31 includes a first installation area 31a, a second installation area 31b and a third installation area 31c arranged in sequence along the left and right directions of the humanoid robot, and the first installation area 31a and the third installation area 31c are symmetrical with respect to the second installation area 31b. In other words, the first installation area 31a and the third installation area 31c are symmetrically designed along the symmetry plane D, and the second installation area 31b is symmetrically designed along the symmetry plane D of the support assembly 30. One first actuator 10 is installed at the position of the first surface 30a corresponding to the first installation area 31a, and another first actuator 10 is installed at the position of the first surface 30a corresponding to the third installation area 31c. The first support member 32 is installed in the second installation area 31 b and is symmetrically designed along the symmetry plane D. The second actuator 20 is installed in the first support member 32 and is symmetrically designed along the symmetry plane D of the support assembly 30 after being installed in the first support member 32 .

[0062] The waist and hip structure 100 provided in the embodiment of the present application is symmetrical with respect to the second installation area 31b through the first installation area 31a and the third installation area 31c, and the first support member 32 is installed in the second installation area 31b, so that the first support member 32 is symmetrically designed along the symmetry plane D on the support body 31. At the same time, the second actuator 20 is installed on the first support member 32, so that the second actuator 20 is symmetrically designed along the symmetry plane D on the first support member 32. As a result, the components of the support body 31 in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly 30 in the left and right directions of the humanoid robot after the other components of the waist and hip structure 100 are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0063] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5In one embodiment, the support assembly 30 of the waist and hip structure 100 includes a support body 31, a first support member 32, and a second support member 33. The first surface 30a of the support assembly 30 and the second surface 30b of the support assembly 30 are arranged on the support body 31, and the first support member 32 and the second support member 33 are installed on the second surface 30b of the support body 31. The second surface 30b of the support body 31 includes a first installation area 31a, a second installation area 31b, and a third installation area 31c arranged in sequence along the left and right directions of the humanoid robot, and the first installation area 31a and the third installation area 31c are symmetrical with respect to the second installation area 31b. In other words, the first installation area 31a and the third installation area 31c are symmetrically designed along the symmetry plane D, and the second installation area 31b is symmetrically designed along the symmetry plane D of the support assembly 30. One first actuator 10 is installed at the position of the first surface 30a corresponding to the first installation area 31a, and another first actuator 10 is installed at the position of the first surface 30a corresponding to the third installation area 31c. The first support member 32 and the second support member 33 are both installed in the second installation area 31b. The first support member 32 is symmetrically designed along the symmetry plane D, and the second support member 33 is symmetrically designed along the symmetry plane D. The first support member 32 and the second support member 33 are arranged opposite to each other along the up and down direction of the humanoid robot. The second actuator 20 is installed on the first support member 32, and the second actuator 20 is installed on the first support member 32 and is symmetrically designed along the symmetry plane D. The detector 40 is installed on the second support member 33, and the detector 40 is installed on the second support member 33 and is symmetrically designed along the symmetry plane D.

[0064] The waist and hip structure 100 provided in the embodiment of the present application is installed in the second installation area 31b through the second support member 33, so that the second support member 33 is symmetrically designed on the support body 31. At the same time, the detector 40 is installed on the second support member 33, so that the detector 40 is symmetrically designed on the second support member 33. As a result, the components of the support body 31 in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly 30 in the left and right directions of the humanoid robot after the other components of the waist and hip structure 100 are installed, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0065] See also Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8In one embodiment, the waist and hip structure 100 further includes a first shell 50, which is mounted on the first surface 30a of the support body 31. The first shell 50 is symmetrically designed along the symmetry plane D on the support body 31. The first shell 50 and the first surface 30a of the support body 31 are surrounded to form a first receiving space 51, and the first receiving space 51 is symmetrically designed along the symmetry plane D of the support assembly 30. Both first actuators 10 are partially received in the first receiving space 51, and the other part of each first actuator 10 passes through the support body 31 and extends out of the second surface 30b of the support body 31. The first actuator 10 extending out of the second surface 30b of the support body 31 is used to connect with the leg structure.

[0066] The waist and hip structure 100 provided in this embodiment, on the one hand, is provided with the first shell 50, the first shell 50 and the first surface 30a of the support body 31 are enclosed to form a first receiving space 51, and the two first actuators 10 are both received in the first receiving space 51, so as to reduce the influence of dust and other impurities in the environment on the first actuator 10, which is conducive to improving the service life of the first actuator 10. On the other hand, by installing the first shell 50 on the first surface 30a of the support body 31, the first shell 50 is symmetrically designed along the symmetry plane D on the support body 31, thereby making the distribution of the components of the support body 31 in the left and right directions of the humanoid robot more uniform, which is conducive to improving the stability of the support assembly 30 in the left and right directions of the humanoid robot after installing other components of the waist and hip structure 100, thereby improving the structural stability of the humanoid robot in the left and right directions.

[0067] See also Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 In one embodiment, the waist and hip structure 100 further includes a second shell 60, which is mounted on the second surface 30b of the support body 31, and the second shell 60 is symmetrically designed along the symmetry plane D on the support body 31. The second shell 60 and the second surface 30b of the support body 31 are surrounded to form a second receiving space 61, and the second receiving space 61 is symmetrically designed along the symmetry plane D of the support assembly 30. The first support member 32 is received and fixed in the second receiving space 61, part of the second actuator 20 is received in the second receiving space 61 and mounted on the first support member 32, and another part of the second actuator 20 extends out of the second receiving space 61, and the second actuator 20 extending out of the second receiving space 61 is used to connect with the waist structure. The second support member 33 is received and fixed in the second receiving space 61, part of the detector 40 is received in the second receiving space 61 and mounted on the second support member 33, and another part of the detector 40 extends out of the second receiving space 61, so that the detector 40 can detect and identify the external environment.

[0068] The waist and hip structure 100 provided in this embodiment, on the one hand, is provided with a second shell 60, and the second shell 60 and the second surface 30b of the support body 31 are enclosed to form a second receiving space 61, and the second actuator 20 and the detector 40 are both received in the second receiving space 61, so as to reduce the influence of dust and other impurities in the environment on the second actuator 20 and the detector 40, which is conducive to improving the service life of the second actuator 20 and the detector 40. On the other hand, by installing the second shell 60 on the second surface 30b of the support body 31, the second shell 60 is symmetrically designed on the support body 31, so that the components of the support body 31 in the left and right directions of the humanoid robot are more evenly distributed, which is conducive to improving the stability of the support assembly 30 in the left and right directions of the humanoid robot after installing other components of the waist and hip structure 100, thereby improving the structural stability of the humanoid robot in the left and right directions. On the third aspect, the first shell 50 is installed on the first surface 30a of the support body 31, and the second shell 60 is installed on the second surface 30b of the support body 31, so that the components of the support body 31 in the front and rear directions of the humanoid robot are distributed more evenly, which is beneficial to improve the stability of the support assembly 30 in the front and rear directions of the humanoid robot after installing other components of the waist and hip structure 100, thereby improving the structural stability of the humanoid robot in the front and rear directions.

[0069] See also Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 In one embodiment, a connecting channel 311 is provided on the support body 31 of the waist and hip structure 100, and the connecting channel 311 is symmetrically arranged on the support body 31 along the symmetry plane D. The connecting channel 311 passes through the first surface 30a of the support body 31 and the second surface 30b of the support body 31, and the connecting channel 311 connects the first receiving space 51 and the second receiving space 61. A through hole 62 is provided on the second shell 60, and the through hole 62 is symmetrically arranged on the second shell 60 along the symmetry plane D, and the through hole 62 is connected to the second receiving space 61, so as to form a structure in which the first receiving space 51, the connecting channel 311, the second receiving space 61 and the through hole 62 are connected in sequence.

[0070] The waist and hip structure 100 provided in this embodiment, on the one hand, is connected in sequence through the first receiving space 51, the connecting channel 311, the second receiving space 61 and the through hole 62, so that the heat generated by the two first actuators 10 received in the first receiving space 51 during operation can flow to the outside of the waist and hip structure 100 in sequence through the first receiving space 51, the connecting channel 311, the second receiving space 61 and the through hole 62, which is beneficial to reduce the impact of the heat generated by the first actuator 10 on the surrounding parts. On the other hand, the second receiving space 61 is connected with the through hole 62, so that the heat generated by the second actuator 20 received in the second receiving space 61 during operation can flow to the outside of the waist and hip structure 100 in sequence through the second receiving space 61 and the through hole 62, which is beneficial to reduce the impact of the heat generated by the second actuator 20 on the surrounding parts.

[0071] See also Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 In a specific embodiment, there are multiple connecting channels 311 , and the multiple connecting channels 311 are symmetrically designed along the symmetry plane D on the upper edge of the support body 31 .

[0072] Among them, at least one pair of symmetrically arranged connection channels 311 are respectively used for passing wires for supplying power to connect the two first actuators 10, so that the two first actuators 10 are connected to the power supply through the wires.

[0073] Among them, at least one pair of symmetrically arranged connecting channels 311 is used to connect the first receiving space 51 and the second receiving space 61 to increase the heat dissipation space of the first actuator 10 and the second actuator 20. At the same time, the pair of symmetrically arranged connecting channels 311 is also used as weight-reducing holes to reduce the overall weight of the support body 31.

[0074] In some other embodiments, the number of the connection channel 311 can be one, and the connection channel 311 is symmetrically designed along the symmetry plane D on the support body 31, that is, the connection channel 311 on the left half of the humanoid robot is symmetrical to the connection channel 311 on the right half of the humanoid robot. The connection channel 311 is used for the wires for supplying power to the first actuator 10, so that the first actuator 10 is electrically connected to the power source through the wires.

[0075] See also Figure 1 , Figure 4 , Figure 5 and Figure 8In one embodiment, the waist-hip structure 100 further includes a detector 70, which is used to detect the motion parameters of the waist-hip structure 100 and the humanoid robot. The support body 31 of the waist-hip structure 100 is provided with an installation channel 312, which passes through the first surface 30a of the support body 31 and the second surface 30b of the support body 31. The installation channel 312 is symmetrically arranged along the symmetry plane D on the support body 31, and the detector 70 is installed in the installation channel 312.

[0076] The waist and hip structure 100 provided in this embodiment reduces the space occupied by the detector 70 in the waist and hip structure 100 by installing the detector 70 in the installation channel 312 of the support body 31, thereby facilitating the layout of other components of the waist and hip structure 100.

[0077] Specifically, the installation channel 312 is located at the center of mass of the support body 31, so that the detector 70 is installed at the center of mass of the support body 31, thereby enabling the detector 70 to more accurately obtain the motion parameters of the waist and hip structure 100 and the humanoid robot.

[0078] See also Figure 1 , Figure 4 , Figure 5 and Figure 8 In one embodiment, the detector 40 of the waist and hip structure 100 includes a heat dissipation portion 41 and a detection portion 42. The heat dissipation portion 41 is installed on the side of the second support member 33 away from the first support member 32, and the side of the heat dissipation portion 41 away from the second support member 33 is connected to the detection portion 42. The heat dissipation portion 41 and the detection portion 42 are both symmetrically designed along the symmetry plane D. One end of the heat dissipation portion 41 connected to the second support member 33 is accommodated in the second accommodation space 61, and one end of the heat dissipation portion 41 connected to the detection portion 42 extends out of the second accommodation space 61. The detection portion 42 is located outside the second accommodation space 61, and the detection portion 42 is used to identify the external environment.

[0079] The waist and hip structure 100 provided in this embodiment, on the one hand, is received in the second receiving space 61 through one end of the heat dissipation part 41 connected to the second support member 33, and one end of the heat dissipation part 41 connected to the detection part 42 extends out of the second receiving space 61, so that the heat dissipation part 41 can export the heat released in the second receiving space 61 during the operation of the second actuator 20, which is conducive to reducing the influence of the heat released during the operation of the second actuator 20 on the surrounding parts. On the other hand, the detection part 42 is located outside the second receiving space 61, so that the detector 40 can more accurately identify the external environment, thereby improving the intelligence of the waist and hip structure 100 and the humanoid robot.

[0080] See also Figure 1 , Figure 4 , Figure 5 and Figure 8In one embodiment, the waist-hip structure 100 further includes a camera assembly 80, which is mounted on the inner wall of the second housing 60 forming the second receiving space 61, and the camera assembly 80 is symmetrically designed along the symmetry plane D. At least part of the camera assembly 80 extends out of the second receiving space 61, and the camera assembly 80 is used to form visual perception.

[0081] The waist-hip structure 100 provided in this embodiment, firstly, is used to form visual perception by adding a camera assembly 80, which is beneficial to improving the intelligence of the waist-hip structure 100 and the humanoid robot. Secondly, at least part of the camera assembly 80 extends out of the second receiving space 61, so that the camera assembly 80 can form a more accurate visual perception.

[0082] See also Figure 1 , Figure 4 , Figure 5 and Figure 8 In one embodiment, the camera assembly 80 of the waist-hip structure 100 includes a mounting plate 81 and a camera 82, and the mounting plate 81 and the camera 82 are both symmetrically arranged along the symmetry plane D. The mounting plate 81 is mounted on the inner wall of the second housing 60 forming the second receiving space 61, and the camera 82 is mounted on the mounting plate 81 and is located between the mounting plate 81 and the inner wall of the second housing 60 forming the second receiving space 61, and part of the camera 82 passes through the mounting plate 81 and extends out of the second receiving space 61. Among them, the mounting plate 81 is a heat insulation plate, and the mounting plate 81 is used to prevent the heat of the second actuator 20 from being transferred to the camera 82.

[0083] Specifically, the mounting plate 81 includes a first mounting section 811, a second mounting section 812, and a third mounting section 813, which are connected in sequence, the first mounting section 811 is mounted on the second housing 60 to form the inner wall of the second receiving space 61, the second mounting section 812 is bent toward the support body 31 relative to the first mounting section 811, and the third mounting section 813 is arranged parallel to the first mounting section 811. The first mounting section 811, the second mounting section 812, the third mounting section 813, and the second housing 60 are surrounded to form an installation space, and the camera 82 is mounted on the side of the second mounting section 812 away from the support body 31 and is located in the installation space, so that the camera 82 is arranged tilted, thereby facilitating the camera 82 to form visual perception.

[0084] The waist and hip structure 100 provided in this embodiment is configured as a heat insulation plate through the mounting plate 81 to reduce the influence of the heat generated by the second actuator 20 during operation on the camera 82 , which is beneficial to increasing the service life of the camera 82 .

[0085] 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 structure, characterized in that: Applications in humanoid robots, including: A support assembly, comprising a first surface and a second surface disposed opposite to each other in a front-to-rear direction of the humanoid robot; Two first actuators are installed on the first surface and penetrate the support assembly and extend from the second surface, and the two first actuators are arranged at intervals in the left and right directions of the humanoid robot; a portion of each first actuator extending from the second surface is used to connect with a leg structure and to drive the leg structure to move; A second actuator is mounted on the second surface and disposed between the two first actuators; the second actuator is used to connect with the waist structure and to drive the waist structure to move; a detector, mounted on the second surface and arranged opposite to the second actuator along the up-down direction of the humanoid robot, the detector being used to identify the external environment; a first housing mounted on the first surface, the first housing and the first surface of the support assembly enclosing a first receiving space; a portion of the first actuator is received in the first receiving space, and another portion of the first actuator passes through the support assembly and extends out of the second surface; and A second shell is mounted on the second surface, and the second shell and the second surface of the support assembly are surrounded to form a second receiving space; part of the second actuator is located in the second receiving space, and another part of the second actuator extends out of the second receiving space; part of the detector is located in the second receiving space, and another part of the detector extends out of the second receiving space; Among them, the waist and hip structure is a symmetrical structure, and the two first actuators are symmetrical with respect to the second actuator; a connecting channel is provided on the support component, and the connecting channel runs through the first surface and the second surface of the support component, and the connecting channel connects the first receiving space and the second receiving space; a through hole is provided on the second shell, and the through hole is connected to the second receiving space.

2. The waist and hip structure according to claim 1, characterized in that: The support assembly comprises a support body and a first support member, the first surface and the second surface are arranged on the support body, and the first support member is mounted on the second surface of the support body; the second surface of the support body comprises a first mounting area, a second mounting area and a third mounting area connected in sequence, and the first mounting area and the third mounting area are symmetrical with respect to the second mounting area; One of the first actuators is installed at a position of the first surface corresponding to the first installation area, and another of the first actuators is installed at a position of the first surface corresponding to the third installation area; the first support member is installed at the second installation area, and the second actuator is installed at the first support member.

3. The waist and hip structure according to claim 2, characterized in that: The support assembly also includes a second support member, the second support member is installed in the second installation area, the first support member and the second support member are spaced apart along the up and down direction of the humanoid robot; and the detector is installed on the second support member.

4. The waist and hip structure according to claim 2, characterized in that: The waist and hip structure also includes a detector, which is used to detect the movement parameters of the waist and hip structure; an installation channel is provided on the support body, and the installation channel runs through the first surface and the second surface of the support body, and the detector is installed in the installation channel.

5. The waist and hip structure according to claim 4, characterized in that: The installation channel is arranged at the position where the center of mass of the support body is located.

6. The waist and hip structure according to claim 3, characterized in that: The detector includes a heat dissipation part and a detection part. The heat dissipation part is installed on the side of the second support member facing away from the first support member, and the side of the heat dissipation part facing away from the second support member is connected to the detection part; one end of the heat dissipation part connected to the second support member is accommodated in the second accommodation space, and the end of the heat dissipation part facing away from the connection with the detection part extends out of the second accommodation space.

7. The waist and hip structure according to claim 1, characterized in that: The waist-hip structure also includes a camera assembly, which is installed on the inner wall of the second receiving space, and at least a portion of the camera assembly extends out of the second receiving space.

8. The waist and hip structure according to claim 7, characterized in that: The camera assembly includes a mounting plate and a camera, wherein the mounting plate is mounted on the inner wall of the second receiving space, the camera is mounted on the mounting plate and is located between the mounting plate and the inner wall of the second receiving space, and at least part of the camera extends out of the second receiving space; wherein the mounting plate is a heat insulation plate.

9. A humanoid robot, characterized in that: include: A waist and hip structure as described in any one of claims 1 to 8.

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