Hip joint assembly, waist and hip mechanism, and humanoid robot

Abstract

A hip joint assembly, a waist-hip mechanism and a humanoid robot, wherein the hip joint assembly includes a bracket, a pitch drive, a roll drive and a yaw drive. The bracket is provided with an avoidance groove, the pitch drive is connected to the bracket, the pitch drive is used to drive the bracket to rotate around a first axis, the roll drive is connected to the bracket, the yaw drive is connected to the roll drive, the yaw drive is used to drive the lower limb mechanism to rotate around a second axis, and the roll drive is used to drive the lower limb mechanism to swing around a third axis, so as to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to an extreme position, the yaw drive is at least partially accommodated in the avoidance groove. The technical solution of the present application is provided with an avoidance groove, and the setting of the avoidance groove can further avoid the movement of the yaw drive, thereby further increasing the swing angle of the lower limb mechanism along the left and right directions, and improving the degree of anthropomorphism of the humanoid robot.

Description

Technical Field

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

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes lower limbs, hips and waists, and the hips and waists are connected between the lower limbs and waists.

[0003] The waist-hip mechanism includes a sacral joint component and a hip joint component. The sacral joint component is used to connect with the waist mechanism, and the hip joint component is arranged between the sacral joint component and the lower limb mechanism to drive the lower limb mechanism to move relative to the waist mechanism, thereby simulating the human body's walking, running, jumping and other states.

[0004] In the related art, the structural setting of the hip joint component is unreasonable, the movable space of the lower limb mechanism is small, the swing range of the lower limb mechanism is small, and the anthropomorphic effect is not good. Summary of the invention

[0005] The purpose of this application is to provide a hip joint assembly, a waist-hip mechanism and a humanoid robot, aiming to solve the problem in the related art that the unreasonable structural setting of the hip joint assembly causes the lower limb mechanism to be unable to swing at a large angle.

[0006] To achieve the purpose of the present application, in a first aspect, the present application provides a hip joint assembly, the hip joint assembly is used for a humanoid robot, and the hip joint assembly comprises:

[0007] A bracket, wherein the bracket is provided with an avoidance groove;

[0008] A pitch driving member, the pitch driving member is connected to the bracket, and the pitch driving member is used to drive the bracket to rotate around a first axis to drive the lower limb mechanism to swing in the front-back direction of the humanoid robot;

[0009] A rolling drive member connected to the bracket;

[0010] The yaw drive component is connected to the roll drive component, and the yaw drive component is used to drive the lower limb mechanism to rotate around a second axis to realize the self-rotation of the lower limb mechanism, and the second axis intersects with the first axis and has an inclined angle; the roll drive component is used to drive the lower limb mechanism to swing around a third axis to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to the extreme position, the yaw drive component is at least partially accommodated in the avoidance groove.

[0011] The technical solution of the present application reduces the restriction of the pitch drive on the left-right movement of the yaw drive by the pitch drive, increases the movable space of the yaw drive in the left-right direction, increases the swing angle of the lower limb mechanism in the left-right direction, increases the complexity of the actions that can be performed at the lower limb mechanism of the humanoid robot, and improves the anthropomorphism of the humanoid robot. At the same time, in the hip joint assembly provided by the present application, an avoidance groove is also provided on the bracket for connecting the pitch drive and the yaw drive. The setting of the avoidance groove can further avoid the movement of the yaw drive, thereby further increasing the swing angle of the lower limb mechanism in the left-right direction and improving the anthropomorphism of the humanoid robot.

[0012] In a possible implementation, when the lower limb mechanism swings inward to an extreme position, the yaw drive component contacts the inner wall surface of the avoidance groove.

[0013] In this embodiment, the structure of the avoidance groove is reused. In addition to avoiding the movement of the yaw drive component, when the lower limb mechanism swings inward to the extreme position, the inner wall surface of the avoidance groove can contact the yaw drive component, thereby preventing the lower limb mechanism from continuing to move inward. In this way, without adding other limiting structures, the inward swinging of the lower limb mechanism can be limited, the complexity of the hip joint assembly structure is reduced, the manufacturing cost of the hip joint assembly is reduced, the volume of the hip joint assembly is reduced, and the space utilization rate of the hip joint assembly for the waist and hip mechanism is improved.

[0014] In a possible implementation, an included angle between the first axis and the second axis is A, which satisfies: 80°≤A≤160°.

[0015] This embodiment sets the angle between the first axis and the second axis between 80° and 160°, thereby ensuring that the lower limb mechanism can swing at a large angle to simulate more complex human gaits and movements, while avoiding sacrificing the compactness of the hip joint assembly due to excessively large angle between the first axis and the second axis.

[0016] In a possible implementation, the hip joint assembly further includes a connecting plate, wherein the connecting plate is connected between the roll drive member and the yaw drive member; the connecting plate includes a body and a first connecting portion connected to the body;

[0017] The bracket is also provided with a limiting portion, and when the lower limb mechanism swings inward to an extreme position, the limiting portion contacts the side wall surface of the first connecting portion.

[0018] In this embodiment, the hip joint assembly also includes a connecting plate. On the one hand, the connecting plate includes a main body and a first connecting portion. The main body has a first end face and a second end face that are arranged opposite to each other. The first end face of the main body is connected to the roll drive member, and the second end face of the main body and the first connecting portion are used to connect to the yaw drive member, thereby realizing the connection between the roll drive member and the yaw drive member. On the other hand, the first connecting portion can also be structurally reused to limit the lower limb mechanism. Specifically, a limiting portion is provided on the bracket. When the lower limb mechanism swings inward to the extreme position, the limiting portion contacts the side wall surface of the first connecting portion, thereby preventing the lower limb mechanism from continuing to move inward. In this way, without adding an additional limiting structure, the limiting of the inward swing of the lower limb mechanism is realized, the complexity of the hip joint assembly structure is reduced, the manufacturing cost of the hip joint assembly is reduced, the volume of the hip joint assembly is reduced, and the space utilization rate of the hip joint assembly for the waist and hip mechanism is improved.

[0019] In a possible implementation, the connecting plate further includes a second connecting portion, which is connected to the body and is arranged relatively spaced apart from the first connecting portion;

[0020] When the lower limb mechanism swings outward to an extreme position, the limiting portion contacts the side wall surface of the second connecting portion.

[0021] In this embodiment, the connecting plate also includes a second connecting portion, which is used to cooperate with the main body and the first connecting portion to realize the connection between the roll drive member and the yaw drive member. On the other hand, the second connecting portion can also be structurally reused. When the lower limb mechanism swings outward to the extreme position, the limiting portion contacts the side wall surface of the second connecting portion, thereby preventing the lower limb mechanism from continuing to swing outward. In this way, without adding additional limiting structures, the limiting of the outward swinging of the lower limb mechanism is realized, the complexity of the hip joint component structure is reduced, the manufacturing cost of the hip joint component is reduced, the volume of the hip joint component is reduced, and the space utilization rate of the hip joint component for the waist and hip mechanism is improved.

[0022] In a possible implementation, the bracket includes a first bracket and a second bracket, the first bracket is connected to the pitch driving member, and the limiting portion is provided on the first bracket;

[0023] The second bracket is connected to the first bracket, the second bracket is provided with a first through hole, the transverse rolling driving member is provided on the second bracket, the driving shaft of the transverse rolling driving member passes through the first through hole to be connected with the connecting plate, and the limiting portion is provided on the second bracket.

[0024] This embodiment splits the bracket into a first bracket and a second bracket, and sets the limit part on the first bracket, sets the roll drive member with the second bracket, and makes the drive shaft of the roll drive member pass through the first through hole of the second bracket and connect with the connecting plate, thereby leaving space for the movement of the yaw drive member, increasing the movable range of the yaw drive member, and increasing the swing angle of the lower limb mechanism. At the same time, this design can also ensure that when the yaw drive member is in the initial state of swinging (that is, the lower limb mechanism is in an upright state), the yaw drive member and the lower limb mechanism can be in the middle position of the bracket, so that when the yaw drive member and the lower limb mechanism swing in the left and right directions, the left and right limit distances are equal, thereby shortening the left and right swinging stroke of the yaw drive member, reducing the torque requirement of the roll drive member to drive the yaw drive member to swing, and reducing energy consumption.

[0025] In a possible implementation, the hip joint assembly further includes a yaw bracket, and the yaw bracket includes a main body, and a first connecting lug and a second connecting lug provided at two ends of the main body;

[0026] The main body is connected to the yaw driving component, the first connecting lug is connected to the first connecting portion, and the second connecting lug is connected to the second connecting portion.

[0027] In this embodiment, the main body of the yaw bracket is formed with a drive cavity, and the yaw drive component is arranged in the drive cavity, and then installed on the first connecting part and the second connecting part of the connecting component via the first connecting lug and the second connecting lug. In this way, the stability of the yaw drive component installed on the roll drive component is improved while realizing the connection between the yaw drive component and the roll drive component.

[0028] In a possible implementation, the bracket further includes a third bracket, the third bracket is connected to the first bracket and is arranged opposite to the second bracket, and the main body is rotatably connected to the third bracket.

[0029] In this embodiment, the bracket further includes a third bracket, one end of the yaw bracket is connected to the connecting plate, and the other end is rotatably connected to the bracket through the third bracket, so as to improve the stability of the yaw drive component setting.

[0030] In a second aspect, the present application further proposes a waist-hip mechanism, the waist-hip mechanism comprising a hip joint assembly, the hip joint assembly comprising a bracket, and the bracket is provided with an avoidance groove;

[0031] A pitch driving member, the pitch driving member is connected to the bracket, and the pitch driving member is used to drive the bracket to rotate around a first axis to drive the lower limb mechanism to swing in the front-back direction of the humanoid robot;

[0032] A rolling drive member connected to the bracket;

[0033] The yaw drive component is connected to the roll drive component, and the yaw drive component is used to drive the lower limb mechanism to rotate around a second axis to realize the self-rotation of the lower limb mechanism, and the second axis intersects with the first axis and has an inclined angle; the roll drive component is used to drive the lower limb mechanism to swing around a third axis to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to the extreme position, the yaw drive component is at least partially accommodated in the avoidance groove.

[0034] The technical solution of the present application is to set a hip joint assembly in the waist-hip mechanism, and to tilt the yaw drive member in the hip joint assembly relative to the pitch drive member, thereby reducing the restriction of the pitch drive member on the movement of the yaw drive member in the left and right directions, increasing the movable space of the yaw drive member in the left and right directions, increasing the swing angle of the lower limb mechanism in the left and right directions, increasing the complexity of the actions that can be performed at the lower limb mechanism of the humanoid robot, and improving the anthropomorphism of the humanoid robot. At the same time, in the hip joint assembly provided by the present application, an avoidance groove is also provided on the bracket for connecting the pitch drive member and the yaw drive member. The setting of the avoidance groove can further avoid the movement of the yaw drive member, thereby further increasing the swing angle of the lower limb mechanism in the left and right directions, and improving the anthropomorphism of the humanoid robot.

[0035] In a possible implementation, the waist-hip mechanism further includes a sacral joint support frame, the sacral joint support frame is formed with a mounting cavity, and the pitch driving member is mounted in the mounting cavity;

[0036] The sacral joint support frame is used to rotate around a fourth axis under the drive of the trunk mechanism, and the fourth axis intersects with the first axis and has an inclined angle.

[0037] This embodiment tilts the hip joint assembly relative to the torso mechanism, so that the humanoid robot can be closer to the natural form and movement characteristics of the human body, making the humanoid robot more natural and smooth during movement, and improving the overall bionic effect. At the same time, tilting the hip joint assembly helps optimize the center of gravity distribution of the humanoid robot, so that the robot can better adjust its center of gravity during the dynamic process and reduce the risk of tipping over or imbalance.

[0038] In a possible implementation, the sacral joint support frame includes a supporting portion and a mounting portion connected to each other, and the diameter of the mounting portion is smaller than the diameter of the supporting portion;

[0039] The bracket includes a first bracket and a second bracket, the first bracket is in contact with the mounting portion; the second bracket is connected to the first bracket, and the rolling drive member is arranged on the second bracket;

[0040] The second bracket is provided with a positioning boss, the end surface of the positioning boss is in contact with the end surface of the supporting portion, and the side wall surface of the positioning boss is in contact with the side wall surface of the mounting portion.

[0041] In this embodiment, a positioning boss is provided on the second bracket, and when the bracket and the sacral joint support frame are installed, the positioning boss contacts the step surface formed by the support portion and the installation portion, thereby providing positioning for the installation of the bracket and the sacral joint support frame, increasing the contact area between the bracket and the sacral joint support frame, reducing the difficulty of installing the sacral joint assembly and the hip joint assembly, and improving the installation stability of the sacral joint assembly and the hip joint assembly.

[0042] In a third aspect, the present application further provides a humanoid robot, the humanoid robot comprising a waist-hip mechanism, the waist-hip mechanism comprising a hip joint assembly, the hip joint assembly comprising a bracket, and the bracket is provided with an avoidance groove;

[0043] A pitch driving member, the pitch driving member is connected to the bracket, and the pitch driving member is used to drive the bracket to rotate around a first axis to drive the lower limb mechanism to swing in the front-back direction of the humanoid robot;

[0044] A rolling drive member connected to the bracket;

[0045] The yaw drive component is connected to the roll drive component, and the yaw drive component is used to drive the lower limb mechanism to rotate around a second axis to realize the self-rotation of the lower limb mechanism, and the second axis intersects with the first axis and has an inclined angle; the roll drive component is used to drive the lower limb mechanism to swing around a third axis to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to the extreme position, the yaw drive component is at least partially accommodated in the avoidance groove.

[0046] The technical solution of the present application is to set a hip joint assembly in the humanoid robot, and to tilt the yaw drive member in the hip joint assembly relative to the pitch drive member, thereby reducing the restriction of the pitch drive member on the movement of the yaw drive member in the left and right directions, increasing the movable space of the yaw drive member in the left and right directions, increasing the swing angle of the lower limb mechanism in the left and right directions, increasing the complexity of the actions that can be performed at the lower limb mechanism of the humanoid robot, and improving the anthropomorphism of the humanoid robot. At the same time, in the hip joint assembly provided by the present application, an avoidance groove is also provided on the bracket for connecting the pitch drive member and the yaw drive member. The setting of the avoidance groove can further avoid the movement of the yaw drive member, thereby further increasing the swing angle of the lower limb mechanism in the left and right directions, and improving the anthropomorphism of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the waist and hip mechanism provided by the present application;

[0049] Figure 2 for Figure 1 A front view of

[0050] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the middle hip joint component at one viewing angle;

[0051] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the middle hip joint component from another perspective;

[0052] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the middle connecting piece;

[0053] Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the middle bracket;

[0054] Figure 7 for Figure 1 Schematic diagram of the three-dimensional structure of the middle yaw bracket;

[0055] Figure 8 for Figure 1 Schematic diagram of the assembly of the mid-sacral joint support frame and the pitch drive component;

[0056] Fig. 9 for Figure 1 Schematic diagram of the assembly of the mid-sacral joint support frame and bracket.

[0057] Description of reference numerals:

[0058] 1000-waist and hip mechanism;

[0059] 100-Hip joint components;

[0060] 1- bracket, 11- first bracket, 111- avoidance groove, 12- second bracket, 121- limiting part, 122- positioning boss, 13- third bracket;

[0061] 2- Pitch drive components;

[0062] 3-Roll drive member;

[0063] 4- Yaw drive components;

[0064] 5-connecting plate, 51-body, 52-first connecting part, 53-second connecting part;

[0065] 6-yaw bracket, 61-main body, 611-driving cavity, 62-first connecting ear, 63-second connecting ear;

[0066] 200-sacral joint assembly, 210-sacral joint support frame, 211-installation cavity, 212-supporting part, 213-installation part;

[0067] E1-first axis, E2-second axis, E3-third axis, E4-fourth axis. DETAILED DESCRIPTION

[0068] 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.

[0069] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0070] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0071] 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.

[0072] The present application proposes a humanoid robot, which includes a trunk mechanism, a head mechanism, an upper limb mechanism, a waist and hip mechanism, and a lower limb mechanism. The trunk mechanism serves as the supporting part of the humanoid robot and is used to support and connect other assemblies. The head mechanism is connected to the trunk mechanism, and the head mechanism is used to imitate the structure and function of the human head. It contains sensing devices such as sensors, cameras, and microphones, and can perceive the surrounding environment, sound, and image information like humans. At the same time, the head mechanism is also equipped with a display screen or projection equipment, which can display the robot's expression, status, or interactive information, and enhance the interactive experience with people or other objects. In addition, the head mechanism also has a certain degree of freedom, which can realize actions such as turning the head and nodding, further increasing the flexibility and realism of the robot.

[0073] The upper limb mechanism is arranged on the trunk mechanism, and the upper limb mechanism can be arranged in one, two, or more, and the present application does not limit this. In one embodiment of the present application, the upper limb mechanism is arranged in two, and is symmetrically arranged on the upper part of the trunk mechanism to simulate the structure of human arms.

[0074] Generally speaking, the upper limb mechanism usually includes an arm part and a palm part. The arm part is the main part of the upper limb mechanism and is used to connect with the torso mechanism. The palm part is used to imitate the structure and function of the human palm to achieve precise interaction with objects. The palm part includes the palm and fingers. The fingers are used. The fingers are the most flexible and delicate part of the palm part and are used to simulate various movements of human fingers. The fingers are usually designed as a multi-joint structure, and through precise transmission mechanisms and control systems, they can achieve a variety of movements such as bending, stretching, and rotation. These movements enable the fingers to accurately grasp, carry, and manipulate various objects to meet the application requirements of robots in different scenarios. At the same time, special clamping devices or sensors may be designed at the end of the fingers to further improve the stability and accuracy of grasping.

[0075] The palm is the support and connection part of the fingers, which simulates the planar structure and muscle texture of the human palm. In some embodiments of the present application, the surface of the palm is covered with a soft material to simulate the touch of the human palm and provide a certain buffering effect. In addition, sensors and control systems may be integrated inside the palm to monitor the contact state between the palm and the object in real time, and adjust and optimize as needed.

[0076] The lower limb mechanism is connected to the trunk mechanism, and the lower limb mechanism can be provided with one, two, or more, and the present application does not limit this. In one embodiment of the present application, the lower limb mechanism is provided with two, and is symmetrically arranged at the lower part of the trunk mechanism to simulate the structure of human legs.

[0077] The lower limb mechanism is used to imitate the movement and walking style of human legs. It contains complex joint structures, drive devices and control systems, which can achieve multi-degree-of-freedom movement and precise gait control. By controlling the movement of the lower limb mechanism, the robot can walk, run, jump, etc. in different terrains and environments, and complete various complex mobile tasks. In addition, the lower limb mechanism also has a certain load-bearing capacity and stability, which can support the total weight of the robot's torso and upper limbs, and maintain balance during walking and movement. This design makes the humanoid robot more flexible and adaptable in practical applications, and can meet the needs of different scenarios and tasks.

[0078] Please refer to Figure 1 The waist-hip mechanism 1000 is connected between the lower limb mechanism and the trunk mechanism to simulate the waist-hip movement of the human body. The waist-hip mechanism 1000 includes a sacral joint component 200 and a hip joint component 100. The sacral joint component 200 is used to connect with the trunk mechanism to simulate the sacral joint of the human body. The hip joint component 100 is connected between the sacral joint component 200 and the lower limb mechanism to simulate the hip joint of the human body, thereby driving the lower limb mechanism to move.

[0079] In the related art, the structural setting of the hip joint assembly 100 is unreasonable, the movable space of the lower limb mechanism is small, the swing range of the lower limb mechanism is small, and the anthropomorphic effect is not good.

[0080] Please refer to Figures 2 to 4 In order to solve the above problems, a hip joint assembly 100 is proposed in the present application. The hip joint assembly 100 includes a bracket 1, a pitch drive 2, a roll drive 3 and a yaw drive 4. The bracket 1 is provided with an avoidance groove 111. The pitch drive 2 is connected to the bracket 1. The pitch drive 2 is used to drive the bracket 1 to rotate around the first axis E1 to drive the lower limb mechanism to swing in the front and rear direction of the humanoid robot. The roll drive 3 is connected to the bracket 1. The yaw drive 4 is connected to the roll drive 3. The yaw drive 4 is used to drive the lower limb mechanism to rotate around the second axis E2 to realize the self-rotation of the lower limb mechanism. The second axis E2 intersects with the first axis E1 and has an inclined angle; the roll drive 3 is used to drive the lower limb mechanism to swing around the third axis E3 to drive the lower limb mechanism to swing in the left and right direction of the humanoid robot, and when the lower limb mechanism swings inward to the extreme position, the yaw drive 4 is at least partially accommodated in the avoidance groove 111.

[0081] The technical solution of the present application reduces the restriction of the pitch drive 2 on the left-right movement of the yaw drive 4 by the pitch drive 2 by setting the yaw drive 4 at an angle relative to the pitch drive 2, increases the movable space of the yaw drive 4 in the left-right direction, increases the swing angle of the lower limb mechanism in the left-right direction, increases the complexity of the actions that can be performed at the lower limb mechanism of the humanoid robot, and improves the anthropomorphism of the humanoid robot. At the same time, in the hip joint assembly 100 provided by the present application, an avoidance groove 111 is also provided on the bracket 1 for connecting the pitch drive 2 and the yaw drive 4. The setting of the avoidance groove 111 can further avoid the movement of the yaw drive 4, thereby further increasing the swing angle of the lower limb mechanism in the left-right direction and improving the anthropomorphism of the humanoid robot.

[0082] Hereinafter, the hip joint assembly 100 provided in the present application will be described in detail in conjunction with the accompanying drawings. At the same time, for the convenience of subsequent description, a coordinate system XYZ is now established, wherein the X direction is the left and right direction X of the humanoid robot, the Y direction is the front and back direction Y of the humanoid robot, and the Z direction is the up and down direction Z of the humanoid robot.

[0083] The hip joint assembly 100 includes a bracket 1, which is arranged between the lower limb mechanism and the sacral joint assembly 200. The bracket 1 has two main functions. On the one hand, the bracket 1 can serve as a support for the movement of the lower limb mechanism. Specifically, the hip joint assembly 100 also includes a roll drive 3 and a yaw drive 4. The yaw drive 4 is connected to the lower limb mechanism and can drive the lower limb mechanism to rotate around the second axis E2 to simulate the rotation of the lower limb of the human body. The drive seat of the roll drive 3 is fixed on the bracket 1, and the drive shaft of the roll drive 3 is connected to the yaw drive 4 and can drive the yaw drive 4 and the lower limb mechanism to swing around the third axis E3. In this way, while the yaw drive 4 and the lower limb assembly are fixed to the bracket 1, the swing of the lower limb mechanism of the human body in the left and right directions can also be simulated.

[0084] An avoidance groove 111 is provided on the bracket 1. When the lower limb mechanism swings inward to the extreme position, the yaw drive component 4 is at least partially accommodated in the avoidance groove 111. The avoidance groove 111 can avoid the movement of the yaw drive component 4, thereby further increasing the left and right swing angle of the lower limb mechanism and improving the degree of anthropomorphism of the humanoid robot.

[0085] A limiting structure is provided on the bracket 1, and the limiting structure is used to limit the swing amplitude of the lower limb mechanism to avoid instability or damage caused by excessive swinging when the humanoid robot is walking, running or performing other actions. There are many ways of limiting the structure of the bracket 1. In one embodiment of the present application, when the lower limb mechanism swings inward to the extreme position, the yaw drive member 4 contacts the inner wall surface of the avoidance groove 111. In this embodiment, the structure of the avoidance groove 111 is reused. In addition to being able to avoid the movement of the yaw drive component 4, when the lower limb mechanism swings inward to the extreme position, the inner wall surface of the avoidance groove 111 can contact the yaw drive component 4, thereby preventing the lower limb mechanism from continuing to move inward. In this way, without adding other limiting structures, the inward swinging of the lower limb mechanism can be limited, the complexity of the structure of the hip joint assembly 100 is reduced, the manufacturing cost of the hip joint assembly 100 is reduced, the volume of the hip joint assembly 100 is reduced, and the space utilization rate of the hip joint assembly 100 for the waist and hip mechanism 1000 is improved.

[0086] Please refer to Figure 4 and Figure 5 In another embodiment of the present application, the hip joint assembly 100 further includes a connecting plate 5, which is connected between the roll drive member 3 and the yaw drive member 4; the connecting plate 5 includes a body 51 and a first connecting portion 52 connected to the body 51. The bracket 1 is also provided with a limiting portion 121, and when the lower limb mechanism swings inward to the extreme position, the limiting portion 121 contacts the side wall surface of the first connecting portion 52.

[0087] In this embodiment, the hip joint assembly 100 also includes a connecting plate 5. On the one hand, the connecting plate 5 includes a main body 51 and a first connecting portion 52. The main body 51 has a first end face and a second end face that are relatively arranged. The first end face of the main body 51 is connected to the roll drive component 3, and the second end face of the main body 51 and the first connecting portion 52 are used to connect to the yaw drive component 4, thereby realizing the connection between the roll drive component 3 and the yaw drive component 4. On the other hand, the first connecting portion 52 can also be structurally reused to limit the lower limb mechanism. Specifically, a limiting portion 121 is provided on the bracket 1. When the lower limb mechanism swings inward to the extreme position, the limiting portion 121 contacts the side wall surface of the first connecting portion 52, thereby preventing the lower limb mechanism from continuing to move inward. In this way, without adding additional limiting structures, the inward swinging of the lower limb mechanism can be limited, the complexity of the structure of the hip joint assembly 100 is reduced, the manufacturing cost of the hip joint assembly 100 is reduced, the volume of the hip joint assembly 100 is reduced, and the space utilization rate of the hip joint assembly 100 for the waist and hip mechanism 1000 is improved.

[0088] The avoidance groove 111 and the limiting portion 121 can also be used in conjunction with each other. Specifically, in some embodiments of the present application, when the lower limb mechanism swings inward to the extreme position, the limiting portion 121 contacts the side wall surface of the first connecting portion 52, and the yaw drive member 4 contacts the inner wall surface of the avoidance groove 111. At this time, the avoidance groove 111 and the limiting portion 121 simultaneously limit the movement of the lower limb mechanism, thereby improving the stability of the lower limb mechanism limitation. At the same time, the existence of the avoidance groove 111 also provides a double guarantee for the inward limitation of the lower limb mechanism, avoiding the problem that the lower limb mechanism cannot be limited when the limiting portion 121 or the first connecting portion 52 fails, thereby improving the reliability of the hip joint assembly 100.

[0089] Similarly, the limiting portion 121 of the bracket 1 can also limit the inward swing of the lower limb mechanism. Specifically, the connecting plate 5 also includes a second connecting portion 53, which is connected to the body 51 and is arranged relatively spaced from the first connecting portion 52. When the lower limb mechanism swings outward to the extreme position, the limiting portion 121 contacts the side wall surface of the second connecting portion 53.

[0090] In this embodiment, the connecting plate 5 also includes a second connecting portion 53, which is used to cooperate with the main body 51 and the first connecting portion 52 to realize the connection between the roll drive member 3 and the yaw drive member 4. On the other hand, the second connecting portion 53 can also be structurally reused. When the lower limb mechanism swings outward to the extreme position, the limiting portion 121 contacts the side wall surface of the second connecting portion 53, thereby preventing the lower limb mechanism from continuing to swing outward. In this way, without adding an additional limiting structure, the limiting of the outward swing of the lower limb mechanism is realized, the complexity of the structure of the hip joint assembly 100 is reduced, the manufacturing cost of the hip joint assembly 100 is reduced, the volume of the hip joint assembly 100 is reduced, and the space utilization rate of the hip joint assembly 100 for the waist and hip mechanism 1000 is improved.

[0091] Please refer to Figure 4 and Figure 6 In order to cooperate with the connection between the roll drive component 3 and the yaw drive component 4, in one embodiment of the present application, the bracket 1 includes a first bracket 11 and a second bracket 12, the first bracket 11 is connected to the pitch drive component 2, and the limiting portion 121 is provided on the first bracket 11; the second bracket 12 is connected to the first bracket 11, the second bracket 12 is provided with a first through hole, the roll drive component 3 is provided on the second bracket 12, the driving shaft of the roll drive component 3 passes through the first through hole to be connected to the connecting plate 5, and the limiting portion 121 is provided on the second bracket 12.

[0092] This embodiment splits the bracket into a first bracket 11 and a second bracket 12, and sets the limit part 121 on the first bracket 11, sets the roll drive member 3 with the second bracket 12, and makes the drive shaft of the roll drive member 3 pass through the first through hole of the second bracket 12 and connect with the connecting plate 5, so as to leave space for the movement of the yaw drive member 4, increase the movable range of the yaw drive member 4, and increase the swing angle of the lower limb mechanism. At the same time, this design can also ensure that when the yaw drive member 4 is in the initial state of swinging (that is, the lower limb mechanism is in an upright state), the yaw drive member 4 and the lower limb mechanism can be in the middle position of the bracket, so that when the yaw drive member 4 and the lower limb mechanism swing in the left and right directions, the left and right limit distances are equal, thereby shortening the left and right swing stroke of the yaw drive member 4, reducing the torque requirement of the roll drive member 3 to drive the yaw drive member 4 to swing, and reducing energy consumption.

[0093] Please refer to Figure 4 and Figure 7 In order to improve the stability of the connection between the yaw drive member 4 and the connecting member, in one embodiment of the present application, the hip joint assembly 100 also includes a yaw bracket 6, the yaw bracket 6 includes a main body 61, and a first connecting ear 62 and a second connecting ear 63 arranged at both ends of the main body 61; the main body 61 is connected to the yaw drive member 4, the first connecting ear 62 is connected to the first connecting part 52, and the second connecting ear 63 is connected to the second connecting part 53.

[0094] The main body 51 of the yaw bracket 6 is formed with a driving cavity 611, and the yaw drive component 4 is arranged in the driving cavity 611, and then installed on the first connecting part 52 and the second connecting part 53 of the connecting component via the first connecting lug 62 and the second connecting lug 63. In this way, the stability of the yaw drive component 4 installed on the roll drive component 3 is improved while realizing the connection between the yaw drive component 4 and the roll drive component 3.

[0095] In one embodiment of the present application, the bracket 1 further includes a third bracket 13, the third bracket 13 is connected to the first bracket 11, and is arranged opposite to the second bracket 12, and the main body 61 is rotatably connected to the third bracket 13. In this embodiment, the bracket further includes the third bracket 13, one end of the yaw bracket 6 is connected to the connecting plate 5, and the other end is rotatably connected to the bracket 1 through the third bracket 13, so as to improve the stability of the yaw drive member 4.

[0096] Please refer to Figure 2 and Figure 8, the bracket 1 is also used to connect the lower limb mechanism and the sacral joint assembly 200. Specifically, the hip joint assembly 100 also includes a pitch drive member 2, and the driving seat of the pitch drive member 2 is connected to the hip joint assembly 100. In order to improve the stability of the connection between the pitch drive member 2 and the hip joint assembly 100, in one embodiment of the present application, the waist and hip mechanism 1000 also includes a sacral joint support frame 210. The sacral joint support frame 210 serves as the structural body of the hip joint assembly 100 and is used to support and connect the various parts of the hip joint assembly 100. The sacral joint support frame 210 is formed with a mounting cavity 211, and the pitch drive member 2 is installed in the mounting cavity 211. The mounting cavity 211 can increase the pitch drive member 2 and the hip joint assembly 100, and improve the stability of the connection between the pitch drive member 2 and the hip joint assembly 100.

[0097] In one possible implementation mode of the present application, the sacral joint support frame 210 is used to rotate around a fourth axis E4 driven by the trunk mechanism, and the fourth axis E4 intersects with the first axis E1 and has an inclined angle. In this embodiment, the hip joint assembly 100 is tilted relative to the trunk mechanism so that the humanoid robot can be closer to the natural form and movement characteristics of the human body, making the humanoid robot more natural and smooth during movement, thereby improving the overall bionic effect. At the same time, the tilted setting of the hip joint assembly 100 helps to optimize the center of gravity distribution of the humanoid robot, so that the robot can better adjust the center of gravity during the dynamic process and reduce the risk of tipping over or imbalance.

[0098] Please refer to Fig. 9 In one embodiment of the present application, the sacral joint support frame 210 includes a support portion 212 and a mounting portion 213 connected to each other, and the diameter of the mounting portion 213 is smaller than the diameter of the support portion 212; the second bracket 12 is provided with a positioning boss 122, the end face of the positioning boss 122 contacts the end face of the support portion 212, and the side wall surface of the positioning boss 122 contacts the side wall surface of the mounting portion 213. In this embodiment, by providing the positioning boss 122 on the second bracket 12, and when the bracket 1 and the sacral joint support frame 210 are installed, the positioning boss 122 contacts the step surface formed by the support portion 212 and the mounting portion 213, thereby providing positioning for the installation of the bracket 1 and the sacral joint support frame 210, increasing the contact area between the bracket 1 and the sacral joint support frame 210, reducing the difficulty of installing the sacral joint component 200 and the hip joint component 100, and improving the installation stability of the sacral joint component 200 and the hip joint component 100.

[0099] Please refer to Figure 2, the driving part of the pitch drive member 2 is connected to the bracket 1, and can drive the bracket 1 to rotate around the first axis E1 to drive the lower limb mechanism to swing in the front-to-back direction of the humanoid robot, so that the lower limb mechanism can simulate the lower limbs of the human body to move forward and backward. In one embodiment of the present application, the second axis E2 intersects with the first axis E1 and has an inclined angle. The technical solution of the present application reduces the movement restriction of the pitch drive member 2 on the yaw drive member 4 in the left and right directions by tilting the yaw drive member 4 relative to the pitch drive member 2, increases the movable space of the yaw drive member 4 in the left and right directions, increases the swing angle of the lower limb mechanism in the left and right directions, increases the complexity of the actions that can be performed by the humanoid robot at the lower limb mechanism, and improves the degree of anthropomorphism of the humanoid robot.

[0100] The angle between the first axis E1 and the second axis E2 can be 90°, 100°, or 110°, and the present application does not impose any limitation on this. In one possible implementation of the present application, the angle between the first axis E1 and the second axis E2 is A, which satisfies: 80°≤A≤160°. This implementation ensures that the lower limb mechanism can swing at a large angle to simulate more complex human gaits and movements, while also avoiding sacrificing the compactness of the hip joint assembly 100 due to an excessively large angle between the first axis E1 and the second axis E2.

[0101] In one possible implementation mode of the present application, the extension lines of the first axis E1 (representing the roll axis for the left and right swing of the hip joint), the second axis E2 (representing the yaw axis for the rotation of the hip joint), and the third axis E3 (representing the pitch axis for the forward and backward swing of the hip joint) intersect at one point. In this way, when the robot walks, the movement trajectory of the lower limbs is more in line with the principles of human mechanics, thereby achieving a more anthropomorphic gait. This design can not only improve the stability and balance of the robot's walking, but also make the robot look closer to the real human walking posture, thereby enhancing the immersion and comfort of human-computer interaction.

[0102] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship of the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0103] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A hip joint assembly, characterized in that: For humanoid robots, including: A bracket, wherein the bracket is provided with an avoidance groove; A pitch driving member, the pitch driving member is connected to the bracket, and the pitch driving member is used to drive the bracket to rotate around a first axis to drive the lower limb mechanism to swing in the front-back direction of the humanoid robot; A rolling drive member connected to the bracket; A yaw drive member, the yaw drive member is connected to the roll drive member, the yaw drive member is used to drive the lower limb mechanism to rotate around a second axis to achieve the self-rotation of the lower limb mechanism, the second axis intersects with the first axis and has an inclined angle; the roll drive member is used to drive the lower limb mechanism to swing around a third axis to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to an extreme position, the yaw drive member is at least partially accommodated in the avoidance groove; The hip joint assembly further comprises a connecting plate, the connecting plate being connected between the roll drive member and the yaw drive member, the connecting plate being used to cooperate with the bracket to limit the angle range between the first axis and the second axis when the lower limb mechanism swings to the extreme position; When the lower limb mechanism swings inward to the extreme position, the yaw drive member contacts the inner wall surface of the avoidance groove to limit the lower limb mechanism; The included angle between the first axis and the second axis is A, which satisfies: 80°≤A≤160°.

2. The hip joint assembly according to claim 1, characterized in that The connecting plate comprises a main body and a first connecting portion connected to the main body; The bracket is also provided with a limiting portion, and when the lower limb mechanism swings inward to an extreme position, the limiting portion contacts the side wall surface of the first connecting portion.

3. The hip joint assembly according to claim 2, characterized in that: The connecting plate further comprises a second connecting portion, which is connected to the body and arranged relatively spaced apart from the first connecting portion; When the lower limb mechanism swings outward to an extreme position, the limiting portion contacts the side wall surface of the second connecting portion.

4. The hip joint assembly according to claim 3, characterized in that: The bracket comprises a first bracket and a second bracket, the first bracket is connected to the pitch driving member, and the limiting portion is arranged on the first bracket; The second bracket is connected to the first bracket, the second bracket is provided with a first through hole, the transverse rolling driving member is provided on the second bracket, the driving shaft of the transverse rolling driving member passes through the first through hole to be connected with the connecting plate, and the limiting portion is provided on the second bracket.

5. The hip joint assembly according to claim 4, characterized in that: The hip joint assembly further comprises a yaw bracket, wherein the yaw bracket comprises a main body, and a first connecting lug and a second connecting lug provided at two ends of the main body; The main body is connected to the yaw driving component, the first connecting lug is connected to the first connecting portion, and the second connecting lug is connected to the second connecting portion.

6. The hip joint assembly according to claim 5, characterized in that: The bracket also includes a third bracket, which is connected to the first bracket and arranged opposite to the second bracket, and the main body is rotatably connected to the third bracket.

7. A waist and hip mechanism, characterized in that: Comprising a hip joint component as described in any one of claims 1-6.

8. The waist and hip mechanism according to claim 7, characterized in that: The waist and hip mechanism also includes a sacral joint support frame, the sacral joint support frame is formed with a mounting cavity, and the pitch driving component is installed in the mounting cavity; The sacral joint support frame is used to rotate around a fourth axis under the drive of the trunk mechanism, and the fourth axis intersects with the first axis and has an inclined angle.

9. The waist and hip mechanism according to claim 8, characterized in that: The sacral joint support frame comprises a supporting portion and a mounting portion connected to each other, wherein the diameter of the mounting portion is smaller than the diameter of the supporting portion; The bracket includes a first bracket and a second bracket, the first bracket is in contact with the mounting portion; the second bracket is connected to the first bracket, and the rolling drive member is arranged on the second bracket; The second bracket is provided with a positioning boss, the end surface of the positioning boss is in contact with the end surface of the supporting portion, and the side wall surface of the positioning boss is in contact with the side wall surface of the mounting portion.

10. A humanoid robot, characterized in that: Comprising the waist and hip mechanism as described in any one of claims 7-9.

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