Waist and hip assembly and humanoid robot

Abstract

The present application provides a waist and hip assembly and a humanoid robot, wherein the waist and hip assembly includes a cylinder structure, a pitch motor, a support, a roll motor and a yaw motor; the cylinder structure has a first wiring channel; the pitch motor is accommodated in the cylinder structure; the pitch motor has a first axis inclined relative to the left-right direction and the front-back direction of the humanoid robot; the output shaft of the pitch motor is connected to the support and drives the support to rotate around the first axis; the support has a first space, a second space, a second wiring channel and a third wiring channel, and the first wiring channel, the second wiring channel, the first space, the third wiring channel and the second space are connected in sequence; the roll motor is accommodated in the first space; the yaw motor is accommodated in the second space, and the output shaft of the roll motor is connected to the yaw motor. The waist and hip assembly and the humanoid robot provided by the present application can simplify the wire layout, avoid wire exposure, shorten the wire length, reduce the wire design cost, and improve the aesthetics of the wire layout.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a waist and hip assembly 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 the current humanoid robot, the waist and hip assembly is affected by the layout of multiple motors in the waist and hip assembly, and the wiring layout of the waist and hip assembly is complicated. Moreover, the wiring of the waist and hip assembly is exposed on the surface of the waist and hip assembly, resulting in a longer overall length of the wiring, higher cost, and also affecting the aesthetics of the wiring layout. Summary of the invention

[0004] In order to address the shortcomings of the prior art, the present application provides a waist and hip assembly and a humanoid robot that can simplify the wire layout, avoid wire exposure, shorten the wire length, reduce the wire design cost, and improve the aesthetics of the wire layout.

[0005] On the one hand, the present application provides a waist and hip assembly for a humanoid robot, comprising:

[0006] A cylinder structure, wherein a first wiring channel is provided inside a side wall of the cylinder structure;

[0007] A pitch motor is housed and fixed in the cylindrical structure; the pitch motor has a first axis, and the first axis is inclined relative to the plane where the left-right direction and the front-back direction of the humanoid robot are located;

[0008] A support member is fixedly connected to the output shaft of the pitch motor, and the pitch motor drives the support member to rotate around the first axis; the support member has a first space, a second space, a second wiring channel and a third wiring channel, and the first wiring channel, the second wiring channel, the first space, the third wiring channel and the second space are connected in sequence;

[0009] a rolling motor, accommodated in the first space and fixedly connected to the support member; and

[0010] The yaw motor is accommodated in the second space and movably connected to the support member, and the output shaft of the roll motor is fixedly connected to the housing of the yaw motor.

[0011] The waist and hip assembly provided in this embodiment is accommodated in the cylinder structure by the pitch motor, that is, the wires of the pitch motor can be electrically connected inside the cylinder structure, so that the wires of the pitch motor are routed inside the waist and hip assembly. The roll motor is accommodated in the first space of the support, and the first routing channel of the cylinder structure, the second routing channel of the support and the first space of the support are connected in sequence, that is, the wires of the roll motor can extend to the inside of the cylinder structure through the first space of the support, the second routing channel of the support and the first routing channel of the cylinder structure in sequence to achieve electrical connection, so that the wires of the roll motor are routed inside the waist and hip assembly. The yaw motor is accommodated in the second space of the support, and the first wiring channel of the cylinder structure, the second wiring channel of the support, the first space of the support, the third wiring channel of the support, and the second space of the support are sequentially connected, that is, the wire of the yaw motor can be sequentially extended to the inside of the cylinder structure through the second space of the support, the third wiring channel of the support, the first space of the support, the second wiring channel of the support, and the first wiring channel of the cylinder structure to achieve electrical connection, so that the wire of the yaw motor is routed inside the waist-hip assembly. Therefore, by reasonably designing the wiring of the multiple motors of the waist-hip assembly, the complexity of the wiring of the waist-hip assembly can be reduced. At the same time, it can avoid that the wires of the multiple motors of the waist-hip assembly are exposed on the outer surface of the waist-hip assembly, reduce the influence of the wiring of the multiple motors of the waist-hip assembly on the aesthetics of the waist-hip assembly, and shorten the length of the wiring of the multiple motors of the waist-hip assembly, thereby reducing the wiring design cost of the multiple motors of the waist-hip assembly. Moreover, since the pitch motor is used to drive the waist and hip assembly and the leg assembly to swing back and forth of the humanoid robot, by tilting the first axis of the pitch motor relative to the plane where the left and right directions and the front and back directions of the humanoid robot are located, the leg assembly can have a larger angle of motion and can perform movements at a larger angle.

[0012] In a possible embodiment, the cylinder structure includes an inner cylinder, an outer cylinder and a wiring portion, the inner cylinder is accommodated in the outer cylinder; the surface of the inner cylinder facing the outer cylinder has an annular groove, the wiring portion is arranged in the annular groove and extends along the first axis, the first wiring channel is arranged in the wiring portion, and the first wiring channel is connected to the annular groove; the inner cylinder has an accommodating cavity, the outer shell of the pitch motor is accommodated in the accommodating cavity and fixedly connected to the inner cylinder, and the accommodating cavity is connected to the first wiring channel.

[0013] The waist and hip assembly provided in this embodiment has a wiring portion disposed in an annular groove of the inner cylinder toward the outer cylinder, a first wiring channel disposed in the wiring portion, and the first wiring channel is connected to the annular groove, that is, at least part of the wire is located in the annular groove, and the inner cylinder of the cylinder structure is accommodated in the outer cylinder, so that the first wiring channel can be hidden by the outer cylinder, preventing the wire from being exposed to the outside of the waist and hip assembly, which is beneficial to improving the aesthetics of the waist and hip assembly and reducing the risk of wire exposure and interference with other parts of the waist and hip assembly. Moreover, the first wiring channel is connected to the annular groove, so that part of the wire can be accommodated in the annular groove. When the support member rotates around the first axis relative to the cylinder structure, a certain amount of wire can be provided in the annular groove to prevent the wire from being stretched and broken, which is beneficial to improving the electrical connection stability of multiple motors of the waist and hip assembly.

[0014] In a possible embodiment, the routing portion includes a first platform and a second platform arranged along the first axis, the second platform being close to the support member relative to the first platform; the first routing channel includes a first through hole provided on the first platform and a second through hole provided on the second platform; the first through hole includes a first section and a second section, the first section extends along the first axis toward the support member and passes through the side wall on one side of the annular groove, and the second section extends circumferentially around the first axis and is connected to the annular groove; the second through hole includes a third section and a fourth section, the third section extends circumferentially around the first axis and is connected to the annular groove, and the fourth section extends along the first axis away from the support member and passes through the side wall on the other side of the annular groove.

[0015] The waist and hip assembly provided in this embodiment is provided on the first platform of the wiring part through the first through hole of the first wiring channel, the first through hole is connected to the accommodating cavity and the annular groove of the cylinder structure, and the second through hole of the first wiring channel is provided on the second platform, the second through hole is connected to the annular groove and the second wiring channel, so that the wire can pass from the first through hole to the annular groove through the accommodating cavity of the cylinder structure, and the wire in the annular groove passes out of the first wiring channel through the second through hole. The wire located in the annular groove can be arranged in a curved shape to provide a certain amount of wire margin when the support member rotates around the first axis relative to the cylinder structure, so as to prevent the wire from being stretched and broken, which is beneficial to improving the electrical connection stability of multiple motors of the waist and hip assembly.

[0016] In a possible embodiment, the waist and hip assembly also includes a waist drive motor, the housing of the waist drive motor is housed and fixed to the cylindrical structure, the output shaft of the waist drive motor extends along the up and down direction of the humanoid robot, and the waist drive motor is used to drive the waist assembly of the humanoid robot to move.

[0017] The waist and hip assembly provided in this embodiment is accommodated in the cylindrical structure by the waist drive motor, that is, the wires of the waist drive motor can be electrically connected inside the cylindrical structure, so that the wires of the waist drive motor are routed inside the waist and hip assembly, which can reduce the complexity of the routing of the waist and hip assembly. At the same time, it can avoid that the wires of the waist drive motor are exposed on the outer surface of the waist and hip assembly, reduce the influence of the routing of the waist drive motor on the aesthetics of the waist and hip assembly, and can also shorten the length of the routing of the waist drive motor, thereby reducing the routing design cost of the waist and hip assembly.

[0018] In a possible embodiment, the waist and hip assembly also includes a connecting shell, which includes a first connecting shell and a second connecting shell, the first connecting shell and the second connecting shell are interlocked along the front and rear direction of the humanoid robot, and the cylindrical structure, the pitch motor and the waist drive motor are all accommodated in the space formed by the first connecting shell and the second connecting shell.

[0019] The waist and hip assembly provided in this embodiment is provided with a cylindrical structure, a pitch motor and a waist drive motor all contained in a space formed by the first connecting shell and the second connecting shell, so that the connecting shell hides the cylindrical structure, the pitch motor and the waist drive motor inside the waist and hip assembly, and the electrical connection structure of the pitch motor, the waist drive motor, the roll motor and the yaw motor in the cylindrical structure can also be covered by the connecting shell, which is beneficial to improving the overall aesthetics of the waist and hip assembly. At the same time, the connecting shell can prevent part of the dust and other impurities in the environment from entering the pitch motor and the waist drive motor, which is beneficial to improving the working stability and service life of the pitch motor and the waist drive motor.

[0020] In a possible embodiment, the support member includes a first shell and a second shell connected axially along the output shaft of the roll motor, the first space is set in the first shell, the second space is set in the second shell, and the second wiring channel is set in the first shell and connects the first space and the first wiring channel; the outer shell of the roll motor is accommodated and fixed in the first space, the roll motor has a second axis, the second axis is perpendicular to the first axis, and the output shaft of the roll motor is used to drive the yaw motor to rotate around the second axis.

[0021] The waist and hip assembly provided in this embodiment is that the roll motor is contained in the first space of the first shell, and the second wiring channel is set in the first shell. The second wiring channel can connect the first wiring channel in the first space, so that the wires of the roll motor contained in the first space can be electrically connected inside the cylinder structure through the second wiring channel and the first wiring channel, that is, the wires of the roll motor are routed inside the waist and hip assembly, which can reduce the complexity of the wiring of the waist and hip assembly. At the same time, it can avoid the wires of the roll motor from being exposed on the outer surface of the waist and hip assembly, reduce the influence of the wiring of the roll motor on the aesthetics of the waist and hip assembly, and can also shorten the length of the wiring of the roll motor, thereby reducing the wiring design cost of the waist and hip assembly.

[0022] In a possible embodiment, the support member also includes a connecting member, which passes through the first shell and is located at a position of the first shell close to the cylinder structure; the connecting member extends along the first axis, and the connecting member is spaced apart from the cylinder structure, and the second wiring channel is arranged on the connecting member.

[0023] The waist and hip assembly provided in this embodiment is provided with a connector through the first shell body near the cylinder structure, and the second wiring channel is provided on the connector so that the second wiring channel is closer to the cylinder structure, and then the second wiring channel is closer to the first wiring channel, which is beneficial to shorten the length of the wire from the second wiring channel to the first wiring channel, shorten the length of the rolling motor wiring, and then reduce the wiring design cost of the waist and hip assembly. Moreover, the second wiring channel is closer to the first wiring channel, which can also reduce the length of the wire exposed to the outside of the waist and hip assembly and reduce the impact of the rolling motor wiring on the aesthetics of the waist and hip assembly. At the same time, the spacing between the connector and the cylinder structure can prevent the connector of the support and the cylinder structure from interfering with each other during relative rotation, and can also reduce the wear of the wire between the first channel and the second channel, so as to increase the service life of the wire.

[0024] In a possible embodiment, the second space is a depression on the side of the second shell facing away from the cylindrical structure, and the second space and the first space are arranged opposite to each other along the second axis; the third wiring channel is arranged on the bottom wall of the second space and passes through the second shell, and the third wiring channel connects the second space and the first space.

[0025] The waist and hip assembly provided in this embodiment is a depression set on the side of the second shell away from the cylinder structure through the second space, and the yaw motor is accommodated in the second space, so that the roll motor drives the yaw motor to swing left and right around the second axis of the humanoid robot. Moreover, the third wiring channel is set on the bottom wall of the second space and penetrates the second shell. The third wiring channel connects the first space and the second space, so that the wires of the yaw motor in the second space enter the first space through the third wiring channel, and then enter the cylinder structure through the second wiring channel and the first wiring channel to achieve electrical connection, that is, the wires of the yaw motor are routed inside the waist and hip assembly, which can reduce the complexity of the wiring of the waist and hip assembly. At the same time, it can avoid the wires of the yaw motor from being exposed on the outer surface of the waist and hip assembly, reduce the influence of the wiring of the yaw motor on the aesthetics of the waist and hip assembly, and shorten the length of the wiring of the yaw motor, thereby reducing the wiring design cost of the waist and hip assembly.

[0026] In a possible implementation, the output shaft of the roll motor is passed through the second space, one side of the housing of the yaw motor is fixedly connected to the output shaft of the roll motor, and the other side of the housing of the yaw motor is rotatably connected to the inner wall of the second space; the yaw motor has a third axis, the third axis is perpendicular to the second axis, and the first axis, the second axis and the third axis intersect at one point, and the yaw motor is used to drive the leg assembly of the humanoid robot to rotate around the third axis.

[0027] The waist and hip assembly provided in this embodiment is passed through the output shaft of the roll motor in the first space to the second space, one side of the housing of the yaw motor is fixedly connected to the output shaft of the roll motor, and the other side of the housing of the yaw motor is rotatably connected to the inner wall of the second space, so that the roll motor drives the yaw motor to swing left and right around the second axis of the humanoid robot. At the same time, the yaw motor is used to drive the leg assembly to rotate around the third axis, so that the yaw motor drives the leg assembly to rotate around the up and down direction of the humanoid robot.

[0028] In a possible implementation, an extension groove is provided on the bottom wall of the second space, and the extension groove and the third wiring channel are arranged along the second axis, and the extension groove is communicated with the third wiring channel.

[0029] The waist and hip assembly provided in this embodiment is provided with an extension groove connected to the third wiring channel through the bottom wall of the second space, so that part of the wires can be received in the extension groove. When the yaw motor rotates around the second axis relative to the second shell under the action of the roll motor, a certain amount of wire can be provided in the extension groove to prevent the wires from being stretched and broken, which is beneficial to improving the electrical connection stability of multiple motors of the waist and hip assembly.

[0030] In a possible implementation, a fourth wiring channel is provided on the casing of the yaw motor, the fourth wiring channel passes through the casing of the yaw motor, and the fourth wiring channel is provided at a position of the casing of the yaw motor close to the third wiring channel, and the wires of the yaw motor enter into the third wiring channel through the fourth wiring channel and the second space.

[0031] The waist-hip assembly provided in this embodiment is provided with a fourth wiring channel penetrating the outer shell of the yaw motor, so that the wires of the yaw motor enter the second space through the fourth wiring channel, and then enter the cylindrical structure through the third wiring channel, the first space, the second wiring channel and the first wiring channel in sequence to achieve electrical connection, that is, the wires of the yaw motor are routed inside the waist-hip assembly, which can reduce the complexity of the routing of the waist-hip assembly. Moreover, the fourth wiring channel is arranged at a position of the outer shell of the yaw motor close to the third wiring channel, so that the fourth wiring channel is closer to the third wiring channel, which is conducive to shortening the length of the wire passing through the fourth wiring channel to enter the third wiring channel, shortening the length of the yaw motor routing, and thus reducing the routing design cost of the waist-hip assembly. At the same time, the fourth wiring channel is closer to the third wiring channel, which can also reduce the length of the wire exposed to the outside of the waist-hip assembly, and reduce the influence of the routing of the yaw motor on the aesthetics of the waist-hip assembly.

[0032] In a possible embodiment, a wire groove is provided on the peripheral side wall of the housing of the yaw motor, the wire groove extends along the third axis, one opening of the wire groove is located in the second space and communicated with the second space, and the other opening of the wire groove is located in the yaw motor and communicated with the leg assembly of the humanoid robot through the yaw motor.

[0033] The waist and hip assembly provided in this embodiment is arranged on the peripheral side wall of the housing of the yaw motor through a wire accommodating groove and extends along the third axis, and one opening of the wire accommodating groove is located in the second space and connected to the second space, and the other opening of the wire accommodating groove is located in the yaw motor and connected to the leg assembly of the humanoid robot through the yaw motor, so that the wires of the leg assembly of the humanoid robot can enter the third routing channel through the wire accommodating groove and the second space, and then enter the cylindrical structure through the first space, the second routing channel and the first routing channel to realize electrical connection, that is, the wires of the leg assembly are routed inside the waist and hip assembly, which can reduce the complexity of routing inside the waist and hip assembly.

[0034] In a possible embodiment, the number of the pitch motors is two, and the two pitch motors are symmetrically installed on the cylindrical structure along the left-right direction of the humanoid robot; the number of the support members is two, and the two support members are symmetrically installed on the output shafts of the two pitch motors along the left-right direction of the humanoid robot; the number of the roll motors is two, and the two roll motors are symmetrically installed on the two support members along the left-right direction of the humanoid robot; the number of the yaw motors is two, and the two yaw motors are symmetrically installed on the two support members along the left-right direction of the humanoid robot, and each yaw motor is used to connect a leg assembly of the humanoid robot.

[0035] The waist and hip assembly provided in this embodiment is symmetrically installed on the cylinder structure along the left and right directions of the humanoid robot through two pitch motors, two support members are symmetrically installed on the output shafts of the two pitch motors along the left and right directions of the humanoid robot, two roll motors are symmetrically installed on the two support members along the left and right directions of the humanoid robot, and two yaw motors are symmetrically installed on the two support members along the left and right directions of the humanoid robot, and each yaw motor is used to connect to one side of the leg assembly of the humanoid robot. Thus, the waist and hip assembly and the humanoid robot formed by the waist and hip assembly have a better humanoid effect.

[0036] In a possible implementation, the waist and hip assembly further includes two gripping members; the two gripping members are symmetrically installed on the cylindrical structure along the left-right direction of the humanoid robot, and each of the gripping members is arranged to protrude from the outer surface of the cylindrical structure.

[0037] The waist and hip assembly provided in this embodiment is symmetrically installed on the cylindrical structure along the left and right directions of the humanoid robot through two holding pieces, and each holding piece is arranged to protrude from the outer surface of the cylindrical structure to facilitate the operator to carry the waist and hip assembly to achieve installation or disassembly.

[0038] On the other hand, the present application provides a humanoid robot, comprising:

[0039] The waist and hip assembly described above.

[0040] The humanoid robot provided in this embodiment can reduce the complexity of the overall routing of the humanoid robot and improve the overall aesthetics of the humanoid robot by including the waist and hip assembly. Moreover, the leg assembly of the humanoid robot can have a larger movement angle and can perform actions at a larger angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 It is a rear view of a waist and hip assembly provided by one embodiment of the present application;

[0043] Figure 2 This is an assembly diagram of a waist and hip assembly provided by an embodiment of the present application;

[0044] Figure 3 It is a partial assembly diagram of a waist and hip assembly provided in one embodiment of the present application;

[0045] Figure 4 This is a structural diagram of an inner cylinder provided in one embodiment of the present application;

[0046] Figure 5 is a schematic diagram of a first wiring channel provided in an embodiment of the present application;

[0047] Figure 6 is a structural diagram of a support member provided in one embodiment of the present application;

[0048] Figure 7 is an assembly diagram of a roll motor and a yaw motor provided in one embodiment of the present application;

[0049] Figure 8 It is a structural diagram of a yaw motor provided in one embodiment of the present application.

[0050] Description of reference numerals:

[0051] Waist and hip assembly-100, cylinder structure-10, first wiring channel-11, first through hole-111, first section-1111, second section-1112, second through hole-112, third section-1121, fourth section-1122, inner cylinder-12, annular groove-121, accommodating cavity-122, mounting hole-123, connecting hole-124, first part-125, second part-126, outer cylinder-13, wiring part-14, first platform-141, second platform-142, pitch motor-20, support Part-30, first shell-31, first space-311, second wiring channel-312, second shell-32, second space-321, third wiring channel-322, extension groove-323, connecting part-33, roll motor-40, avoidance groove-41, yaw motor-50, fourth wiring channel-51, wire accommodating groove-52, waist drive motor-60, connecting shell-70, first connecting shell-71, second connecting shell-72, gripping part-80, first axis-A, second axis-B, third axis-C. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] See also Figure 1 and Figure 2 The embodiment of the present application provides a humanoid robot, the humanoid robot includes a waist and hip assembly 100, and the waist and hip assembly 100 is used to connect with the waist assembly and the leg assembly of the humanoid robot. The waist and hip assembly 100 is used to drive the waist assembly and the leg assembly to move, and the waist and hip assembly 100 drives the waist assembly to move at least including driving the waist assembly to rotate around the up and down direction of the humanoid robot, and the waist and hip assembly 100 drives the leg assembly to move at least including driving the leg assembly to rotate around the up and down direction of the humanoid robot, driving the leg assembly to swing forward and backward along the humanoid robot, and driving the leg assembly to swing left and right along the humanoid robot, so that the humanoid robot can achieve a waist and hip function similar to that of the human body structure.

[0057] It should be understood that, when the leg assembly of the humanoid robot is swinging forward and backward along the humanoid robot, the humanoid robot as a whole can move forward toward the front of the humanoid robot or move backward toward the rear of the humanoid robot, so as to achieve a forward or backward function similar to that of a human body. When the leg assembly of the humanoid robot is swinging left and right along the humanoid robot, the humanoid robot as a whole can move forward toward the left of the humanoid robot or move forward toward the right of the humanoid robot, so as to achieve a left step or right step function similar to that of a human body. When the leg assembly of the humanoid robot is rotating along the up and down direction of the humanoid robot, the humanoid robot as a whole can turn toward the left of the humanoid robot or turn toward the right of the humanoid robot, so as to achieve a left turn or right turn function similar to that of a human body.

[0058] In the humanoid robot provided in the embodiment of the present application, the specific structures of the waist assembly and the leg assembly are not limited, and both the waist assembly and the leg assembly can be set to a humanoid structure. It should be understood that in order to make the humanoid effect of the humanoid robot better, the humanoid robot provided in the embodiment of the present application includes two leg assemblies, both leg assemblies are connected to the waist and hip assembly 100, and the two leg assemblies are symmetrically arranged with respect to the plane where the up-down direction and the front-back direction of the humanoid robot are located.

[0059] The humanoid robot provided in this embodiment can reduce the complexity of the overall routing of the humanoid robot and improve the overall aesthetics of the humanoid robot by reasonably designing the waist and hip assembly 100 of the humanoid robot. In addition, the leg assembly of the humanoid robot can have a larger movement angle and can perform larger angle movements.

[0060] The waist and hip assembly 100 provided in the present application is introduced in detail below.

[0061] See also Figures 1 to 6 The present application provides a waist-hip assembly 100, which is used for the above-mentioned humanoid robot. The waist-hip assembly 100 provided in this embodiment includes a cylinder structure 10, a pitch motor 20, a support member 30, a roll motor 40 and a yaw motor 50.

[0062] A first wiring channel 11 is provided inside the side wall of the cylinder structure 10 , and the first wiring channel 11 is connected to the inside of the cylinder structure 10 . The first wiring channel 11 is used for passing the wires of the waist and hip assembly 100 , so that the wires of the waist and hip assembly 100 can be electrically connected inside the cylinder structure 10 after passing through the first wiring channel 11 .

[0063] The pitch motor 20 is accommodated and fixed in the cylinder structure 10, and the wires of the pitch motor 20 are electrically connected in the cylinder structure 10. The pitch motor 20 has a first axis A, and the first axis A is tilted relative to the plane where the left-right direction and the front-back direction of the humanoid robot are located, that is, the pitch motor 20 is tilted in the waist and hip assembly 100. The pitch motor 20 is used to directly or indirectly drive the leg assembly to rotate around the first axis A, so that the leg assembly swings forward and backward of the humanoid robot.

[0064] The support member 30 is fixedly connected to the output shaft of the pitch motor 20. The pitch motor 20 drives the support member 30 to rotate around the first axis A, thereby driving the leg assembly to rotate around the first axis A, so that the leg assembly swings forward and backward of the humanoid robot. The support member 30 has a first space 311, a second space 321, a second wiring channel 312, and a third wiring channel 322. The second wiring channel 312 connects the first space 311 and the first wiring channel 11. The first space 311 and the second space 321 are separated. The third wiring channel 322 connects the first space 311 and the second space 321, so as to form the first wiring channel 11, the second wiring channel 312, the first space 311, the third wiring channel 322, and the second space 321 are connected in sequence.

[0065] The roll motor 40 is accommodated in the first space 311 and fixedly connected to the support member 30. The wires of the roll motor 40 enter the cylinder structure 10 through the first space 311, the second wiring channel 312 and the first wiring channel 11 in sequence, so that the wires of the roll motor 40 are electrically connected in the cylinder structure 10. The roll motor 40 has a second axis B, which is perpendicular to and intersects the first axis A. The roll motor 40 is used to directly or indirectly drive the leg assembly to rotate around the second axis B, so that the leg assembly swings left and right of the humanoid robot.

[0066] The yaw motor 50 is accommodated in the second space 321 and is movably connected to the support member 30. The wires of the yaw motor 50 enter the cylindrical structure 10 through the second space 321, the third wiring channel 322, the first space 311, the second wiring channel 312 and the first wiring channel 11 in sequence, so that the wires of the yaw motor 50 are electrically connected in the cylindrical structure 10. The yaw motor 50 is connected to the leg assembly, and the output shaft of the roll motor 40 is fixedly connected to the housing of the yaw motor 50. The roll motor 40 drives the leg assembly to rotate around the second axis B through the yaw motor 50, so that the leg assembly swings left and right on the humanoid robot. The yaw motor 50 has a third axis C, which is perpendicular to and intersects the second axis B. The first axis A, the second axis B and the third axis C intersect at one point. The yaw motor 50 is used to directly drive the leg assembly to rotate around the third axis C, so that the leg assembly rotates around the up and down direction of the humanoid robot.

[0067] The waist and hip assembly 100 provided in this embodiment is accommodated in the cylinder structure 10 by the pitch motor 20, that is, the wires of the pitch motor 20 can be electrically connected inside the cylinder structure 10, so that the wires of the pitch motor 20 are routed inside the waist and hip assembly 100. The roll motor 40 is accommodated in the first space 311 of the support member 30, and the first routing channel 11 of the cylinder structure 10, the second routing channel 312 of the support member 30 and the first space 311 of the support member 30 are connected in sequence, that is, the wires of the roll motor 40 can extend to the inside of the cylinder structure 10 through the first space 311 of the support member 30, the second routing channel 312 of the support member 30 and the first routing channel 11 of the cylinder structure 10 in sequence to achieve electrical connection, so that the wires of the roll motor 40 are routed inside the waist and hip assembly 100. The yaw motor 50 is accommodated in the second space 321 of the support 30, and the first wiring channel 11 of the cylinder structure 10, the second wiring channel 312 of the support 30, the first space 311 of the support 30, the third wiring channel 322 of the support 30 and the second space 321 of the support 30 are sequentially connected, that is, the wire of the yaw motor 50 can be sequentially extended to the inside of the cylinder structure 10 through the second space 321 of the support 30, the third wiring channel 322 of the support 30, the first space 311 of the support 30, the second wiring channel 312 of the support 30, and the first wiring channel 11 of the cylinder structure 10 to achieve electrical connection, so that the wire of the yaw motor 50 can be routed inside the waist and hip assembly 100. Therefore, by reasonably designing the routing of multiple motors of the waist and hip assembly 100, the complexity of the routing of the waist and hip assembly 100 can be reduced. At the same time, it can prevent the wires of the multiple motors of the waist-hip assembly 100 from being exposed on the outer surface of the waist-hip assembly 100, reduce the influence of the wiring of the multiple motors of the waist-hip assembly 100 on the aesthetics of the waist-hip assembly 100, and shorten the length of the wiring of the multiple motors of the waist-hip assembly 100, thereby reducing the wiring design cost of the multiple motors of the waist-hip assembly 100. In addition, since the pitch motor 20 is used to drive the waist-hip assembly 100 and the leg assembly to swing forward and backward of the humanoid robot, the first axis A of the pitch motor 20 is tilted relative to the plane where the left-right direction and the front-back direction of the humanoid robot are located, so that the leg assembly can have a larger movement angle and can perform larger angle movements.

[0068] It should be understood that the pitch motor 20 is indirectly connected to the leg assembly through the support 30, the roll motor 40 and the yaw motor 50, and the pitch motor 20 drives the leg assembly to rotate around the first axis A through the support 30, the roll motor 40 and the yaw motor 50, so that the leg assembly swings forward and backward of the humanoid robot, thereby realizing the function of the humanoid robot moving forward or backward. The roll motor 40 is connected to the leg assembly through the yaw motor 50, and the roll motor 40 drives the leg assembly to rotate around the second axis B through the yaw motor 50, so that the leg assembly swings left and right of the humanoid robot, thereby realizing the function of the humanoid robot stepping left or right. The yaw motor 50 is directly connected to the leg assembly, and the yaw motor 50 drives the leg assembly to rotate around the third axis C, so that the leg assembly rotates around the up and down direction of the humanoid robot, thereby realizing the function of the humanoid robot turning left or right.

[0069] See also Figures 1 to 6 In the waist and hip assembly 100 provided in the present application, the roll motor 40 is installed in the first space 311, the yaw motor 50 is installed in the second space 321, the channel opening size of the first wiring channel 11 is larger than the channel opening size of the third wiring channel 322, and the channel opening size of the second wiring channel 312 is larger than the channel opening size of the third wiring channel 322.

[0070] The waist and hip assembly 100 provided in this embodiment has the first wiring channel 11 at least used for the wires of the roll motor 40 and the yaw motor 50 to pass through, the second wiring channel 312 at least used for the wires of the roll motor 40 and the yaw motor 50 to pass through, and the third wiring channel 322 at least used for the wires of the yaw motor 50 to pass through, and the channel opening size of the first wiring channel 11 is larger than the channel opening size of the third wiring channel 322, and the channel opening size of the second wiring channel 312 is larger than the channel opening size of the third wiring channel 322. Thus, the space occupied by the third wiring channel 322 in the waist and hip assembly 100 can be reduced, so that the channel opening size of the third wiring channel 322 is designed to be more reasonable, and the problem of limited wire passing can be avoided, thereby improving the efficiency of wire passing in the waist and hip assembly 100.

[0071] See also Figures 2 to 4In a specific embodiment, the barrel structure 10 of the waist and hip assembly 100 includes an inner barrel 12, an outer barrel 13 and a wiring portion 14. The inner barrel 12 is accommodated in the outer barrel 13, that is, the outer barrel 13 is sleeved in the inner barrel 12. The surface of the inner barrel 12 facing the outer barrel 13 has an annular groove 121. The wiring portion 14 is arranged in the annular groove 121 and extends along the first axis A to reduce the length of the wires of the waist and hip assembly 100 in the first wiring channel 11. The first wiring channel 11 is arranged in the wiring portion 14, and the first wiring channel 11 is connected to the annular groove 121. The inner barrel 12 has a accommodating chamber 122, and the outer shell of the pitch motor 20 is accommodated in the accommodating chamber 122 and fixedly connected to the inner barrel 12, and the accommodating chamber 122 is connected to the first wiring channel 11.

[0072] The waist and hip assembly 100 provided in this embodiment has a wiring portion 14 disposed in an annular groove 121 of the inner cylinder 12 facing the outer cylinder 13, a first wiring channel 11 disposed in the wiring portion 14, and the first wiring channel 11 is connected to the annular groove 121, that is, at least part of the wire is located in the annular groove 121, and the inner cylinder 12 of the cylinder structure 10 is received in the outer cylinder 13, so that the first wiring channel 11 can be hidden by the outer cylinder 13, and the wire is prevented from being exposed to the outside of the waist and hip assembly 100, which is conducive to improving the aesthetics of the waist and hip assembly 100 and reducing the risk of interference between the exposed wire and other parts of the waist and hip assembly 100. Moreover, the first wiring channel 11 is connected to the annular groove 121, so that part of the wire can be received in the annular groove 121, and when the support member 30 rotates around the first axis A relative to the cylinder structure 10, a certain amount of wire can be provided in the annular groove 121 to prevent the wire from being tightened and broken, which is conducive to improving the electrical connection stability of multiple motors of the waist and hip assembly 100.

[0073] In the waist and hip assembly 100 provided in this embodiment, a through mounting hole 123 is provided on one side wall of the annular groove 121, and one end of the wiring portion 14 is passed through and fixed in the mounting hole 123. A connecting hole 124 is provided on the other side wall of the annular groove 121, and the other end of the wiring portion 14 is aligned with the connecting hole 124, and the first wiring channel 11 is connected to the connecting hole 124. Thus, the wires of the waist and hip assembly 100 can pass through the two side walls of the annular groove 121.

[0074] In the waist and hip assembly 100 provided in this embodiment, the inner tube 12 includes a first part 125 and a second part 126 that are buckled together along the front-to-back direction of the humanoid robot, and the outer tube 13 is sleeved outside the first part 125 and the second part 126 to make the first part 125 and the second part 126 more secure after being buckled together.

[0075] It is understandable that in some other embodiments, after the first part 125 and the second part 126 are fixedly connected by screws, bolts, etc., the outer cylinder 13 can be omitted, and the present application does not impose any limitation on this.

[0076] It is understandable that in some other embodiments, the routing portion 14 does not need to extend along the first axis A, that is, the routing portion 14 can be bent and extended, and the present application does not impose any limitation on this.

[0077] See also Figures 2 to 5 In a specific embodiment, the wiring portion 14 of the waist and hip assembly 100 includes a first platform 141 and a second platform 142 arranged along the first axis A, and the second platform 142 is closer to the support member 30 relative to the first platform 141. The first wiring channel 11 includes a first through hole 111 provided on the first platform 141 and a second through hole 112 provided on the second platform 142. The first through hole 111 includes a first section 1111 and a second section 1112 that are connected. The first section 1111 extends along the first axis A toward the support member 30, and the first section 1111 passes through the side wall of the annular groove 121 away from the support member 30 and is connected to the accommodating chamber 122 of the inner tube 12, and the second section 1112 extends circumferentially around the first axis A, and the second section 1112 is connected to the annular groove 121. The second through hole 112 includes a third section 1121 and a fourth section 1122 that are connected. The third section 1121 extends circumferentially around the first axis A and is connected to the annular groove 121. The fourth section 1122 extends along the first axis A in a direction away from the support member 30, and the fourth section 1122 penetrates the side wall of the other side of the annular groove 121 and is connected to the second wiring channel 312. Thus, the accommodating cavity 122 of the inner cylinder 12, the first section 1111, the second section 1112, the annular groove 121, the third section 1121, the fourth section 1122 and the second wiring channel 312 are connected in sequence.

[0078] The waist and hip assembly 100 provided in this embodiment is provided on the first platform 141 of the wiring portion 14 through the first through hole 111 of the first wiring channel 11, the first through hole 111 is connected to the accommodating cavity 122 and the annular groove 121 of the cylinder structure 10, and the second through hole 112 of the first wiring channel 11 is provided on the second platform 142, the second through hole 112 is connected to the annular groove 121 and the second wiring channel 312, so that the wire can pass from the first through hole 111 to the annular groove 121 through the accommodating cavity 122 of the cylinder structure 10, and the wire in the annular groove 121 passes out of the first wiring channel 11 through the second through hole 112. The wire located in the annular groove 121 can be arranged in a curved shape to provide a certain amount of wire margin when the support member 30 rotates around the first axis A relative to the cylinder structure 10, so as to prevent the wire from being stretched and broken, which is beneficial to improving the electrical connection stability of the multiple motors of the waist and hip assembly 100.

[0079] It is understandable that in some other embodiments, the first platform 141 and the second platform 142 can be staggered along the first axis A. It is only necessary to ensure that the first section 1111, the second section 1112, the annular groove 121, the third section 1121 and the fourth section 1122 are connected in sequence, and the present application does not impose any restrictions on this.

[0080] In a specific embodiment, a rounded corner is set at the opening of the first section 1111 of the first through hole 111 near one end of the accommodating cavity 122 of the inner tube 12, the connection between the first section 1111 and the second section 1112 is smoothly transitioned, and a rounded corner is set at the opening of the second section 1112 of the first through hole 111 near one end of the annular groove 121. In this way, the process of the wire of the waist and hip assembly 100 passing through the first through hole 111 is smoother, and the damage to the wiring of the waist and hip assembly 100 caused by the opening of the corner of the first through hole 111 can be reduced. A rounded corner is set at the opening of the third section 1121 of the second through hole 112 near one end of the annular groove 121, the connection between the third section 1121 and the fourth section 1122 is smoothly transitioned, and a rounded corner is set at the opening of the fourth section 1122 of the second through hole 112 near one end of the second wiring channel 312. In this way, the process of the wire of the waist and hip assembly 100 passing through the second through hole 112 can be smoother, and the damage to the wiring of the waist and hip assembly 100 caused by the opening of the corner of the second through hole 112 can be reduced.

[0081] In a more specific embodiment, the ratio of the length of the first section 1111 of the first through hole 111 extending along the first axis A to the length of the second section 1112 extending circumferentially around the first axis A is in the range of [0.8, 1.2], and the ratio of the length of the third section 1121 of the second through hole 112 extending circumferentially around the first axis A to the length of the fourth section 1122 extending along the first axis A is in the range of [0.8, 1.2].

[0082] In the waist and hip assembly 100 provided in this embodiment, the length of the first section 1111 of the first through hole 111 extending along the first axis A is equal to the length of the second section 1112 extending circumferentially around the first axis A, and the length of the third section 1121 of the second through hole 112 extending circumferentially around the first axis A is equal to the length of the fourth section 1122 extending along the first axis A.

[0083] In a more specific embodiment, along the extension direction of the first axis A, the ratio of the distance between the center of the opening of the second section 1112 near the end of the annular groove 121 and the center of the opening of the third section 1121 near the end of the annular groove 121 to the extension length of the second section 1112 is in the range of [0.8, 1.2], and the ratio of the distance between the center of the opening of the second section 1112 near the end of the annular groove 121 and the center of the opening of the third section 1121 near the end of the annular groove 121 to the extension length of the third section 1121 is in the range of [0.8, 1.2]. As a result, in the process of the wires of the waist and hip assembly 100 passing through from the first through hole 111 to the second through hole 112, there will be no mutual interference between the wires, so that the process of the wires of the waist and hip assembly 100 passing through from the first through hole 111 to the second through hole 112 is smoother, which is conducive to improving the wire passing efficiency of the waist and hip assembly 100.

[0084] In the waist and hip assembly 100 provided in this embodiment, along the extension direction of the first axis A, the distance between the center of the opening of the second section 1112 near one end of the annular groove 121 and the center of the opening of the third section 1121 near one end of the annular groove 121 is equal to the extension length of the second section 1112, and the distance between the center of the opening of the second section 1112 near one end of the annular groove 121 and the center of the opening of the third section 1121 near one end of the annular groove 121 is equal to the extension length of the third section 1121.

[0085] See also Figures 1 to 3 In a specific embodiment, the waist-hip assembly 100 further includes a waist drive motor 60, the housing of which is housed and fixed to the cylindrical structure 10, the output shaft of which extends in the vertical direction of the humanoid robot, and the waist drive motor 60 is used to drive the waist assembly of the humanoid robot to move. The waist drive motor 60 of the waist-hip assembly 100 provided in this embodiment is used to drive the waist assembly of the humanoid robot to rotate around the vertical direction of the humanoid robot, so as to realize the waist assembly turning left or right relative to the waist-hip assembly 100.

[0086] The waist and hip assembly 100 provided in this embodiment is accommodated in the cylinder structure 10 by the waist drive motor 60, that is, the wires of the waist drive motor 60 can be electrically connected inside the cylinder structure 10, so that the wires of the waist drive motor 60 are routed inside the waist and hip assembly 100, which can reduce the complexity of the routing of the waist and hip assembly 100. At the same time, it can avoid that the wires of the waist drive motor 60 are exposed on the outer surface of the waist and hip assembly 100, reduce the influence of the routing of the waist drive motor 60 on the aesthetics of the waist and hip assembly 100, and can also shorten the length of the routing of the waist drive motor 60, thereby reducing the routing design cost of the waist and hip assembly 100.

[0087] See also Figures 1 to 3In a specific embodiment, the waist and hip assembly 100 also includes a connecting shell 70, which includes a first connecting shell 71 and a second connecting shell 72. The first connecting shell 71 and the second connecting shell 72 are interlocked along the front and rear directions of the humanoid robot. The cylindrical structure 10, the pitch motor 20 and the waist drive motor 60 are all accommodated in the space surrounded by the first connecting shell 71 and the second connecting shell 72, so that the appearance of the cylindrical structure 10, the pitch motor 20 and the waist drive motor 60 is an integrated structure.

[0088] The waist and hip assembly 100 provided in this embodiment is formed by accommodating the cylindrical structure 10, the pitch motor 20 and the waist drive motor 60 in the space surrounded by the first connection shell 71 and the second connection shell 72, so that the connection shell 70 hides the cylindrical structure 10, the pitch motor 20 and the waist drive motor 60 inside the waist and hip assembly 100, and the electrical connection structure of the pitch motor 20, the waist drive motor 60, the roll motor 40 and the yaw motor 50 in the cylindrical structure 10 can also be covered by the connection shell 70, which is conducive to improving the overall aesthetics of the waist and hip assembly 100. At the same time, the connection shell 70 can prevent part of the dust and other impurities in the environment from entering the pitch motor 20 and the waist drive motor 60, which is conducive to improving the working stability and service life of the pitch motor 20 and the waist drive motor 60.

[0089] See also Figures 1 to 6 In a specific embodiment, the support member 30 includes a first shell 31 and a second shell 32 connected along the axial direction of the output shaft of the roll motor 40. The first space 311 is provided in the first shell 31 and forms an opening, and the second shell 32 covers the opening of the first space 311 of the first shell 31. The second space 321 is provided in the second shell 32, and the second wiring channel 312 is provided in the first shell 31 and connects the first space 311 and the first wiring channel 11. The housing of the roll motor 40 is accommodated and fixed in the first space 311, and the roll motor 40 has a second axis B, which is perpendicular to the first axis A. The output shaft of the roll motor 40 is used to drive the yaw motor 50 to rotate around the second axis B, so that the leg assembly swings in the left and right directions of the humanoid robot.

[0090] The second wiring channel 312 is disposed at a position of the first housing 31 close to the first wiring channel 11. When the humanoid robot is in an upright state, the second wiring channel 312 and the connecting hole 124 on the side wall of the annular groove 121 are aligned along the direction of the first axis A, so that the second wiring channel 312 and the first wiring channel 11 are aligned along the direction of the first axis A. Thus, the length of the wires of the waist and hip assembly 100 passing through the second wiring channel 312 and the first wiring channel 11 can be further shortened.

[0091] The waist and hip assembly 100 provided in this embodiment is configured such that the roll motor 40 is contained in the first space 311 of the first shell 31, and the second wiring channel 312 is provided in the first shell 31. The second wiring channel 312 can connect the first space 311 with the first wiring channel 11, so that the wires of the roll motor 40 contained in the first space 311 can be electrically connected inside the cylinder structure 10 through the second wiring channel 312 and the first wiring channel 11, that is, the wires of the roll motor 40 are routed inside the waist and hip assembly 100, which can reduce the complexity of the wiring of the waist and hip assembly 100. At the same time, it can avoid that the wires of the roll motor 40 are exposed on the outer surface of the waist and hip assembly 100, reduce the influence of the wiring of the roll motor 40 on the aesthetics of the waist and hip assembly 100, and can also shorten the length of the wiring of the roll motor 40, thereby reducing the wiring design cost of the waist and hip assembly 100.

[0092] See also Figures 1 to 6 In a specific embodiment, the support member 30 of the waist and hip assembly 100 further includes a connecting member 33, which passes through the first shell 31 and is located at a position of the first shell 31 close to the cylinder structure 10. When the humanoid robot is in an upright state, the connecting member 33 and the connecting hole 124 on the side wall of the annular groove 121 are aligned along the first axis A. The connecting member 33 extends along the first axis A, and the connecting member 33 is spaced apart from the cylinder structure 10. The second wiring channel 312 is provided on the connecting member 33 and extends along the first axis A. When the humanoid robot is in an upright state, the second wiring channel 312 and the connecting hole 124 on the side wall of the annular groove 121 are aligned along the first axis A.

[0093] The waist and hip assembly 100 provided in this embodiment is provided with a connection piece 33 through the first housing 31 near the cylinder structure 10, and the second wiring channel 312 is provided on the connection piece 33, so that the second wiring channel 312 is closer to the cylinder structure 10, and furthermore, the second wiring channel 312 is closer to the first wiring channel 11, which is beneficial to shorten the length of the wire from the second wiring channel 312 to the first wiring channel 11, shorten the length of the wiring of the rolling motor 40, and further reduce the wiring design cost of the waist and hip assembly 100. Moreover, the second wiring channel 312 is closer to the first wiring channel 11, which can also reduce the length of the wire exposed outside the waist and hip assembly 100, and reduce the influence of the wiring of the rolling motor 40 on the aesthetics of the waist and hip assembly 100. At the same time, the spacing between the connecting member 33 and the cylindrical structure 10 can prevent the connecting member 33 of the support member 30 and the cylindrical structure 10 from interfering with each other during relative rotation, and can also reduce the wear of the wire between the first wiring channel 11 and the second wiring channel 312, thereby increasing the service life of the wire.

[0094] See also Figures 1 to 6In a specific embodiment, the second space 321 of the support member 30 of the waist and hip assembly 100 is a depression on the side of the second shell 32 facing away from the cylindrical structure 10, and the second space 321 and the first space 311 are arranged opposite to each other along the second axis B. The third wiring channel 322 is arranged on the bottom wall of the second space 321 and passes through the second shell 32. The third wiring channel extends along the direction of the second axis B so that the third wiring channel 322 connects the second space 321 and the first space 311. Among them, the depression where the second space 321 is located is a "U"-shaped depression, and the yaw motor 50 is installed in the second space 321. As a result, the wires of the yaw motor 50 can enter the inner cylinder 12 of the cylindrical structure 10 through the second space 321, the third wiring channel 322, the first space 311, the second wiring channel 312 and the first wiring channel 11 to achieve electrical connection.

[0095] The waist and hip assembly 100 provided in this embodiment is provided with a second space 321 as a depression disposed on the side of the second shell 32 away from the cylindrical structure 10, and the yaw motor 50 is accommodated in the second space 321, so that the roll motor 40 drives the yaw motor 50 to swing left and right around the second axis B of the humanoid robot. Moreover, the third wiring channel 322 is provided on the bottom wall of the second space 321 and penetrates the second shell 32, and the third wiring channel 322 connects the first space 311 and the second space 321, so that the wires of the yaw motor 50 in the second space 321 enter the first space 311 through the third wiring channel 322, and then enter the cylindrical structure 10 through the second wiring channel 312 and the first wiring channel 11 to realize electrical connection, that is, the wires of the yaw motor 50 are routed inside the waist and hip assembly 100, which can reduce the complexity of the wiring of the waist and hip assembly 100. At the same time, it can prevent the wires of the yaw motor 50 from being exposed on the outer surface of the waist-hip assembly 100, reduce the influence of the routing of the yaw motor 50 on the aesthetics of the waist-hip assembly 100, and shorten the length of the routing of the yaw motor 50, thereby reducing the routing design cost of the waist-hip assembly 100.

[0096] See also Figures 1 to 6 In a specific embodiment, the output shaft of the roll motor 40 of the waist and hip assembly 100 is passed through the first space 311 into the second space 321, one side of the housing of the yaw motor 50 is fixedly connected to the output shaft of the roll motor 40, and the other side of the housing of the yaw motor 50 is rotatably connected to the inner wall of the second space 321 away from the first space 311, so that the roll motor 40 drives the yaw motor 50 to rotate around the second axis B, thereby driving the leg assembly to swing left and right of the humanoid robot. The yaw motor 50 has a third axis C, which is perpendicular to the second axis B, and the first axis A, the second axis B and the third axis C intersect at one point. The yaw motor 50 is used to drive the leg assembly of the humanoid robot to rotate around the third axis C, thereby driving the leg assembly to rotate around the up and down direction of the humanoid robot.

[0097] The waist and hip assembly 100 provided in this embodiment is provided in the second space 321 through the output shaft of the roll motor 40 in the first space 311, one side of the housing of the yaw motor 50 is fixedly connected to the output shaft of the roll motor 40, and the other side of the housing of the yaw motor 50 is rotatably connected to the inner wall of the second space 321, so that the roll motor 40 drives the yaw motor 50 to swing left and right around the second axis B of the humanoid robot. At the same time, the yaw motor 50 is used to drive the leg assembly to rotate around the third axis C, so that the yaw motor 50 drives the leg assembly to rotate around the up and down direction of the humanoid robot.

[0098] See also Figures 1 to 6 In a specific embodiment, the bottom wall of the second space 321 of the support member 30 of the waist and hip assembly 100 has an extension groove 323, and the extension groove 323 and the third wiring channel 322 are arranged along the second axis B. The extension groove 323 is connected to the third wiring channel 322, and the opening size of the extension groove 323 is larger than the opening size of the third wiring channel 322, so that the wire can pass from the extension groove 323 to the third wiring channel 322. The wire of the yaw motor 50 passes through the extension groove 323, the third wiring channel 322, the first space 311, the second wiring channel 312 and the first wiring channel 11 from the second space 321 in sequence to enter the inner cylinder 12 of the cylinder structure 10 to achieve electrical connection.

[0099] The waist and hip assembly 100 provided in this embodiment is provided with an extension groove 323 connected with the third wiring channel 322 through the bottom wall of the second space 321, so that part of the wire can be received in the extension groove 323. When the yaw motor 50 rotates around the second axis B relative to the second shell 32 under the action of the roll motor 40, a certain amount of wire can be provided in the extension groove 323 to prevent the wire from being stretched and broken, which is beneficial to improving the electrical connection stability of multiple motors of the waist and hip assembly 100.

[0100] See also Figures 1 to 7 In a specific embodiment, a fourth wiring channel 51 is provided on the outer shell of the yaw motor 50 of the waist and hip assembly 100, and the fourth wiring channel 51 penetrates the outer shell of the yaw motor 50, and the fourth wiring channel 51 is arranged at a position of the outer shell of the yaw motor 50 close to the third wiring channel 322. The wires of the yaw motor 50 enter into the third wiring channel 322 through the fourth wiring channel 51 and the second space 321, and then enter into the inner tube 12 of the cylinder structure 10 through the first space 311, the second wiring channel 312 and the first wiring channel 11 in turn to realize electrical connection.

[0101] More specifically, the connection between the housing of the yaw motor 50 and the output shaft of the roll motor 40 has an avoidance groove 41, and the avoidance groove 41 connects the fourth wiring channel 51 and the second space 321. The avoidance groove 41 is extended along the third axis C, so that the wire passing through the fourth wiring channel 51 of the yaw motor 50 passes through the second space 321 toward the top of the humanoid robot and enters the third wiring channel 322.

[0102] The waist and hip assembly 100 provided in this embodiment is provided with a fourth wiring channel 51 penetrating the outer shell of the yaw motor 50, so that the wires of the yaw motor 50 enter the second space 321 through the fourth wiring channel 51, and then enter the cylindrical structure 10 through the third wiring channel 322, the first space 311, the second wiring channel 312 and the first wiring channel 11 in sequence to achieve electrical connection, that is, the wires of the yaw motor 50 are routed inside the waist and hip assembly 100, which can reduce the complexity of the wiring of the waist and hip assembly 100. Moreover, the fourth wiring channel 51 is provided at a position of the outer shell of the yaw motor 50 close to the third wiring channel 322, so that the fourth wiring channel 51 is closer to the third wiring channel 322, which is conducive to shortening the length of the wires passing from the fourth wiring channel 51 to the third wiring channel 322, shortening the length of the wiring of the yaw motor 50, and thus reducing the wiring design cost of the waist and hip assembly 100. At the same time, the fourth wiring channel 51 is closer to the third wiring channel 322 , which can also reduce the length of the wire exposed outside the waist and hip assembly 100 , and reduce the impact of the wiring of the yaw motor 50 on the aesthetics of the waist and hip assembly 100 .

[0103] See also Figures 1 to 8 In a specific embodiment, a wire groove 52 is provided on the peripheral side wall of the housing of the yaw motor 50 of the waist and hip assembly 100. The wire groove 52 extends along the third axis C. One opening of the wire groove 52 is located in the second space 321 and communicates with the second space 321. Another opening of the wire groove 52 is located in the yaw motor 50 and communicates with the leg assembly of the humanoid robot through the yaw motor 50. Thus, the wire groove 52 can also communicate with the inner cylinder 12 of the cylinder structure 10 through the second space 321, the third wiring channel 322, the first space 311, the second wiring channel 312 and the first wiring channel 11.

[0104] The waist and hip assembly 100 provided in this embodiment is arranged on the peripheral side wall of the housing of the yaw motor 50 through the wire accommodating groove 52 and extends along the third axis C, and one opening of the wire accommodating groove 52 is located in the second space 321 and connected with the second space 321, and the other opening of the wire accommodating groove 52 is located in the yaw motor 50 and connected with the leg assembly of the humanoid robot through the yaw motor 50, so that the wires of the leg assembly of the humanoid robot can pass through the wire accommodating groove 52 and the second space 321 to enter the third routing channel 322, and then enter the cylindrical structure 10 through the first space 311, the second routing channel 312 and the first routing channel 11 to realize electrical connection, that is, the wires of the leg assembly are routed inside the waist and hip assembly 100, which can reduce the complexity of routing inside the waist and hip assembly 100.

[0105] See also Figures 1 to 3 In a specific embodiment, the number of leg assemblies of the humanoid robot is two, so that the humanoid robot has a better humanoid effect. At the same time, the number of pitch motors 20 of the waist and hip assembly 100 is two, and the two pitch motors 20 are symmetrically installed on the cylindrical structure 10 along the left and right directions of the humanoid robot. The number of support members 30 is two, and the two support members 30 are symmetrically installed on the output shafts of the two pitch motors 20 along the left and right directions of the humanoid robot. The number of roll motors 40 is two, and the two roll motors 40 are symmetrically installed on the two support members 30 along the left and right directions of the humanoid robot. The number of yaw motors 50 is two, and the two yaw motors 50 are symmetrically installed on the two support members 30 along the left and right directions of the humanoid robot, and each yaw motor 50 is used to connect a leg assembly of the humanoid robot.

[0106] The waist and hip assembly 100 provided in this embodiment is symmetrically installed on the cylinder structure 10 along the left and right directions of the humanoid robot through two pitch motors 20, two support members 30 are symmetrically installed on the output shafts of the two pitch motors 20 along the left and right directions of the humanoid robot, two roll motors 40 are symmetrically installed on the two support members 30 along the left and right directions of the humanoid robot, and two yaw motors 50 are symmetrically installed on the two support members 30 along the left and right directions of the humanoid robot, and each yaw motor 50 is used to connect to one side of the leg assembly of the humanoid robot. Thus, the waist and hip assembly 100 and the humanoid robot formed by the waist and hip assembly 100 have a better humanoid effect.

[0107] See also Figures 1 to 3 In a specific embodiment, the waist and hip assembly 100 further includes two gripping members 80. The two gripping members 80 are symmetrically mounted on the cylinder structure 10 along the left and right directions of the humanoid robot, and each gripping member 80 protrudes from the outer surface of the cylinder structure 10.

[0108] The waist and hip assembly 100 provided in this embodiment is symmetrically installed on the cylindrical structure 10 along the left and right directions of the humanoid robot through two holding members 80, and each holding member 80 is arranged to protrude from the outer surface of the cylindrical structure 10, so that the operator can carry the waist and hip assembly 100 to perform installation or disassembly.

[0109] 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 assembly (100), characterized in that: For humanoid robots, including: A cylindrical structure (10), wherein a first wiring channel (11) is provided inside a side wall of the cylindrical structure (10); A pitch motor (20) is housed and fixed in the cylindrical structure (10); the pitch motor (20) has a first axis (A), and the first axis (A) is arranged to be inclined relative to a plane where the left-right direction and the front-back direction of the humanoid robot are located; A support member (30) is fixedly connected to an output shaft of the pitch motor (20), and the pitch motor (20) drives the support member (30) to rotate around the first axis (A); the support member (30) comprises a first space (311), a second space (321), a second wiring channel (312), and a third wiring channel (322); the first wiring channel (11), the second wiring channel (312), the first space (311), the third wiring channel (322), and the second space (321) are sequentially connected; a rolling motor (40), housed in the first space (311) and fixedly connected to the support member (30); and The yaw motor (50) is accommodated in the second space (321) and is movably connected to the support member (30); the output shaft of the roll motor (40) is fixedly connected to the housing of the yaw motor (50).

2. The waist and hip assembly (100) according to claim 1, characterized in that: The cylinder structure (10) comprises an inner cylinder (12), an outer cylinder (13) and a wiring portion (14); the inner cylinder (12) is accommodated in the outer cylinder (13); a surface of the inner cylinder (12) facing the outer cylinder (13) is provided with an annular groove (121); the wiring portion (14) is arranged in the annular groove (121) and extends along the first axis (A); the first wiring channel (11) is arranged in the wiring portion (14); the first wiring channel (11) is communicated with the annular groove (121); the inner cylinder (12) has an accommodating cavity (122); a housing of the pitch motor (20) is accommodated in the accommodating cavity (122) and is fixedly connected to the inner cylinder (12); the accommodating cavity (122) is communicated with the first wiring channel (11).

3. The waist and hip assembly (100) according to claim 2, characterized in that: The wiring portion (14) comprises a first platform (141) and a second platform (142) arranged along the first axis (A), the second platform (142) being closer to the support member (30) relative to the first platform (141); the first wiring channel (11) comprises a first through hole (111) arranged on the first platform (141) and a second through hole (112) arranged on the second platform (142); the first through hole (111) comprises a first section (1111) and a second section (1112), the first section (1111) extending along the first axis (A) toward the first through hole (1111). The support member (30) extends and penetrates the side wall of one side of the annular groove (121), and the second section (1112) extends circumferentially around the first axis (A) and is connected to the annular groove (121); the second through hole (112) comprises a third section (1121) and a fourth section (1122), the third section (1121) extends circumferentially around the first axis (A) and is connected to the annular groove (121), and the fourth section (1122) extends along the first axis (A) away from the support member (30) and penetrates the side wall of the other side of the annular groove (121).

4. The waist and hip assembly (100) according to claim 1, characterized in that: The waist and hip assembly (100) further comprises a waist drive motor (60), the housing of which is housed and fixed to the cylindrical structure (10), the output shaft of which extends in the up-and-down direction of the humanoid robot, and the waist drive motor (60) is used to drive the waist assembly of the humanoid robot to move.

5. The waist and hip assembly (100) according to claim 4, characterized in that: The waist and hip assembly (100) further includes a connecting shell (70), wherein the connecting shell (70) includes a first connecting shell (71) and a second connecting shell (72), wherein the first connecting shell (71) and the second connecting shell (72) are interlocked with each other along the front-to-back direction of the humanoid robot, and the cylindrical structure (10), the pitch motor (20) and the waist drive motor (60) are all accommodated in a space formed by the first connecting shell (71) and the second connecting shell (72).

6. The waist and hip assembly (100) according to claim 1, characterized in that: The support member (30) comprises a first shell (31) and a second shell (32) connected along the axial direction of the output shaft of the roll motor (40); the first space (311) is arranged in the first shell (31); the second space (321) is arranged in the second shell (32); the second wiring channel (312) is arranged in the first shell (31) and connects the first space (311) and the first wiring channel (11); the housing of the roll motor (40) is accommodated and fixed in the first space (311); the roll motor (40) has a second axis (B), the second axis (B) is perpendicular to the first axis (A); the output shaft of the roll motor (40) is used to drive the yaw motor (50) to rotate around the second axis (B).

7. The waist and hip assembly (100) according to claim 6, characterized in that: The support member (30) further comprises a connecting member (33), the connecting member (33) passing through the first shell (31) and being located at a position of the first shell (31) close to the cylindrical structure (10); the connecting member (33) extends along the first axis (A), and the connecting member (33) and the cylindrical structure (10) are arranged at a distance, and the second wiring channel (312) is arranged on the connecting member (33).

8. The waist and hip assembly (100) according to claim 6, characterized in that: The second space (321) is a depression on a side of the second shell (32) facing away from the cylindrical structure (10), and the second space (321) and the first space (311) are arranged opposite to each other along the second axis (B); the third wiring channel (322) is arranged on the bottom wall of the second space (321) and passes through the second shell (32), and the third wiring channel (322) connects the second space (321) and the first space (311).

9. The waist and hip assembly (100) according to claim 8, characterized in that: The output shaft of the roll motor (40) is inserted into the second space (321), one side of the housing of the yaw motor (50) is fixedly connected to the output shaft of the roll motor (40), and the other side of the housing of the yaw motor (50) is rotatably connected to the inner wall of the second space (321); the yaw motor (50) has a third axis (C), the third axis (C) is perpendicular to the second axis (B), and the first axis (A), the second axis (B) and the third axis (C) intersect at one point, and the yaw motor (50) is used to drive the leg assembly of the humanoid robot to rotate around the third axis (C).

10. The waist and hip assembly (100) according to claim 9, characterized in that: An extension groove (323) is provided on the bottom wall of the second space (321); the extension groove (323) and the third wiring channel (322) are arranged along the second axis (B), and the extension groove (323) is in communication with the third wiring channel (322).

11. The waist and hip assembly (100) according to claim 9, characterized in that: A fourth wiring channel (51) is provided on the outer shell of the yaw motor (50); the fourth wiring channel (51) passes through the outer shell of the yaw motor (50); and the fourth wiring channel (51) is provided at a position of the outer shell of the yaw motor (50) close to the third wiring channel (322); and a wire of the yaw motor (50) enters the third wiring channel (322) via the fourth wiring channel (51) and the second space (321).

12. The waist and hip assembly (100) according to claim 9, characterized in that: A wire accommodating groove (52) is provided on the peripheral side wall of the housing of the yaw motor (50), the wire accommodating groove (52) extending along the third axis (C), one opening of the wire accommodating groove (52) being located in the second space (321) and communicating with the second space (321), and another opening of the wire accommodating groove (52) being located in the yaw motor (50) and communicating with the leg assembly of the humanoid robot through the yaw motor (50).

13. The waist and hip assembly (100) according to claim 1, characterized in that: The number of the pitch motors (20) is two, and the two pitch motors (20) are symmetrically mounted on the cylindrical structure (10) along the left-right direction of the humanoid robot; the number of the support members (30) is two, and the two support members (30) are symmetrically mounted on the output shafts of the two pitch motors (20) along the left-right direction of the humanoid robot; the number of the roll motors (40) is two, and the two roll motors (40) are symmetrically mounted on the two support members (30) along the left-right direction of the humanoid robot; the number of the yaw motors (50) is two, and the two yaw motors (50) are symmetrically mounted on the two support members (30) along the left-right direction of the humanoid robot, and each yaw motor (50) is used to connect a leg assembly of the humanoid robot.

14. The waist and hip assembly (100) according to claim 13, characterized in that: The waist and hip assembly (100) further comprises a gripping member (80), and the number of the gripping members (80) is two; the two gripping members (80) are symmetrically mounted on the cylindrical structure (10) along the left-right direction of the humanoid robot, and each of the gripping members (80) is arranged to protrude from the outer surface of the cylindrical structure (10).

15. A humanoid robot, characterized in that: include: The waist and hip assembly (100) as claimed in any one of claims 1 to 14.

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