Hip joint mechanism, crotch assembly and humanoid robot

Abstract

The invention discloses a hip joint mechanism, a crotch assembly and a humanoid robot. The hip joint mechanism comprises a first driving part, a mounting bracket, a second driving part and a third driving part, the first driving part is used for driving the lower limb assembly to rotate around a first axis; an inclined included angle is formed between the first axis and the left-right direction of the humanoid robot; the mounting bracket comprises a first plate, a second plate and a third plate which are connected in sequence; the surface, back to the first plate, of the second plate is fixedly connected with a rotor of the first driving part; the second driving piece is used for driving the lower limb assembly to rotate around a second axis; a shell of the second driving piece is fixedly connected with the first plate; the third driving part is used for driving the lower limb assembly to rotate around a third axis, a shell of the third driving part comprises a connecting shell and a containing shell, the connecting shell is rotationally connected with the third plate and fixedly connected with a rotor of the second driving part, and a rotor of the third driving part is used for being fixedly connected with the lower limb assembly. The hip joint mechanism is simple in structural arrangement and high in space utilization rate.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a hip joint mechanism, a crotch assembly 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 humanoid robot includes a hip assembly, and the corresponding hip assembly includes a sacral joint mechanism and a hip joint mechanism. The sacral joint mechanism is arranged between the sacral joint mechanism and the lower limb assembly to achieve free movement of the lower limb assembly, thereby simulating human walking, running, jumping and other states.

[0003] In the related art, the structure of the hip joint mechanism is complex and scattered, and the space utilization rate is low. Summary of the invention

[0004] The purpose of the present application is to provide a hip joint mechanism, a crotch assembly and a humanoid robot to solve the problem that the structure of the hip joint mechanism is complex and dispersed and the space utilization is low.

[0005] To achieve the purpose of this application, this application provides the following technical solutions: In a first aspect, the present invention provides a hip joint mechanism for a humanoid robot, comprising: A first driving member, used for driving the lower limb assembly to rotate around a first axis, wherein the first axis has an inclined angle with the left-right direction of the humanoid robot; The mounting bracket comprises a first plate, a second plate and a third plate connected in sequence, wherein the first plate and the third plate are arranged relatively spaced apart and are located on the same side of the second plate, and a surface of the second plate facing away from the first plate is connected and fixed to the rotor of the first driving member; A second driving member, used for driving the lower limb assembly to rotate around a second axis, wherein a housing of the second driving member is connected and fixed to the first plate; The third driving member is used to drive the lower limb component to rotate around a third axis. The outer shell of the third driving member includes a connecting shell and a receiving shell. The connecting shell and the receiving shell are connected along the direction of the third axis and are located between the first plate and the third plate. The connecting shell is rotatably connected to the third plate. The connecting shell is connected and fixed to the rotor of the second driving member. The rotor and stator of the third driving member are both received in the connecting shell and the receiving shell. The rotor of the third driving member is used to be connected and fixed to the lower limb component.

[0006] With such arrangement, the outer shell of the third driving member not only accommodates and protects the rotor, stator and electronic components inside the third driving member, but also has the function of connecting with the mounting bracket and the second driving member, thereby realizing the structural reuse of the third driving member. In addition, the first driving member, the second driving member and the third driving member cooperate to realize the three-degree-of-freedom movement of the lower limb component under the connection of the mounting bracket. Therefore, the structural arrangement of the hip joint mechanism of the present invention is simple and the space utilization rate is high.

[0007] In one embodiment, the second plate has a first surface and a second surface opposite to each other, and the second surface is closer to the first plate and the third plate than the first surface; The second plate has an avoidance groove, the opening of which faces away from the first surface, and when the lower limb assembly rotates to the extreme position around the second axis, the third driving member is at least partially accommodated in the avoidance groove. The second plate is provided with an avoidance groove, and when the lower limb assembly swings inward to the extreme position, the third driving member is at least partially accommodated in the avoidance groove, and the avoidance groove can avoid the movement of the third driving member, thereby further increasing the swing angle of the lower limb assembly in the left-right direction of the humanoid robot and improving the anthropomorphism of the humanoid robot.

[0008] In one embodiment, the connection shell includes a cylinder and a first connection block, and the first connection block is connected to the outer peripheral surface of the cylinder; The first plate is provided with a mounting hole penetrating through the first plate, the rotor of the second driving member is inserted into the mounting hole, the rotor of the second driving member includes a second connecting block, the second connecting block is located between the first plate and the third plate, and the first connecting block is connected and fixed to the second connecting block. In this way, the contact area between the second driving member and the third driving member is increased, so as to improve the connection stability between the second driving member and the third driving member and improve the structural strength of the hip joint mechanism.

[0009] In one embodiment, the radial dimension of the second connection block of the mounting hole is larger than the diameter of the mounting hole, and the mounting bracket further comprises a first limit block, which is arranged on the surface of the first plate facing the second plate, and the first limit block is used to limit the rotation angle of the second connection block. When the rotor of the second driving member drives the third driving member to rotate around the second axis to a limit angle, the first limit block abuts against the second connection block to limit the rotation angle of the third driving member.

[0010] In one embodiment, the connection shell further comprises a rotating part, the rotating part is arranged on the outer peripheral surface of the cylinder on the side facing away from the first connection block, and the rotating part is rotatably connected to the third plate. Such arrangement makes the movement of the third driving member around the second axis smoother, and the swinging degree of the lower limb assembly in the left and right directions of the humanoid robot is more anthropomorphic.

[0011] In one embodiment, the cylinder includes a main body and a partition, one end of the main body is connected to the receiving shell, the partition is arranged at one end of the main body away from the receiving shell, the main body encloses a first receiving space, the receiving shell encloses a second receiving space, the first receiving space and the second receiving space are connected, and the first receiving space and the second receiving space accommodate the rotor and stator of the third driving member. Such an arrangement allows the rotor and stator of the third driving member to be reasonably accommodated inside the receiving shell, which is conducive to improving the space utilization rate of the hip joint support and making the structural layout of the hip joint support more reasonable.

[0012] In one embodiment, the cylinder further includes a mounting post, which is disposed on a surface of the partition facing away from the receiving shell; the third driving member further includes an electric control module, which is connected and fixed to the mounting post; The partition plate is provided with a through hole penetrating the partition plate, the through hole being connected to the first receiving space, and a part of the structure of the rotor and / or stator of the third driving member is received in the through hole. The installation column is arranged so that the electric control module and the partition plate are spaced apart, so that a part of the structure of the rotor and / or stator of the third driving member is received between the electric control module and the partition plate, thereby improving the space utilization of the hip joint support.

[0013] In one embodiment, the electric control module includes a circuit board and a wiring terminal, the circuit board has a first positioning groove, and the wiring terminal is arranged on a side of the circuit board close to the first positioning groove; the partition has a second positioning groove, the second positioning groove is connected to the through hole, and the opening of the first positioning groove and the opening of the second positioning groove are arranged correspondingly. In this way, during the installation process, the first positioning groove of the circuit board and the second positioning groove of the partition are arranged correspondingly, which is convenient for the installation of the circuit board. At the same time, the first positioning groove and the second positioning groove can also accommodate the wiring of the electric control module, and the wiring terminal is arranged on the side close to the first positioning groove, which helps to reduce the length of the wiring required by the wiring terminal, and facilitates wiring.

[0014] In one embodiment, the cylinder body further has an annular partition, which is arranged on the surface of the partition facing away from the containment shell; the main body has a weight-reducing groove at the end facing away from the containment shell, and the weight-reducing groove is arranged on the outside of the annular partition; the partition also has a first wiring hole, which passes through the partition and is arranged on the inside of the annular partition. With such an arrangement, during the installation of the electric control module, the annular partition can provide a certain positioning effect, the weight-reducing groove is arranged to facilitate the lightweighting of the hip joint mechanism, and the first wiring hole makes the wiring layout of the internal structure of the third driving member more reasonable.

[0015] In one embodiment, the housing of the third driving member further comprises a cover body, the cover body is connected to an end of the connecting shell facing away from the receiving shell, and the electric control module is received in the cover body; The second connecting block includes a first connecting portion and a second connecting portion, the first connecting portion is connected and fixed to the first connecting block, the second connecting portion is connected to the first connecting portion and protrudes from the first connecting block, the second connecting portion is connected and fixed to the cover body, the second connecting portion has a first wiring groove, and the opening of the first wiring groove faces away from the first connecting portion; The cover body has a second wiring groove, the opening of the second wiring groove faces the connection shell, and the second wiring groove is connected to the first wiring groove. In this way, the cover body protects the electric control module of the third driving member and improves the appearance of the hip joint support. The first wiring groove and the second wiring groove are provided to optimize the wiring layout and save wiring space.

[0016] In one embodiment, the housing shell includes a supporting member, a speed reducing member and a limiting member connected in sequence, wherein the end of the supporting member away from the speed reducing member is connected to the cylinder, and the speed reducing structure of the third driving member is contained in the speed reducing member; the end of the limiting member away from the speed reducing member is used for rotational connection with the lower limb assembly, and the limiting member is used to limit the rotation angle of the lower limb assembly. A limiting member is provided on the hip joint structure to limit the swing amplitude of the lower limb assembly to avoid instability or damage caused by excessive swinging of the humanoid robot when walking, running or performing other actions. The speed reducing member can change the torque and speed transmission of the third driving member, so that the movement accuracy of the lower limb assembly is higher.

[0017] In one embodiment, the support member includes a body and a baffle, the baffle is arranged at one end of the body away from the speed reducer, and the body and the baffle enclose a first sub-containment space; the baffle is provided with a connecting hole that runs through the baffle, the connecting hole connects the first sub-containment space and the first containment space, and the shaft of the third driving member passes through the connecting hole; the support member is also provided with a second wiring hole, and the second wiring hole is spaced apart from the connecting hole. In this way, the first sub-containment space is used to accommodate the rotor and / or stator of the third driving member, and the second wiring hole cooperates with the aforementioned wiring groove and wiring hole to optimize the wiring layout and save wiring space.

[0018] In a second aspect, the present invention provides a hip assembly, comprising a sacral joint mechanism and two hip joint mechanisms described in any one of the various embodiments of the first aspect, wherein the sacral joint mechanism is used to connect with the waist assembly and drive the waist assembly to rotate around a fourth axis, and the angle between the first axis and the fourth axis is A, satisfying: 90°<A≤160°; the first driving members of the two hip joint mechanisms are respectively connected to the opposite ends of the sacral joint mechanism.

[0019] When A≤90°, the angle A between the first axis and the fourth axis is too small. When the humanoid robot is in an upright state, the lower limb assembly of the humanoid robot is close to the waist assembly, so that the lower limb assembly (i.e., the left leg and the right leg) of the humanoid robot may not be able to support the humanoid robot to complete normal standing; when A>160°, the angle A between the first axis and the fourth axis is too large. When the humanoid robot is in an upright state, the angle between the lower limb assembly (i.e., the left leg and the right leg) of the humanoid robot is too large, and the anthropomorphism of the leg assembly when walking cannot be achieved; when 90°<A≤160°, the degree of anthropomorphism of the humanoid robot when the humanoid robot is in an upright state is high.

[0020] In a third aspect, the present invention provides a humanoid robot, comprising a crotch assembly as described in any one of the various embodiments of the second aspect. With such a configuration, the crotch assembly of the humanoid robot of the present invention has a compact structure and high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 is a front view of a partial structure of a humanoid robot according to an embodiment; Figure 2 is a perspective view of a crotch assembly of an embodiment; Figure 3 is a top view of a crotch assembly of one embodiment; Figure 4 is a perspective view of a mounting bracket of an embodiment; Figure 5 is a three-dimensional diagram of a mounting bracket of another embodiment; Figure 6 is an exploded view of a partial structure of a hip joint mechanism of an embodiment; Figure 7 is a three-dimensional view of a connection shell of an embodiment; Figure 8 is a three-dimensional view of a third driving member of an embodiment.

[0023] Description of reference numerals: 1000-crotch assembly, 100-hip joint mechanism, 10-first driving member, 20-mounting bracket, 21-first plate, 211-mounting hole, 22-second plate, 221-first surface, 222-second surface, 223-avoidance groove, 224-plate body, 225-transition block, 23-third plate, 24-first limiting block, 30-second driving member, 31-second connecting block, 311-first connecting part, 312-second connecting part, 3121-first wiring groove, 313-third connecting part; 40-third driving member, 41-connecting shell, 411-cylinder, 4111-main body, 4112-partition plate, 4113-mounting column, 4114-through hole, 4115-second positioning groove, 4116-annular partition, 4117-weight reduction groove, 4118-first wiring hole, 412-first connecting block, 413-reinforcement rib, 414-rotating part; 42-housing shell, 421-supporting member, 4211-body, 4212-baffle, 4213-connecting hole, 4214-second wiring hole, 422-speed reducing member, 423-limiting member, 4231-second limiting block; 43-electric control module, 431-circuit board, 4311-first positioning groove, 432-connection terminal, 4321-plug connector, 44-cover body, 441-second wiring groove; 200-sacral joint mechanism, 2000-lower limb assembly, 2100-third limit block, 2200-fourth limit block; E1-first axis, E2-second axis, E3-third axis, E4-fourth axis, X-left-right direction of the humanoid robot, Y-front-back direction of the humanoid robot, Z-up-down direction of the humanoid robot. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] For reference Figures 1 to 3 An embodiment of the present invention provides a humanoid robot, including a waist component (not shown), a lower limb component 2000 (partially shown) and a hip component 1000 in an embodiment of the present invention, wherein the sacral joint mechanism 200 of the hip component 1000 is connected to the waist component, and the hip joint mechanism 100 of the hip component 1000 is connected to the lower limb component 2000.

[0029] The specific structures of the waist component and the lower limb component 2000 are not limited and can be set to a humanoid shape. The sacral joint mechanism 200 of the crotch component 1000 is connected to the waist component and can rotate relatively to achieve a sacral joint function similar to that of the human body. The hip joint mechanism 100 of the crotch component 1000 is connected to the lower limb component 2000 and can rotate relatively to achieve a hip joint function similar to that of the human body. For the convenience of subsequent explanations, a coordinate system XYZ is established, wherein the X direction is the left-right direction X of the humanoid robot, the Y direction is the front-back direction Y of the humanoid robot, and the Z direction is the up-down direction Z of the humanoid robot.

[0030] In the embodiment of the present invention, a unique hip joint mechanism 100 is provided, the structure of the hip joint mechanism 100 is reasonably provided, and the structure of the third driving member 40 in the hip joint mechanism 100 is reused, thereby improving the space utilization rate of the hip joint mechanism 100.

[0031] The hip joint mechanism 100 according to the embodiment of the present invention is described in detail below.

[0032] For reference Figures 2 to 6The present invention provides a hip joint mechanism 100 for a humanoid robot, wherein the hip joint mechanism 100 includes a first driving member 10, a mounting bracket 20, a second driving member 30 and a third driving member 40. The first driving member 10 is used to drive the lower limb assembly 2000 to rotate around a first axis E1, and the first axis E1 has an inclined angle with the left-right direction X of the humanoid robot. The mounting bracket 20 includes a first plate 21, a second plate 22 and a third plate 23 connected in sequence, the first plate 21 and the third plate 23 are arranged relatively spaced apart and are located on the same side of the second plate 22, and the surface of the second plate 22 facing away from the first plate 21 is connected and fixed to the rotor of the first driving member 10. The second driving member 30 is used to drive the lower limb assembly 2000 to rotate around the second axis E2, and the housing of the second driving member 30 is connected and fixed to the first plate 21. The third driving member 40 is used to drive the lower limb component 2000 to rotate around the third axis E3. The outer shell of the third driving member 40 includes a connecting shell 41 and a receiving shell 42. The connecting shell 41 and the receiving shell 42 are connected along the direction of the third axis E3 and are located between the first plate 21 and the third plate 23. The connecting shell 41 is rotatably connected to the third plate 23. The connecting shell 41 is connected and fixed to the rotor of the second driving member 30. The rotor and stator of the third driving member 40 are both received in the connecting shell 41 and the receiving shell 42. The rotor of the third driving member 40 is used to be connected and fixed to the lower limb component 2000.

[0033] The rotor of the third driving member 40 generates a rotational torque by interacting with the magnetic field generated by the stator, thereby driving the third driving member 40 to rotate. The rotor is usually composed of a magnet (permanent magnet) and a conductor coil (for certain types of motors), and can be a pole rotor or an induction rotor. The stator usually includes a plurality of windings distributed along the axis of rotation, and the windings are wound by insulated wires to generate electromagnetic torque. The core of the stator is generally composed of multiple thin silicon steel sheets stacked together to fix the coils and withstand electromagnetic torque. The high magnetic permeability and low loss characteristics of the silicon steel sheets enable the stator to effectively generate and maintain a magnetic field.

[0034] The rotor of the third driving member 40 may adopt an outer rotor structure, that is, the rotor is wrapped around the outside of the stator; the rotor of the third driving member 40 may also be located inside the stator without limitation.

[0035] Optionally, the connection shell 41 and the rotor of the second driving member 30 may be connected and fixed by screwing, welding, bonding, clamping, etc., without limitation.

[0036] Similarly, the structures of the first driving member 10 and the second driving member 30 may be the same as or different from those of the third driving member 40 , without limitation.

[0037] Optionally, the housing of the first driving member 10 may be cylindrical, and the rotor and / or stator of the first driving member 10 is accommodated in the housing. The housing is made of a material with a certain structural strength, such as metal material, high-strength plastic, etc., without limitation.

[0038] Specifically, the first driving member 10 is used to drive the lower limb assembly 2000 to move around the first axis E1 to achieve the forward and backward swing of the lower limb assembly 2000; the second driving member 30 is used to drive the lower limb assembly 2000 to rotate around the second axis E2 to achieve the left and right swing of the lower limb assembly 2000; the third driving member 40 is used to drive the lower limb assembly 2000 to rotate around the third axis E3 to achieve the self-rotation of the lower limb assembly 2000. The first driving member 10, the second driving member 30 and the third driving member 40 enable the lower limb assembly 2000 to move with three degrees of freedom. When the humanoid robot is in an upright state, the extension direction of the third axis E3 is the up and down direction Z of the humanoid robot.

[0039] Optionally, the first axis E1, the second axis E2 and the third axis E3 intersect at one point.

[0040] Optional, for reference Figure 1 The first axis E1 has an inclined angle B with the left-right direction X of the humanoid robot, satisfying: 0°<B≤70°. Specifically, B can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc., without limitation.

[0041] Optionally, the mounting bracket 20 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc., and metal materials such as aluminum, aluminum alloys, magnesium alloys, iron and iron alloys, etc. The mounting bracket 20 can be an integrated structure, that is, the first plate 21, the second plate 22 and the third plate 23 are an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The mounting bracket 20 can also be a split structure, and the first plate 21, the second plate 22 and the third plate 23 can be connected and fixed by welding, bonding, clamping, screwing, etc. The wall thickness of each part of the mounting bracket 20 can be roughly uniform, that is, the thickness of the first plate 21, the second plate 22 and the third plate 23 can be roughly uniform.

[0042] Optionally, the housing of the second driving member 30 is connected and fixed to the first plate 21 , that is, the stator of the second driving member 30 is connected and fixed to the first plate 21 .

[0043] Optionally, the first plate 21 and the third plate 23 are arranged relative to each other in the extension direction of the second axis E2, and the orthographic projection of the first plate 21 in the extension direction of the second axis E2 is located inside the third plate 23, that is, the area of ​​the third plate 23 is larger than the area of ​​the first plate 21. While ensuring the structural strength of the mounting bracket 20, the weight of the mounting bracket 20 is reduced, thereby achieving lightweight hip joint mechanism 100.

[0044] Optionally, a transmission part is further provided on the surface of the second plate 22 facing away from the first plate 21 , and the transmission part is connected to the rotor of the first driving member 10 .

[0045] Optionally, the outer shell of the third driving member 40 is a material with high structural strength, and the outer shell of the third driving member 40 needs to have good insulation performance to prevent the current from passing directly through the outer shell, thereby protecting the internal circuit of the third driving member 40 and the safety of personnel. Specifically, it can be high-strength plastic, ceramic, etc. When the outer shell of the third driving member 40 is a metal material, the third driving member 40 also needs to be provided with an insulating material (such as a plastic gasket, an insulating coating, etc.) to isolate it from the internal circuit to prevent the current from passing directly through the outer shell. The connecting shell 41 and the receiving shell 42 can be an integrated structure, that is, the connecting shell 41 and the receiving shell 42 are an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The connecting shell 41 and the receiving shell 42 can be a split structure, and the connecting shell 41 and the receiving shell 42 can be connected and fixed by welding, bonding, clamping, screwing, etc. There is a smooth transition between the connecting shell 41 and the receiving shell 42 of the third driving member 40.

[0046] Optionally, the maximum dimension of the first driving member 10 in the direction of the second axis E2 is d1, the dimension of the surface of the first plate 21 facing away from the third plate 23 and the surface of the third plate 23 facing away from the first plate 21 in the direction of the second axis E2 is d2, and the maximum dimension of the third driving member 40 in the direction of the second axis E2 is d3, wherein d1 / d2 is 0.9-1.2, and d3 / d2 is 0.6-0.8. Optionally, d1 / d2 can be 0.9, 0.95, 1, 1.05, 1.1, 1.15, 1.2, etc., and d3 / d2 can be 0.6, 0.65, 0.7, 0.75, 0.8, etc., without limitation. When d1 / d2 is less than 0.9, the size of the first driving member 10 is small, and the driving force on the mounting bracket 20 and the lower limb assembly 2000 around the first axis E1 is small; when d1 / d2 is greater than 1.2, the size of the first driving member 10 is too large, which is not conducive to the lightweight of the humanoid robot, and the space occupied by the hip joint mechanism 100 is large; when 0.9≤d1 / d2≤1.2, the size of the first driving member 10 is appropriate, which can not only drive the mounting bracket 20 and the lower limb assembly 2000 to rotate around the first axis E1, but also improve the space utilization rate of the hip joint mechanism 100. When d3 / d2<0.6, the size of the third driving member 40 is small, which is not conducive to driving the lower limb assembly 2000 to rotate around the third axis E3. When d3 / d2>0.8, the wall thickness of the first plate 21 and the third plate 23 is too thin, resulting in poor strength of the mounting bracket 20. When 0.6≤d3 / d2≤0.8, the third driving member 40 reasonably utilizes the internal size of the mounting bracket 20, can effectively drive the lower limb assembly 2000 to rotate around the third axis E3, and the wall thickness of the mounting bracket 20 can support the installation of multiple driving members, and the structural strength of the hip joint mechanism 100 is good.

[0047] In this arrangement, the outer shell of the third driving member 40 not only accommodates and protects the rotor, stator and electronic components inside the third driving member 40, but also has the function of connecting with the mounting bracket 20 and the second driving member 30, thereby realizing the structural reuse of the third driving member 40. In addition, the first driving member 10, the second driving member 30 and the third driving member 40 cooperate with each other to realize the three-degree-of-freedom movement of the lower limb assembly 2000 under the connection of the mounting bracket 20. Therefore, the hip joint mechanism 100 of the present invention has a simple structural setting and high space utilization.

[0048] For reference Figure 4 and Figure 5 In one embodiment, the second plate 22 has a first surface 221 and a second surface 222 opposite to each other, and the second surface 222 is closer to the first plate 21 and the third plate 23 than the first surface 221. The second plate 22 has an avoidance groove 223, the opening of the avoidance groove 223 faces away from the first surface 221, and when the lower limb assembly 2000 rotates around the second axis E2 to the extreme position, the third driving member 40 is at least partially accommodated in the avoidance groove 223.

[0049] The first surface 221 and the second surface 222 can be flat surfaces or curved surfaces, etc., without limitation.

[0050] Optionally, the second plate 22 has a plate body 224 and a transition block 225, wherein the transition block 225 is disposed at one end of the plate body 224 facing the first plate 21, one end of the transition block 225 is connected to the first plate 21, and the other end of the transition block 225 is connected to the third plate 23. An avoidance groove 223 is provided on the end surface of the transition block 225 away from the plate body 224, that is, the end surface of the transition block 225 away from the plate body 224 and the end surface of the plate body 224 facing the first plate 21 are both the second surface 222.

[0051] The bottom wall of the avoiding groove 223 may be a smooth curved surface.

[0052] An avoidance groove 223 is provided on the second plate 22. When the lower limb assembly 2000 swings inward to the extreme position, the third driving member 40 is at least partially accommodated in the avoidance groove 223. The avoidance groove 223 can avoid the movement of the third driving member 40, thereby further increasing the swing angle of the lower limb assembly 2000 in the left and right direction X of the humanoid robot, thereby improving the degree of anthropomorphism of the humanoid robot.

[0053] For reference Figure 2 , Figure 4 , Figure 6 and Figure 7In one embodiment, the connection shell 41 includes a cylinder 411 and a first connection block 412, and the first connection block 412 is connected to the outer peripheral surface of the cylinder 411. The first plate 21 is provided with a mounting hole 211 penetrating the first plate 21, and the rotor of the second driving member 30 is passed through the mounting hole 211. The rotor of the second driving member 30 includes a second connection block 31, and the second connection block 31 is located between the first plate 21 and the third plate 23. The first connection block 412 is connected and fixed to the second connection block 31.

[0054] The cross-sectional shape of the first connection block 412 can be rectangular, oval, circular, etc., without limitation. Optionally, the first connection block 412 and the second connection block 31 have the same size in the radial direction of the mounting hole 211, which is conducive to increasing the degree of adaptation between the first connection block 412 and the second connection block 31, thereby improving the connection strength between the second driving member 30 and the third driving member 40.

[0055] The mounting hole 211 can be circular, rectangular, elliptical, etc. without limitation.

[0056] The first connection block 412 and the cylinder 411 may be an integrated structure, that is, the first connection block 412 and the cylinder 411 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The first connection block 412 and the cylinder 411 may be a split structure, and the first connection block 412 and the cylinder 411 may be connected and fixed by welding, bonding, clamping, screwing, etc. The connection method of the first connection block 412 and the second connection block 31 may be welding, bonding, screwing, etc., without limitation.

[0057] For reference Figure 7 Optionally, the connecting shell 41 further includes a reinforcing rib 413 , which is disposed on the outer circumferential surface of the cylinder 411 , one end of the reinforcing rib 413 is connected to the cylinder 411 , and the other end of the reinforcing rib 413 is connected to the first connecting block 412 .

[0058] Such an arrangement increases the contact area between the second driving member 30 and the third driving member 40 , thereby improving the connection stability between the second driving member 30 and the third driving member 40 and improving the structural strength of the hip joint mechanism 100 .

[0059] For reference Figure 5 and Figure 6 In one embodiment, the radial dimension of the second connecting block 31 in the mounting hole 211 is larger than the diameter of the mounting hole 211, and the mounting bracket 20 also includes a first limit block 24, which is arranged on the surface of the first plate 21 facing the second plate 22, and the first limit block 24 is used to limit the rotation angle of the second connecting block 31.

[0060] The cross-sectional shape of the first limiting block 24 may be a quadrilateral, and each side of the quadrilateral may be a straight line or a curve, without limitation.

[0061] When the rotor of the second driving member 30 drives the third driving member 40 to rotate around the second axis E2 to a limit angle, the first limiting block 24 abuts against the second connecting block 31 to limit the rotation angle of the third driving member 40 .

[0062] In another embodiment, the radial dimensions of the first connecting block 412 and the second connecting block 31 in the mounting hole 211 are smaller than the diameter of the mounting hole 211, the second connecting block 31 is at least partially accommodated in the mounting hole 211, and is spaced apart from the inner wall of the mounting hole 211, and the first limit block 24 protrudes from the inner wall surface of the mounting hole 211.

[0063] For reference Figure 6 and Figure 7 In one embodiment, the connecting shell 41 further includes a rotating portion 414 , which is disposed on an outer peripheral surface of the cylinder 411 on one side facing away from the first connecting block 412 , and the rotating portion 414 is rotatably connected to the third plate 23 .

[0064] The rotating portion 414 may be an annular structure, an annular structure spaced end to end, or an annular structure connected end to end.

[0065] Correspondingly, a rotating hole is opened on the third plate 23, and the rotating part 414 is in close contact with the inner wall of the rotating hole and rotates relatively; or, a rotating boss is provided on the side of the third plate 23 facing the connecting shell 41, and the rotating boss extends into the inner side of the rotating part 414 to realize the rotating connection between the third plate 23 and the rotating part 414.

[0066] Such an arrangement makes the movement of the third driving member 40 around the second axis E2 smoother, and the swinging degree of the lower limb assembly 2000 in the left-right direction X of the humanoid robot more anthropomorphic.

[0067] For reference Figure 6 and Figure 7 In one embodiment, the cylinder 411 includes a main body 4111 and a partition 4112, one end of the main body 4111 is connected to the receiving shell 42, the partition 4112 is arranged at an end of the main body 4111 away from the receiving shell 42, the main body 4111 encloses a first receiving space, the receiving shell 42 encloses a second receiving space, the first receiving space and the second receiving space are connected, and the first receiving space and the second receiving space accommodate the rotor and the stator of the third driving member 40.

[0068] The cross-section of the main body 4111 can be circular, elliptical, etc. without limitation.

[0069] Optionally, the partition 4112 is disposed on the inner side of the main body 4111 , or the partition 4112 is disposed on an end surface of the main body 4111 away from the receiving shell 42 .

[0070] The main body 4111 and the partition 4112 may be an integrated structure, that is, the main body 4111 and the partition 4112 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The main body 4111 and the partition 4112 may be a split structure, and the main body 4111 and the partition 4112 may be connected and fixed by welding, bonding, clamping, etc.

[0071] Such an arrangement allows the rotor and stator of the third driving member 40 to be reasonably accommodated inside the accommodation shell 42, which is beneficial to improving the space utilization of the hip joint support and making the structural layout of the hip joint support more reasonable.

[0072] For reference Figure 6 and Figure 7 In one embodiment, the cylinder 411 further includes a mounting post 4113, which is disposed on a surface of the partition 4112 facing away from the receiving shell 42; the third driving member 40 further includes an electric control module 43, which is connected and fixed to the mounting post 4113; The partition plate 4112 is provided with a through hole 4114 penetrating the partition plate 4112 . The through hole 4114 is connected to the first receiving space. Part of the structure of the rotor and / or stator of the third driving member 40 is received in the through hole 4114 .

[0073] There can be a plurality of mounting posts 4113, and the plurality of mounting posts 4113 are arranged at intervals on the partition plate 4112. Preferably, the plurality of mounting posts 4113 are arranged at intervals in the circumferential direction of the through hole 4114.

[0074] Optionally, a threaded groove is provided on the end surface of the mounting column 4113 away from the partition 4112, and the electric control module 43 is correspondingly provided with a snap-in hole. The mounting column 4113 passes through the snap-in hole, and screws are accommodated in the threaded groove, thereby realizing the connection and fixation between the electric control module 43 and the mounting column 4113.

[0075] The installation of the mounting column 4113 allows the electric control module 43 and the partition 4112 to be spaced apart, so that part of the structure of the rotor and / or stator of the third driving member 40 is accommodated between the electric control module 43 and the partition 4112, thereby improving the space utilization of the hip joint support.

[0076] For reference Figure 6 In one embodiment, the electric control module 43 includes a circuit board 431 and a wiring terminal 432, the circuit board 431 has a first positioning groove 4311, and the wiring terminal 432 is arranged on a side of the circuit board 431 close to the first positioning groove 4311; the partition 4112 has a second positioning groove 4115, the second positioning groove 4115 is connected to the through hole 4114, and the opening of the first positioning groove 4311 and the opening of the second positioning groove 4115 are correspondingly arranged.

[0077] The connection terminal 432 may include a chip, a filter, a relay, a sensor, a diode, a plug connector 4321, etc., without limitation.

[0078] The circuit board 431 is provided with a circuit, and the circuit board 431 is electrically connected to the connection terminal 432 and the circuit. There can be multiple plug connectors 4321, and the multiple plug connectors 4321 are arranged at intervals on one side of the circuit board 431 close to the first positioning groove 4311. The plug connectors 4321 are used to electrically connect with other driving parts, and the plug connectors 4321 are close to the first positioning groove 4311 for easy wiring.

[0079] Optionally, the opening of the first positioning groove 4311 and the opening of the second positioning groove 4115 are arranged opposite to each other. In the extension direction of the third axis E3, the orthographic projection of the opening of the first positioning groove 4311 is located inside the second positioning groove 4115.

[0080] Optionally, the bottom wall of the first positioning groove 4311 may be a plane, a curved surface, a combination of two planes, a combination of a plane and a curved surface, or a combination of two curved surfaces.

[0081] The bottom walls of the first positioning groove 4311 and the second positioning groove 4115 may be in a smooth transition.

[0082] With such arrangement, during the installation process, the first positioning groove 4311 of the circuit board 431 and the second positioning groove 4115 of the partition 4112 are arranged correspondingly, which is convenient for the installation of the circuit board 431. At the same time, the first positioning groove 4311 and the second positioning groove 4115 can also accommodate the wiring of the electronic control module 43, and the wiring terminal 432 is arranged on the side of the circuit board 431 close to the first positioning groove 4311, which helps to reduce the length of the wiring required by the wiring terminal 432 and facilitate wiring.

[0083] For reference Figure 6 and Figure 7 In one embodiment, the cylinder 411 also has an annular partition 4116, which is arranged on the surface of the partition 4112 facing away from the containing shell 42; the main body 4111 is provided with a weight-reducing groove 4117 from the end facing away from the containing shell 42, and the weight-reducing groove 4117 is arranged on the outer side of the annular partition 4116; the partition 4112 also has a first wiring hole 4118, which passes through the partition 4112 and is arranged on the inner side of the annular partition 4116.

[0084] The annular partition 4116 can be an annular structure connected end to end, or an annular structure spaced end to end, without limitation. Specifically, when the annular partition 4116 is spaced end to end, the partition portion thereof corresponds to the opening of the first positioning groove 4311 .

[0085] Optionally, there are multiple first wiring holes 4118 , and the multiple first wiring holes 4118 are spaced apart in the circumferential direction of the through hole 4114 . Preferably, the multiple first wiring holes 4118 are equally spaced apart. Specifically, the first wiring holes 4118 are in close contact with the inner wall surface of the annular partition 4116 .

[0086] There may be a plurality of weight-reducing grooves 4117 , and the plurality of weight-reducing grooves 4117 are spaced apart in the circumferential direction of the through hole 4114 . Preferably, the plurality of weight-reducing grooves 4117 are spaced apart at equal intervals.

[0087] With such arrangement, during the installation of the electronic control module 43, the annular partition 4116 can provide a certain positioning effect, the weight-reducing groove 4117 is conducive to achieving lightweight of the hip joint mechanism 100, and the first wiring hole 4118 makes the wiring layout of the internal structure of the third driving member 40 more reasonable.

[0088] For reference Figure 6 and Figure 8 In one embodiment, the shell of the third driving member 40 also includes a cover body 44, the cover body 44 is connected to the end of the connecting shell 41 facing away from the receiving shell 42, and the electronic control module 43 is accommodated in the cover body 44; the second connecting block 31 includes a first connecting portion 311 and a second connecting portion 312, the first connecting portion 311 is connected and fixed to the first connecting block 412, the second connecting portion 312 is connected to the first connecting portion 311 and protrudes from the first connecting block 412, the second connecting portion 312 is connected and fixed to the cover body 44, the second connecting portion 312 has a first wiring groove 3121, and the opening of the first wiring groove 3121 faces away from the first connecting portion 311; the cover body 44 has a second wiring groove 441, the opening of the second wiring groove 441 faces the connecting shell 41, and the second wiring groove 441 is connected to the first wiring groove 3121.

[0089] Optionally, the cross-sectional shape of the first connection portion 311 is rectangular, and the cross-sectional shape of the second connection portion 312 is semicircular or arcuate.

[0090] Optionally, the second connection block 31 further includes a third connection portion 313 , which is disposed on a side of the first connection portion 311 facing away from the second connection portion 312 , and is in close contact with or connected to an outer peripheral surface of the connection shell 41 .

[0091] The opening of the first wiring groove 3121 faces away from the first connecting portion 311, that is, the opening of the first wiring groove 3121 faces away from the connecting shell 41, and the opening of the second wiring groove 441 faces toward the connecting shell 41. The first wiring groove 3121 and the second wiring groove 441 with opposite opening directions are conducive to collecting the wiring of the driving member. The opening of the second wiring groove 441 faces toward the connecting shell 41, and the end surface of the opening of the second wiring groove 441 abuts against the first connecting block 412.

[0092] The cover body 44 can be in a hemispherical shape, a cubic shape, etc. without limitation.

[0093] The first wiring groove 3121 may be disposed on an end surface of the second connecting portion 312 facing the cover body 44 .

[0094] The bottom wall of the first wiring groove 3121 and / or the second wiring groove 441 may be in a smooth transition.

[0095] Optionally, the cover body 44 may be an integrated structure, or may be formed by splicing a plurality of sheet metal parts, without limitation.

[0096] In this arrangement, the cover body 44 is used to protect the electric control module 43 of the third driving member 40, and at the same time, the appearance of the hip joint support is improved. The first wiring groove 3121 and the second wiring groove 441 are provided to optimize the wiring layout and save wiring space.

[0097] For reference Figure 6 and Figure 8 In one embodiment, the receiving shell 42 includes a support member 421, a speed reduction member 422 and a limit member 423 connected in sequence, the end of the support member 421 away from the speed reduction member 422 is connected to the cylinder 411, and the speed reduction structure of the third driving member 40 is accommodated in the speed reduction member 422; the end of the limit member 423 away from the speed reduction member 422 is used for rotational connection with the lower limb assembly 2000, and the limit member 423 is used to limit the rotation angle of the lower limb assembly 2000.

[0098] Optionally, the reduction structure of the third driving member 40 can be a planetary gear type compound gear mechanism, a hypoid gear, a cylindrical gear, a spiral bevel gear, etc., without limitation. Correspondingly, the reduction member 422 is provided with a corresponding gear hole, and the inner wall surface of the gear hole matches the reduction structure.

[0099] A second limit block 4231 is provided at the end of the limit member 423 away from the speed reducer 422, and a third limit block 2100 and a fourth limit block 2200 are provided at the corresponding end of the lower limb assembly 2000 toward the receiving shell 42. The third limit block 2100 and the fourth limit block 2200 are arranged at intervals, and the second limit block 4231 is arranged between the third limit block 2100 and the fourth limit block 2200, so as to limit the rotation angle of the lower limb assembly 2000.

[0100] A limiter 423 is provided on the hip joint structure to limit the swing amplitude of the lower limb assembly 2000 to prevent the humanoid robot from becoming instable or damaged due to excessive swinging when walking, running or performing other actions. The reduction member 422 can change the torque and speed transmission of the third driving member 40, thereby making the movement accuracy of the lower limb assembly 2000 higher.

[0101] For reference Figure 6 and Figure 8In one embodiment, the support member 421 includes a main body 4211 and a baffle 4212, the baffle 4212 is arranged at one end of the main body 4211 away from the speed reducer 422, and the main body 4211 and the baffle 4212 enclose a first sub-containment space; the baffle 4212 is provided with a connecting hole 4213 that runs through itself, the connecting hole 4213 connects the first sub-containment space and the first containment space, and the rotating shaft of the third driving member 40 passes through the connecting hole 4213; the support member 421 is also provided with a second wiring hole 4214, and the second wiring hole 4214 is spaced apart from the connecting hole 4213.

[0102] The support member 421 may be an integrated structure, that is, the body 4211 and the baffle 4212 are an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The support member 421 may also be a split structure, and the body 4211 and the baffle 4212 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0103] The second wiring hole 4214 can be a circular hole, a rectangular hole, an elliptical hole, etc., without limitation. There can be one or more second wiring holes 4214 , and the plurality of second wiring holes 4214 are arranged at intervals in the circumferential direction of the connecting hole 4213 .

[0104] The connecting hole 4213 may be coaxial with the through hole 4114 , and the axis of the connecting hole 4213 may also be parallel to the axis of the through hole 4114 .

[0105] In this configuration, the first sub-accommodation space is used to accommodate the rotor and / or stator of the third driving member 40, and the second wiring hole 4214 cooperates with the aforementioned wiring groove and wiring hole to optimize the wiring layout and save wiring space.

[0106] For reference Figure 1 and Figure 2 The present invention provides a crotch assembly 1000, including a sacral joint mechanism 200 and two hip joint mechanisms 100. The sacral joint mechanism 200 is used to connect with the waist assembly and drive the waist assembly to rotate around a fourth axis E4. The angle between the first axis E1 and the fourth axis E4 is A, which satisfies: 90°<A≤160°; the first driving members 10 of the two hip joint mechanisms 100 are respectively connected to the opposite ends of the sacral joint mechanism 200.

[0107] When the humanoid robot is in an upright state, the extending direction of the fourth axis E4 is the up-down direction Z of the humanoid robot, and the third axis E3 is parallel to the fourth axis E4.

[0108] Optionally, the two hip joint mechanisms 100 are symmetrically arranged relative to the fourth axis E4. It should be understood that the symmetry of this embodiment refers to the symmetrical arrangement of the two hip joint mechanisms 100 driving the lower limb components 2000 (i.e., the left leg and the right leg) symmetrically. For example, the lower limb components 2000 are both in an upright state, or in a state where they have the same angle with the fourth axis E4. At this time, the two hip joint mechanisms 100 are symmetrical relative to the fourth axis E4. From another perspective, when one of the hip joint mechanisms 100 is in a certain posture relative to the fourth axis E4, the other hip joint mechanism 100 can achieve another posture that is symmetrical with the aforementioned hip joint mechanism 100 relative to the fourth axis E4 through posture adjustment.

[0109] Specifically, A can be 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, etc. without limitation.

[0110] Optionally, one end of the hip joint mechanism 100 away from the sacral joint mechanism 200 is closer to the other hip joint mechanism 100 than the end of the hip joint mechanism 100 close to the sacral joint mechanism 200. Specifically, the two hip joint mechanisms 100 gradually approach each other along the direction close to the fourth axis E4.

[0111] Optionally, one end of the hip joint mechanism 100 away from the sacral joint mechanism 200 is further away from the sacral joint mechanism 200 than one end of the hip joint mechanism 100 close to the sacral joint mechanism 200. Specifically, the two hip joint mechanisms 100 gradually move away from each other in a direction away from the fourth axis E4.

[0112] When A≤90°, the angle A between the first axis E1 and the fourth axis E4 is too small. When the humanoid robot is in an upright state, the lower limb assembly 2000 of the humanoid robot is close to the waist assembly, so that the lower limb assembly 2000 (i.e., the left leg and the right leg) of the humanoid robot may not be able to support the humanoid robot to complete normal standing; when A>160°, the angle A between the first axis E1 and the fourth axis E4 is too large. When the humanoid robot is in an upright state, the angle between the lower limb assembly 2000 (i.e., the left leg and the right leg) of the humanoid robot is too large, and the anthropomorphism of the leg assembly when walking cannot be achieved; when 90°<A≤160°, the degree of anthropomorphism of the humanoid robot when the humanoid robot is in an upright state is high.

[0113] The present invention provides a humanoid robot, comprising a crotch assembly 1000. With such arrangement, the crotch assembly 1000 of the humanoid robot of the present invention has a compact structure and high space utilization.

[0114] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0115] 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 mechanism (100), characterized in that: For humanoid robots, including: A first driving member (10) is used to drive the lower limb assembly (2000) to rotate around a first axis (E1), wherein the first axis (E1) has an inclined angle with the left-right direction (X) of the humanoid robot; A mounting bracket (20) comprises a first plate (21), a second plate (22) and a third plate (23) connected in sequence, wherein the first plate (21) and the third plate (23) are arranged relatively spaced apart and are located on the same side of the second plate (22), and a surface of the second plate (22) facing away from the first plate (21) is connected and fixed to the rotor of the first driving member (10); A second driving member (30) is used to drive the lower limb assembly (2000) to rotate around a second axis (E2), and a housing of the second driving member (30) is connected and fixed to the first plate (21); The third driving member (40) is used to drive the lower limb component (2000) to rotate around a third axis (E3). The outer shell of the third driving member (40) includes a connecting shell (41) and a receiving shell (42). The connecting shell (41) and the receiving shell (42) are connected along the direction of the third axis (E3) and are located between the first plate (21) and the third plate (23). The connecting shell (41) is rotatably connected to the third plate (23). The connecting shell (41) is connected and fixed to the rotor of the second driving member (30). The rotor and stator of the third driving member (40) are both received in the connecting shell (41) and the receiving shell (42). The rotor of the third driving member (40) is used to be connected and fixed to the lower limb component (2000).

2. The hip joint mechanism (100) according to claim 1, characterized in that: The second plate (22) has a first surface (221) and a second surface (222) which are opposite to each other, and the second surface (222) is closer to the first plate (21) and the third plate (23) than the first surface (221); The second plate (22) has an avoidance groove (223), the opening of the avoidance groove (223) is facing away from the first surface (221), and when the lower limb component (2000) rotates around the second axis (E2) to an extreme position, the third driving member (40) is at least partially accommodated in the avoidance groove (223).

3. The hip joint mechanism (100) according to claim 1, characterized in that: The connecting shell (41) comprises a cylinder (411) and a first connecting block (412), wherein the first connecting block (412) is connected to the outer peripheral surface of the cylinder (411); The first plate (21) is provided with a mounting hole (211) penetrating the first plate (21), and the rotor of the second driving member (30) is inserted into the mounting hole (211). The rotor of the second driving member (30) comprises a second connecting block (31), and the second connecting block (31) is located between the first plate (21) and the third plate (23). The first connecting block (412) is connected and fixed to the second connecting block (31).

4. The hip joint mechanism (100) according to claim 3, characterized in that: The radial dimension of the second connecting block (31) in the mounting hole (211) is greater than the diameter of the mounting hole (211), and the mounting bracket (20) further comprises a first limit block (24), the first limit block (24) being arranged on a surface of the first plate (21) facing the second plate (22), the first limit block (24) being used to limit the rotation angle of the second connecting block (31).

5. The hip joint mechanism (100) according to claim 3, characterized in that: The connecting shell (41) further comprises a rotating portion (414), wherein the rotating portion (414) is arranged on an outer peripheral surface of a side of the cylinder (411) facing away from the first connecting block (412), and the rotating portion (414) is rotatably connected to the third plate (23).

6. The hip joint mechanism (100) according to claim 3, characterized in that: The cylinder (411) includes a main body (4111) and a partition (4112), one end of the main body (4111) is connected to the receiving shell (42), and the partition (4112) is arranged at one end of the main body (4111) away from the receiving shell (42), the main body (4111) encloses a first receiving space, and the receiving shell (42) encloses a second receiving space, the first receiving space and the second receiving space are connected, and the first receiving space and the second receiving space accommodate the rotor and the stator of the third driving member (40).

7. The hip joint mechanism (100) according to claim 6, characterized in that: The cylinder (411) further comprises a mounting post (4113), wherein the mounting post (4113) is arranged on a surface of the partition (4112) facing away from the receiving shell (42); the third driving member (40) further comprises an electric control module (43), wherein the electric control module (43) is connected and fixed to the mounting post (4113); The partition plate (4112) is provided with a through hole (4114) penetrating the partition plate, the through hole (4114) being connected to the first receiving space, and a part of the structure of the rotor and / or stator of the third driving member (40) is received in the through hole (4114).

8. The hip joint mechanism (100) according to claim 7, characterized in that: The electric control module (43) comprises a circuit board (431) and a wiring terminal (432), wherein the circuit board (431) has a first positioning groove (4311), and the wiring terminal (432) is arranged on a side of the circuit board (431) close to the first positioning groove (4311); the partition (4112) has a second positioning groove (4115), and the second positioning groove (4115) is connected to the through hole (4114), and the opening of the first positioning groove (4311) and the opening of the second positioning groove (4115) are arranged correspondingly.

9. The hip joint mechanism (100) according to claim 6, characterized in that: The cylinder (411) also has an annular partition (4116), and the annular partition (4116) is arranged on the surface of the partition (4112) facing away from the containing shell (42); the main body (4111) is provided with a weight-reducing groove (4117) from the end facing away from the containing shell (42), and the weight-reducing groove (4117) is arranged on the outer side of the annular partition (4116); the partition (4112) also has a first wiring hole (4118), and the first wiring hole (4118) passes through the partition (4112), and the first wiring hole (4118) is arranged on the inner side of the annular partition (4116).

10. The hip joint mechanism (100) according to claim 7, characterized in that: The outer shell of the third driving member (40) further comprises a cover body (44), the cover body (44) being connected to an end of the connecting shell (41) facing away from the receiving shell (42), and the electric control module (43) being received in the cover body (44); The second connecting block (31) comprises a first connecting portion (311) and a second connecting portion (312), the first connecting portion (311) is connected and fixed to the first connecting block (412), the second connecting portion (312) is connected to the first connecting portion (311) and protrudes from the first connecting block (412), the second connecting portion (312) is connected and fixed to the cover body (44), the second connecting portion (312) has a first wiring groove (3121), and the opening of the first wiring groove (3121) faces away from the first connecting portion (311); The cover body (44) has a second wiring groove (441), the opening of the second wiring groove (441) faces the connecting shell (41), and the second wiring groove (441) is connected to the first wiring groove (3121).

11. The hip joint mechanism (100) according to claim 6, characterized in that: The receiving shell (42) comprises a supporting member (421), a decelerating member (422) and a limiting member (423) which are connected in sequence; one end of the supporting member (421) away from the decelerating member (422) is connected to the cylinder (411); the decelerating structure of the third driving member (40) is accommodated in the decelerating member (422); one end of the limiting member (423) away from the decelerating member (422) is used for rotationally connecting with the lower limb assembly (2000); the limiting member (423) is used for limiting the rotation angle of the lower limb assembly (2000).

12. The hip joint mechanism (100) according to claim 11, characterized in that: The support member (421) comprises a main body (4211) and a baffle (4212), wherein the baffle (4212) is arranged at one end of the main body (4211) away from the speed reducer (422), and the main body (4211) and the baffle (4212) enclose a first sub-accommodation space; the baffle (4212) is provided with a connecting hole (4213) penetrating the baffle, wherein the connecting hole (4213) connects the first sub-accommodation space and the first accommodation space, and the rotating shaft of the third driving member (40) passes through the connecting hole (4213); the support member (421) is also provided with a second wiring hole (4214), and the second wiring hole (4214) is spaced apart from the connecting hole (4213).

13. A crotch assembly (1000), characterized in that: It comprises a sacral joint mechanism (200) and two hip joint mechanisms (100) as described in any one of claims 1 to 12, wherein the sacral joint mechanism (200) is used to connect with a waist component and drive the waist component to rotate around a fourth axis (E4), and the angle between the first axis (E1) and the fourth axis (E4) is A, satisfying: 90°<A≤160°; the first driving members (10) of the two hip joint mechanisms (100) are respectively connected to the opposite ends of the sacral joint mechanism (200).

14. A humanoid robot, characterized in that: Comprising the crotch assembly (1000) as claimed in claim 13.

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