Hip joint mechanism, hip component and humanoid robot

Abstract

A hip joint mechanism, a hip component, and a humanoid robot. The hip joint mechanism includes a first driving member, a mounting bracket, a second driving member, and a third driving member. The first driving member is used to drive the lower limb component to rotate around a first axis, and the first axis has an inclined angle with the left-right direction of the humanoid robot. The mounting bracket includes a first plate, a second plate, and a third plate connected in sequence. The surface of the second plate facing away from the first plate is fixedly connected to the rotor of the first driving member. The second driving member is used to drive the lower limb component to rotate around a second axis, and the housing of the second driving member is fixedly connected to the first plate. The third driving member is used to drive the lower limb component to rotate around a third axis. The housing of the third driving member includes a connecting shell and a receiving shell. The connecting shell is rotatably connected to the third plate, the connecting shell is fixedly connected to the rotor of the second driving member, and the rotor of the third driving member is used to be fixedly connected to the lower limb component. The structure of this hip joint mechanism is simple and has a high space utilization rate.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and particularly relates to a hip joint mechanism, a hip component and a humanoid robot. Background Art

[0002] A humanoid robot can imitate the shape and movement postures of a human body and has broad development prospects. Similar to a human body, a humanoid robot includes a hip component, and the corresponding hip component includes a sacroiliac joint mechanism and a hip joint mechanism. The sacroiliac joint mechanism is arranged between the sacroiliac joint mechanism and the lower limb component to enable the free movement of the lower limb component, so as to simulate states such as walking, running, and jumping of a human.

[0003] In related technologies, the structural arrangement 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 hip component and a humanoid robot to solve the problems that the structural arrangement of the hip joint mechanism is complex and scattered and the space utilization rate is low.

[0005] To achieve the purpose of the present application, the following technical solutions are provided in the present application:

[0006] In a first aspect, the present invention provides a hip joint mechanism for a humanoid robot, including:

[0007] A first driving member for driving the lower limb component to rotate around a first axis, and the first axis has an inclined angle with the left-right direction of the humanoid robot;

[0008] A mounting bracket including a first plate, a second plate and a third plate connected in sequence. The first plate and the third plate are relatively spaced apart and are located on the same side of the second plate. The surface of the second plate facing away from the first plate is fixedly connected to the rotor of the first driving member;

[0009] A second driving member for driving the lower limb component to rotate around a second axis, and the housing of the second driving member is fixedly connected to the first plate;

[0010] A third driving member for driving the lower limb component to rotate around a third axis. The housing 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 fixedly connected to the rotor of the second driving member, the rotor and the stator of the third driving member are both received in the connecting shell and the receiving shell, and the rotor of the third driving member is used for fixedly connecting to the lower limb component.

[0011] With such a setting, while the housing of the third driving member houses and protects the rotor, stator and electronic components inside the third driving member, it also serves to connect with the mounting bracket and the second driving member, achieving the structural reuse of the third driving member. Moreover, with the connection of the first driving member, the second driving member and the third driving member on the mounting bracket, the cooperation realizes the movement of three degrees of freedom of the lower limb assembly. Therefore, the structural setting of the hip joint mechanism of the present invention is simple and has a high space utilization rate.

[0012] In one embodiment, the second plate has a first surface and a second surface facing away from each other, and the second surface is closer to the first plate and the third plate than the first surface.

[0013] The second plate has an avoidance groove, the opening of the avoidance groove faces away from the first surface, and when the lower limb assembly rotates to the limit position around the second axis, at least part of the third driving member is received in the avoidance groove. The avoidance groove is provided on the second plate. When the lower limb assembly swings inward to the limit position, at least part of the third driving member is received in the avoidance groove. 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 anthropomorphic degree of the humanoid robot.

[0014] In one embodiment, the connecting shell includes a cylinder and a first connecting block, and the first connecting block is connected to the outer peripheral surface of the cylinder.

[0015] The first plate is provided with a mounting hole penetrating through itself, the rotor of the second driving member passes through 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 fixedly connected to the second connecting block. With such a setting, the contact area between the second driving member and the third driving member is increased to improve the connection stability between the second driving member and the third driving member and the structural strength of the hip joint mechanism.

[0016] In one embodiment, the dimension of the second connecting block in the radial direction of the mounting hole is larger than the diameter of the mounting hole, and the mounting bracket further includes a first limiting block, and the first limiting block is arranged on the surface of the first plate facing the second plate, and the first limiting block is used to limit the rotation angle of the second connecting block. When the rotor of the second driving member drives the third driving member to rotate to the limit angle around the second axis, the first limiting block abuts against the second connecting block to realize the limitation of the rotation angle of the third driving member.

[0017] In one embodiment, the connecting shell further includes a rotating part, which is arranged on the outer peripheral surface of the cylinder body on the side facing away from the first connecting block, and the rotating part is rotatably connected to the third plate. With this arrangement, the movement of the third driving member around the second axis is smoother, and the anthropomorphic degree of the swing of the lower limb assembly in the left-right direction of the humanoid robot is higher.

[0018] In one embodiment, the cylinder body includes a main body part and a partition plate. One end of the main body part is connected to the receiving shell, the partition plate is arranged at the end of the main body part away from the receiving shell, the main body part encloses a first receiving space, the receiving shell encloses a second receiving space, the first receiving space and the second receiving space are communicated, and the first receiving space and the second receiving space house the rotor and stator of the third driving member. With this arrangement, the rotor and stator of the third driving member are reasonably housed inside the receiving shell, which is beneficial to improving the space utilization rate of the hip joint bracket and making the structural layout of the hip joint bracket more reasonable.

[0019] In one embodiment, the cylinder body further includes a mounting post, which is arranged on the surface of the partition plate facing away from the receiving shell; the third driving member further includes an electronic control module, and the electronic control module is fixedly connected to the mounting post;

[0020] The partition plate is provided with a through hole penetrating through itself, and the through hole communicates with the first receiving space, and a part of the structure of the rotor and / or stator of the third driving member is housed in the through hole. The arrangement of the mounting post makes the electronic control module spaced from the partition plate, so that a part of the structure of the rotor and / or stator of the third driving member is housed between the electronic control module and the partition plate, thereby improving the space utilization rate of the hip joint bracket.

[0021] In one embodiment, the electronic 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 the side of the circuit board close to the first positioning groove; the partition plate has a second positioning groove, and the second positioning groove communicates with the through hole, and the openings of the first positioning groove and the second positioning groove are arranged corresponding to each other. With this arrangement, during the installation process, the first positioning groove of the circuit board and the second positioning groove of the partition plate are arranged corresponding to each other, 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 house the wiring of the electronic 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 is convenient for wiring.

[0022] In one implementation, the cylinder body further has an annular partition, and the annular partition is arranged on the surface of the partition plate facing away from the housing shell; a weight-reducing groove is formed at the end of the main body portion facing away from the housing shell, and the weight-reducing groove is arranged outside the annular partition; the partition plate further has a first wire routing hole, and the first wire routing hole penetrates through the partition plate, and the first wire routing hole is arranged inside the annular partition. With such an arrangement, during the installation process of the electronic control module, the annular partition can provide a certain positioning function, the arrangement of the weight-reducing groove is beneficial to realizing the light weight of the hip joint mechanism, and the first wire routing hole makes the wire routing layout of the internal structure of the third driving member more reasonable.

[0023] In one implementation, the housing of the third driving member further includes a cover body, and the cover body is connected to one end of the connection shell facing away from the housing shell, and the electronic control module is housed in the cover body;

[0024] The second connecting block includes a first connecting portion and a second connecting portion. The first connecting portion is fixedly connected 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 fixedly connected to the cover body. The second connecting portion has a first wire routing groove, and the opening of the first wire routing groove faces away from the first connecting portion;

[0025] The cover body has a second wire routing groove, and the opening of the second wire routing groove faces the connection shell, and the second wire routing groove is communicated with the first wire routing groove. With such an arrangement, while the cover body protects the electronic control module of the third driving member, it also improves the appearance of the hip joint bracket. The arrangement of the first wire routing groove and the second wire routing groove optimizes the wiring layout and saves the wiring space.

[0026] In one implementation, the housing shell includes a support member, a deceleration member and a limiting member connected in sequence. One end of the support member away from the deceleration member is connected to the cylinder body, and the deceleration structure of the third driving member is housed in the deceleration member; one end of the limiting member away from the deceleration member is used for rotatably connecting with the lower limb assembly, and the limiting member is used for limiting the rotation angle of the lower limb assembly. A limiting member is arranged on the hip joint structure to limit the swing amplitude of the lower limb assembly, so as to avoid instability or damage caused by excessive swing when the humanoid robot is walking, running or performing other actions. The arrangement of the deceleration member can change the torque and speed transmission of the third driving member, making the movement accuracy of the lower limb assembly higher.

[0027] In one embodiment, the support member includes a body and a baffle. The baffle is disposed at an end of the body away from the decelerating member. A first sub-accommodation space is defined by the body and the baffle. The baffle is provided with a connection hole therethrough, which communicates the first sub-accommodation space and the first accommodation space. The rotating shaft of the third driving member passes through the connection hole. The support member is further provided with a second wire routing hole, which is spaced from the connection hole. With such an arrangement, the first sub-accommodation space is used to accommodate the rotor and / or stator of the third driving member, and the second wire routing hole, in cooperation with the aforementioned wire routing groove and wire routing hole, optimizes the wire routing layout and saves the wire routing space.

[0028] In a second aspect, the present invention provides a hip assembly, including a sacroiliac joint mechanism and two hip joint mechanisms according to any one of the various embodiments of the first aspect. The sacroiliac joint mechanism is used to connect with the waist assembly and drive the waist assembly to rotate about a fourth axis. The included 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 opposite ends of the sacroiliac joint mechanism.

[0029] When A ≤ 90°, the included 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 approaches the waist assembly, which may cause the lower limb assembly (i.e., the left leg and the right leg) of the humanoid robot to be unable to support the humanoid robot to complete normal standing. When A > 160°, the included angle A between the first axis and the fourth axis is too large. When the humanoid robot is in an upright state, the included angle between the lower limb assemblies (i.e., the left leg and the right leg) of the humanoid robot is too large, and the anthropomorphic movement of the leg assembly during walking cannot be achieved. When 90° < A ≤ 160°, the anthropomorphic degree of the humanoid robot is high when the humanoid robot is in an upright state.

[0030] In a third aspect, the present invention provides a humanoid robot, including a hip assembly according to any one of the various embodiments of the second aspect. With such an arrangement, the structural layout of the hip assembly of the humanoid robot of the present invention is compact and the space utilization rate is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 is a front view of a partial structure of a humanoid robot in an embodiment;

[0033] Figure 2 Is a perspective view of a hip component of an embodiment;

[0034] Figure 3 Is a top view of a hip component of an embodiment;

[0035] Figure 4 Is a perspective view of a mounting bracket of an embodiment;

[0036] Figure 5 Is a perspective view of a mounting bracket of another embodiment;

[0037] Figure 6 Is an exploded view of a partial structure of a hip joint mechanism of an embodiment;

[0038] Figure 7 Is a perspective view of a connection shell of an embodiment;

[0039] Figure 8 Is a perspective view of a third driving member of an embodiment.

[0040] Explanation of reference numerals:

[0041] 1000 - Hip component, 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 portion, 312 - Second connecting portion, 3121 - First wire routing groove, 313 - Third connecting portion;

[0042] 40 - Third driving member, 41 - Connection shell, 411 - Cylindrical body, 4111 - Main body portion, 4112 - Partition board, 4113 - Mounting post, 4114 - Through hole, 4115 - Second positioning groove, 4116 - Annular partition, 4117 - Weight reduction groove, 4118 - First wire routing hole, 412 - First connecting block, 413 - Reinforcing rib, 414 - Rotating portion;

[0043] 42 - Receiving shell, 421 - Support member, 4211 - Body, 4212 - Baffle, 4213 - Connection hole, 4214 - Second wire routing hole, 422 - Decelerating member, 423 - Limiting member, 4231 - Second limiting block;

[0044] 43 - Electric control module, 431 - Circuit board, 4311 - First positioning groove, 432 - Wiring terminal, 4321 - Plug connector, 44 - Cover body, 441 - Second wire routing groove;

[0045] 200 - Sacro - iliac joint mechanism, 2000 - Lower limb assembly, 2100 - Third limit block, 2200 - Fourth limit block;

[0046] E1 - First axis, E2 - Second axis, E3 - Third axis, E4 - Fourth axis, X - Left - right direction of the humanoid robot, Y - Front - rear direction of the humanoid robot, Z - Up - down direction of the humanoid robot. Detailed implementation manners

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0048] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0049] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the present application in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present application includes any and all combinations of one or more of the related listed items.

[0050] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0051] Reference can be made to Figures 1 to 3 In the embodiment of the present invention, a humanoid robot is provided, including a waist assembly (not shown), a lower limb assembly 2000 (partially shown), and a hip assembly 1000 in the embodiment of the present invention. The sacro - iliac joint mechanism 200 of the hip assembly 1000 is connected to the waist assembly, and the hip joint mechanism 100 of the hip assembly 1000 is connected to the lower limb assembly 2000.

[0052] There are no restrictions on the specific structures of the waist component and the lower limb component 2000, and both can be set to be humanoid in shape. The sacroiliac joint mechanism 200 of the hip component 1000 is connected to the waist component and can rotate relative to it, realizing the function of the sacroiliac joint similar to the human body structure. The hip joint mechanism 100 of the hip component 1000 is connected to the lower limb component 2000 and can rotate relative to it, realizing the function of the hip joint similar to the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, where 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.

[0053] In the embodiment of the present invention, by setting the unique hip joint mechanism 100, the structure of the hip joint mechanism 100 is reasonably arranged, and the structure of the third driving member 40 in the hip joint mechanism 100 is reused, improving the space utilization rate of the hip joint mechanism 100.

[0054] The hip joint mechanism 100 of the embodiment of the present invention will be introduced in detail below.

[0055] For reference Figures 2 to 6 , the present invention provides a hip joint mechanism 100 for a humanoid robot. 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 component 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 relatively spaced apart and are located on the same side of the second plate 22. The surface of the second plate 22 facing away from the first plate 21 is fixedly connected to the rotor of the first driving member 10. The second driving member 30 is used to drive the lower limb component 2000 to rotate around a second axis E2, and the housing of the second driving member 30 is fixedly connected 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 housing 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 fixedly connected to the rotor of the second driving member 30, and 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 fixedly connected to the lower limb component 2000.

[0056] The rotor of the third driving member 40 interacts with the magnetic field generated by the stator to generate a rotational torque, thereby driving the third driving member 40 to rotate. The rotor generally consists of a magnet (permanent magnet) and a conductor coil (for some types of motors), and can specifically be a pole rotor or an induction rotor. The stator generally includes a plurality of windings distributed along the direction of the rotation axis. The windings are wound with insulated wires and are used to generate an electromagnetic torque. The iron core of the stator is generally stacked by a plurality of thin silicon steel sheets to fix the coil and bear the electromagnetic torque. The high magnetic permeability and low loss characteristics of the silicon steel sheets enable the stator to effectively generate and maintain the magnetic field.

[0057] The rotor of the third driving member 40 can adopt an outer rotor structure, that is, the rotor is wrapped outside the stator; the rotor of the third driving member 40 can also be located inside the stator, without limitation.

[0058] Optionally, the connection method between the connection shell 41 and the rotor of the second driving member 30 can be screw connection, welding, bonding, snap connection, etc., without limitation.

[0059] Similarly, the first driving member 10 and the second driving member 30 can have the same structure as the third driving member 40 or different structures, without limitation.

[0060] Optionally, the outer shell of the first driving member 10 can be cylindrical, and the rotor and / or stator of the first driving member 10 are received in the outer shell. The outer shell is made of a material with a certain structural strength, and can be a metal material, a high-strength plastic, etc., without limitation.

[0061] Specifically, the first driving member 10 is used to drive the lower limb assembly 2000 to move around the first axis E1 to realize the front-back 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 realize the left-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 realize 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 have three degrees of freedom of movement. When the humanoid robot is in an upright state, the extending direction of the third axis E3 is the up-down direction Z of the humanoid robot.

[0062] Optionally, the first axis E1, the second axis E2, and the third axis E3 intersect at a point.

[0063] Optionally, reference can be made to 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.

[0064] Optionally, the mounting bracket 20 is made of a material with high structural strength, specifically, it can be a metal material, high-strength plastic, ceramic, etc. The metal material can be, for example, aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The mounting bracket 20 can be an integral structure, that is, the first plate 21, the second plate 22, and the third plate 23 are an integral structure made by an integral molding process. The integral molding process can specifically be 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 means of welding, bonding, clamping, screwing, etc. The wall thickness of each part of the mounting bracket 20 can be approximately uniform, that is, the thicknesses of the first plate 21, the second plate 22, and the third plate 23 can be approximately uniform and consistent.

[0065] 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.

[0066] Optionally, the first plate 21 and the third plate 23 are oppositely arranged in the extending direction of the second axis E2, and the orthographic projection of the first plate 21 in the extending direction of the second axis E2 is located within 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, and the weight reduction of the hip joint mechanism 100 is realized.

[0067] 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.

[0068] Optionally, the housing of the third driving member 40 is made of a material with high structural strength, and the housing of the third driving member 40 needs to have good insulation performance to prevent current from directly passing through the housing, 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 housing of the third driving member 40 is a metal material, the third driving member 40 also needs to be provided with insulating materials (such as plastic gaskets, insulating coatings, etc.) to isolate the internal circuit to prevent current from directly passing through the housing. The connecting shell 41 and the receiving shell 42 can be an integral structure, that is, the connecting shell 41 and the receiving shell 42 are an integral structure made by an integral molding process. The integral molding process can specifically be 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 means of welding, bonding, clamping, screwing, etc. The transition between the connecting shell 41 and the receiving shell 42 of the third driving member 40 is smooth.

[0069] Optionally, the maximum dimension of the first driving member 10 in the direction of the second axis E2 is d1, the dimensions 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 are d2, and the maximum dimension of the third driving member 40 in the direction of the second axis E2 is d3, where 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 is 0.6, 0.65, 0.7, 0.75, 0.8, etc., without limitation. When d1 / d2 < 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 > 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 occupancy ratio of 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 dimensions 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.

[0070] With such a setting, while the housing of the third driving member 40 houses and protects the rotor, stator and electronic components inside the third driving member 40, it also has the function of connecting with the mounting bracket 20 and the second driving member 30, realizing the structural reuse of the third driving member 40. Moreover, with the connection of the mounting bracket 20, the first driving member 10, the second driving member 30 and the third driving member 40 cooperate to realize the movement of three degrees of freedom of the lower limb assembly 2000. Therefore, the structural setting of the hip joint mechanism 100 of the present invention is simple and the space utilization rate is high.

[0071] For reference Figure 4 and Figure 5 In one embodiment, the second plate 22 has a first surface 221 and a second surface 222 facing away from each other. 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 to the limit position around the second axis E2, at least a part of the third driving member 40 is received in the avoidance groove 223.

[0072] The first surface 221 and the second surface 222 can be flat surfaces or arc surfaces, etc., without limitation.

[0073] Optionally, the second plate 22 has a plate body 224 and a transition block 225. The transition block 225 is provided 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 formed in 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.

[0074] The bottom wall of the avoidance groove 223 can be a smooth curved surface.

[0075] An avoidance groove 223 is provided on the second plate 22. When the lower limb assembly 2000 swings inward to the limit position, at least a part of the third driving member 40 is received 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 - right direction X of the humanoid robot and improving the anthropomorphic degree of the humanoid robot.

[0076] For reference Figure 2 、 Figure 4 、 Figure 6 and Figure 7 In one embodiment, the connecting shell 41 includes a cylinder body 411 and a first connecting block 412. The first connecting block 412 is connected to the outer peripheral surface of the cylinder body 411. The first plate 21 is provided with an installation hole 211 penetrating itself. The rotor of the second driving member 30 passes through the installation hole 211. The rotor of the second driving member 30 includes a second connecting block 31. The second connecting block 31 is located between the first plate 21 and the third plate 23, and the first connecting block 412 is fixedly connected to the second connecting block 31.

[0077] The cross - sectional shape of the first connecting block 412 can be rectangular, oval, circular, etc., without limitation. Optionally, the dimensions of the first connecting block 412 and the second connecting block 31 in the radial direction of the installation hole 211 are the same, which is beneficial to increasing the matching degree of the first connecting block 412 and the second connecting block 31, thereby improving the connection strength between the second driving member 30 and the third driving member 40.

[0078] The installation hole 211 can be circular, rectangular, oval, etc., without limitation.

[0079] The first connecting block 412 and the cylinder 411 can be an integral structure, that is, the first connecting block 412 and the cylinder 411 are an integral structure made by an integral forming process. The integral forming process can specifically be stamping, casting, etc., without limitation. The first connecting block 412 and the cylinder 411 can be a split structure, and the first connecting block 412 and the cylinder 411 can be connected and fixed by welding, bonding, clamping, screwing, etc. The connection method between the first connecting block 412 and the second connecting block 31 can be welding, bonding, screwing, etc., without limitation.

[0080] Reference can be made to Figure 7 , optionally, the connection shell 41 further includes a reinforcing rib 413. The reinforcing rib 413 is disposed on the outer peripheral 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.

[0081] With such a setting, the contact area between the second driving member 30 and the third driving member 40 is increased to improve the connection stability between the second driving member 30 and the third driving member 40 and enhance the structural strength of the hip joint mechanism 100.

[0082] Reference can be made to Figure 5 and Figure 6 , in one embodiment, the size of the second connecting block 31 in the radial direction of the mounting hole 211 is larger than the diameter of the mounting hole 211. The mounting bracket 20 further includes a first limiting block 24. The first limiting block 24 is disposed on the surface of the first plate 21 facing the second plate 22. The first limiting block 24 is used to limit the rotation angle of the second connecting block 31.

[0083] The cross-sectional shape of the first limiting block 24 can be a quadrilateral, and each side of the quadrilateral can be a straight line or a curve, without limitation.

[0084] When the rotor of the second driving member 30 drives the third driving member 40 to rotate around the second axis E2 to the 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.

[0085] In another embodiment, the sizes of the first connecting block 412 and the second connecting block 31 in the radial direction of the mounting hole 211 are smaller than the diameter of the mounting hole 211. At least a part of the second connecting block 31 is received in the mounting hole 211 and is spaced apart from the inner wall of the mounting hole 211. The first limiting block 24 protrudes from the inner wall surface of the mounting hole 211.

[0086] Reference can be made to Figure 6 and Figure 7 , in one embodiment, the connection shell 41 further includes a rotating part 414. The rotating part 414 is disposed on the outer peripheral surface of the cylinder 411 on the side opposite to the first connecting block 412. The rotating part 414 is rotatably connected to the third plate 23.

[0087] The rotating part 414 can be a ring structure, which can be a ring structure with the head and tail spaced apart, or a ring structure with the head and tail connected.

[0088] Correspondingly, a rotating hole is formed in the third plate 23, and the rotating part 414 is in close contact with the inner wall of the rotating hole and rotates relatively; alternatively, 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 rotational connection between the third plate 23 and the rotating part 414.

[0089] With such a setting, the movement of the third driving member 40 around the second axis E2 is smoother, and the anthropomorphic degree of the swing of the lower limb assembly 2000 in the left-right direction X of the humanoid robot is higher.

[0090] For reference Figure 6 and Figure 7 In one embodiment, the cylinder body 411 includes a main body portion 4111 and a partition plate 4112. One end of the main body portion 4111 is connected to the housing 42, and the partition plate 4112 is provided at the end of the main body portion 4111 away from the housing 42. The main body portion 4111 encloses a first accommodation space, and the housing 42 encloses a second accommodation space. The first accommodation space and the second accommodation space are communicated, and the first accommodation space and the second accommodation space accommodate the rotor and stator of the third driving member 40.

[0091] The cross-section of the main body portion 4111 can be circular, elliptical, etc., without limitation.

[0092] Optionally, the partition plate 4112 is provided inside the main body portion 4111, or the partition plate 4112 is provided on the end face of the main body portion 4111 away from the housing 42.

[0093] The main body portion 4111 and the partition plate 4112 can be an integral structure, that is, the main body portion 4111 and the partition plate 4112 are an integral structure made by an integral molding process. The integral molding process can specifically be stamping, casting, etc., without limitation. The main body portion 4111 and the partition plate 4112 can be a split structure, and the main body portion 4111 and the partition plate 4112 can be connected and fixed by welding, bonding, clamping, etc.

[0094] With such a setting, the rotor and stator of the third driving member 40 are reasonably accommodated inside the housing 42, which is beneficial to improving the space utilization rate of the hip joint bracket and making the structural layout of the hip joint bracket more reasonable.

[0095] For reference Figure 6 and Figure 7 In one embodiment, the cylinder body 411 further includes a mounting post 4113, and the mounting post 4113 is provided on the surface of the partition plate 4112 facing away from the housing 42; the third driving member 40 further includes an electric control module 43, and the electric control module 43 is connected and fixed to the mounting post 4113;

[0096] The partition plate 4112 is provided with a through hole 4114 penetrating itself. The through hole 4114 communicates with the first accommodation space, and part of the structure of the rotor and / or stator of the third driving member 40 is accommodated in the through hole 4114.

[0097] There may be multiple mounting posts 4113, and the multiple mounting posts 4113 are arranged at intervals on the partition plate 4112. Preferably, the multiple mounting posts 4113 are arranged at intervals in the circumferential direction of the through hole 4114.

[0098] Optionally, a threaded groove is provided on the end face of the mounting post 4113 away from the partition plate 4112, and a clamping hole is correspondingly provided on the electronic control module 43. The mounting post 4113 passes through the clamping hole, and screws and the like are accommodated in the threaded groove, so as to realize the connection and fixation between the electronic control module 43 and the mounting post 4113.

[0099] The arrangement of the mounting posts 4113 enables the electronic control module 43 to be arranged at an interval from the partition plate 4112, so that part of the structure of the rotor and / or stator of the third driving member 40 is accommodated between the electronic control module 43 and the partition plate 4112, thereby improving the space utilization rate of the hip joint bracket.

[0100] For reference Figure 6 In one embodiment, the electronic 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 one side of the circuit board 431 close to the first positioning groove 4311; the partition plate 4112 has a second positioning groove 4115, and the second positioning groove 4115 communicates with the through hole 4114, and the openings of the first positioning groove 4311 and the second positioning groove 4115 are correspondingly arranged.

[0101] The wiring terminal 432 may include a chip, a filter, a relay, a sensor, a diode, a plug 4321, etc., without limitation.

[0102] A circuit is provided on the circuit board 431, and the circuit board 431 is electrically connected to the wiring terminal 432 and the circuit. There may be multiple plugs 4321, and the multiple plugs 4321 are arranged at intervals on one side of the circuit board 431 close to the first positioning groove 4311. The plugs 4321 are used for electrical connection with the remaining driving members, and the plugs 4321 are close to the first positioning groove 4311 to facilitate wire routing.

[0103] Optionally, the openings of the first positioning groove 4311 and the second positioning groove 4115 are arranged opposite to each other. In the extending direction of the third axis E3, the orthographic projection at the opening of the first positioning groove 4311 is located in the second positioning groove 4115.

[0104] Optionally, the bottom wall of the first positioning groove 4311 can be a plane, a curved surface, a combination of planes, a combination of a plane and a curved surface, or a combination of curved surfaces.

[0105] The bottom walls of the first positioning groove 4311 and the second positioning groove 4115 can have a smooth transition.

[0106] With such a setting, during the installation process, the first positioning groove 4311 of the circuit board 431 and the second positioning groove 4115 of the partition plate 4112 are correspondingly arranged, facilitating 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 one side of the circuit board 431 close to the first positioning groove 4311, which helps to reduce the length of the wiring required for the wiring terminal 432 and facilitates wiring.

[0107] Reference can be made to Figure 6 and Figure 7 In one embodiment, the cylinder body 411 further has an annular partition 4116, and the annular partition 4116 is arranged on the surface of the partition plate 4112 facing away from the housing 42; a weight reduction groove 4117 is provided from the end of the main body portion 4111 facing away from the housing 42, and the weight reduction groove 4117 is arranged outside the annular partition 4116; the partition plate 4112 further has a first wiring hole 4118, and the first wiring hole 4118 penetrates through the partition plate 4112, and the first wiring hole 4118 is arranged inside the annular partition 4116.

[0108] The annular partition 4116 can be a ring-shaped structure with its head and tail connected, or a ring-shaped structure with its head and tail spaced apart, without limitation. Specifically, when the head and tail of the annular partition 4116 are spaced apart, the partition at its head and tail corresponds to the opening of the first positioning groove 4311.

[0109] 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 equidistantly arranged. Specifically, the first wiring hole 4118 is in close contact with the inner wall surface of the annular partition 4116.

[0110] There can be multiple weight reduction grooves 4117, and the multiple weight reduction grooves 4117 are spaced apart in the circumferential direction of the through hole 4114. Preferably, the multiple weight reduction grooves 4117 are equidistantly arranged.

[0111] With such a setting, during the installation process of the electronic control module 43, the annular partition 4116 can provide a certain positioning function, the setting of the weight reduction groove 4117 is beneficial to realizing the light weight 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.

[0112] Reference can be made to Figure 6 and Figure 8, In one embodiment, the housing of the third driving member 40 further includes a cover body 44. The cover body 44 is connected to one end of the connecting shell 41 facing away from the receiving shell 42, and the electronic control module 43 is received 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 fixedly connected 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 fixedly connected to the cover body 44. The second connecting portion 312 has a first wire groove 3121, and the opening of the first wire groove 3121 faces away from the first connecting portion 311. The cover body 44 has a second wire groove 441, and the opening of the second wire groove 441 faces the connecting shell 41. The second wire groove 441 communicates with the first wire groove 3121.

[0113] Optionally, the cross-sectional shape of the first connecting portion 311 is rectangular, and the cross-sectional shape of the second connecting portion 312 is semi-circular or arc-shaped.

[0114] Optionally, the second connecting block 31 further includes a third connecting portion 313. The third connecting portion 313 is disposed on a side of the first connecting portion 311 facing away from the second connecting portion 312. The third connecting portion 313 is in close contact with the outer peripheral surface of the connecting shell 41 or is connected to the outer peripheral surface of the connecting shell 41.

[0115] The opening of the first wire groove 3121 faces away from the first connecting portion 311, that is, the opening of the first wire groove 3121 faces away from the connecting shell 41. The opening of the second wire groove 441 faces the connecting shell 41. The first wire groove 3121 and the second wire groove 441 with opposite opening directions are beneficial to collecting the wiring of the driving member. The opening of the second wire groove 441 faces the connecting shell 41, and the end surface at the opening of the second wire groove 441 abuts against the first connecting block 412.

[0116] The cover body 44 as a whole can be hemispherical, cubic, etc., without limitation.

[0117] The first wire groove 3121 can be disposed on the end surface of the second connecting portion 312 facing the cover body 44.

[0118] The bottom wall of the first wire groove 3121 and / or the second wire groove 441 can be smoothly transitioned.

[0119] Optionally, the cover body 44 can be an integral structure or can be formed by splicing multiple sheet metal parts, without limitation.

[0120] With such a setting, while protecting the electronic control module 43 of the third driving member 40 by using the cover body 44, the appearance of the hip joint bracket is also improved. The setting of the first wire groove 3121 and the second wire groove 441 optimizes the wiring layout and saves the wiring space.

[0121] For reference, Figure 6 and Figure 8In one embodiment, the housing 42 includes a support member 421, a speed reducer 422, and a stopper 423 that are connected in sequence. One end of the support member 421 away from the speed reducer 422 is connected to the cylinder 411, and the speed reduction structure of the third driving member 40 is received in the speed reducer 422. One end of the stopper 423 away from the speed reducer 422 is used for rotatably connecting to the lower limb assembly 2000, and the stopper 423 is used to limit the rotation angle of the lower limb assembly 2000.

[0122] Optionally, the speed 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 speed reducer 422 is provided with a corresponding gear hole, and the inner wall surface of the gear hole is matched with the speed reduction structure.

[0123] A second stopper 4231 is provided at the end of the stopper 423 away from the speed reducer 422. Correspondingly, third and fourth stoppers 2100 and 2200 are provided at the end of the lower limb assembly 2000 facing the housing 42. The third and fourth stoppers 2100 and 2200 are spaced apart, and the second stopper 4231 is disposed between the third and fourth stoppers 2100 and 2200 for limiting the rotation angle of the lower limb assembly 2000.

[0124] A stopper 423 is provided on the hip joint structure to limit the swing amplitude of the lower limb assembly 2000, so as to avoid instability or damage caused by excessive swing when the humanoid robot is walking, running or performing other actions. The provision of the speed reducer 422 can change the torque and speed transmission of the third driving member 40, making the movement accuracy of the lower limb assembly 2000 higher.

[0125] For reference Figure 6 and Figure 8 In one embodiment, the support member 421 includes a body 4211 and a baffle 4212. The baffle 4212 is disposed at one end of the body 4211 away from the speed reducer 422. The body 4211 and the baffle 4212 enclose a first sub-receiving space. The baffle 4212 is provided with a connection hole 4213 that penetrates itself. The connection hole 4213 communicates the first sub-receiving space and the first receiving space, and the rotating shaft of the third driving member 40 passes through the connection hole 4213. The support member 421 is further provided with a second wire passing hole 4214, and the second wire passing hole 4214 is spaced apart from the connection hole 4213.

[0126] The support member 421 can be an integral structure, that is, the body 4211 and the baffle 4212 are an integral structure made by an integral molding process. The integral molding process can specifically be stamping, casting, etc., without limitation. The support member 421 can also be a split structure, and the body 4211 and the baffle 4212 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0127] The second wire through-hole 4214 can be a circular hole, a rectangular hole, an oval hole, etc., without limitation. The second wire through-hole 4214 can be one or multiple. When there are multiple second wire through-holes 4214, they are arranged at intervals in the circumferential direction of the connection hole 4213.

[0128] The connection hole 4213 can be coaxial with the through-hole 4114, or the axis of the connection hole 4213 can be parallel to the axis of the through-hole 4114.

[0129] With such a setting, the first sub-accommodation space is used to accommodate the rotor and / or stator of the third driving member 40, and the second wire through-hole 4214, in cooperation with the aforementioned wire grooves and wire through-holes, optimizes the wiring layout and saves wiring space.

[0130] For reference, Figure 1 and Figure 2 , the present invention provides a hip assembly 1000, including a sacroiliac joint mechanism 200 and two hip joint mechanisms 100. The sacroiliac joint mechanism 200 is used to connect with the waist assembly and drive the waist assembly to rotate around the fourth axis E4. The included 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 sacroiliac joint mechanism 200.

[0131] When the humanoid robot is in an upright state, the extending direction of the fourth axis E4 is the up-and-down direction Z of the humanoid robot, and the third axis E3 is parallel to the fourth axis E4.

[0132] Optionally, the two hip joint mechanisms 100 are symmetrically arranged relative to the fourth axis E4. It should be understood that the symmetry in this embodiment means the symmetrical setting when the two hip joint mechanisms 100 drive the lower limb assemblies 2000 (i.e., the left leg and the right leg) symmetrically. For example, when the lower limb assemblies 2000 are both in an upright state or in a state with the same included angle with the fourth axis E4, the two hip joint mechanisms 100 are symmetric relative to the fourth axis E4. From another perspective, when one hip joint mechanism 100 is in a certain posture relative to the fourth axis E4, the other hip joint mechanism 100 can reach another posture that is symmetric to the aforementioned hip joint mechanism 100 relative to the fourth axis E4 through posture adjustment.

[0133] Specifically, A can be 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, etc., without limitation.

[0134] Optionally, one end of the hip joint mechanism 100 away from the sacroiliac joint mechanism 200 is closer to another hip joint mechanism 100 than the end of the hip joint mechanism 100 close to the sacroiliac joint mechanism 200. Specifically, the two hip joint mechanisms 100 gradually approach each other along the direction close to the fourth axis E4.

[0135] Optionally, one end of the hip joint mechanism 100 away from the sacroiliac joint mechanism 200 is farther from the sacroiliac joint mechanism 200 than the end of the hip joint mechanism 100 close to the sacroiliac joint mechanism 200. Specifically, the two hip joint mechanisms 100 gradually move away from each other along the direction away from the fourth axis E4.

[0136] 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 components 2000 of the humanoid robot approach the waist component, which may cause the lower limb components 2000 (i.e., the left leg and the right leg) of the humanoid robot to be unable 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 components 2000 (i.e., the left leg and the right leg) of the humanoid robot is too large, and the anthropomorphic movement of the leg components during walking cannot be achieved; when 90°<A≤160°, the anthropomorphic degree of the humanoid robot is high when the humanoid robot is in an upright state.

[0137] The present invention provides a humanoid robot, including a hip component 1000. With such a setting, the structural layout of the hip component 1000 of the humanoid robot of the present invention is compact, and the space utilization rate is high.

[0138] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, 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 should not be construed as a limitation to the present application.

[0139] The above-disclosed is only a preferred embodiment of the present application. Of course, the scope of the rights of the present application cannot be limited by this. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall 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); A third driving member (40) is used to drive the lower limb assembly (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 assembly (2000). When the humanoid robot is in an upright state, the extension direction of the third axis (E3) is the up and down direction of the humanoid robot. The connecting shell (41) comprises 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 one end of the main body (4111) away from the receiving shell (42), and the partition (4112) further comprises a first wiring hole (4118), and the first wiring hole (4118) passes through the partition (4112); the third driving member (40) further comprises an electric control module (43), and the electric control module (43) is connected to the partition (4112); The electric control module (43) comprises a circuit board (431) and a wiring terminal (432), the circuit board (431) having a first positioning groove (4311), and the wiring terminal (432) being arranged on a side of the circuit board (431) close to the first positioning groove (4311); the partition plate (4112) having a second positioning groove (4115), and an opening of the first positioning groove (4311) and an opening of the second positioning groove (4115) being arranged correspondingly; The second driving member (30) comprises a second connecting block (31), the second connecting block (31) is located between the first plate (21) and the third plate (23), the second connecting block (31) has a first wiring groove (3121), and the opening of the first wiring groove (3121) faces away from the connecting shell (41); The outer shell of the third driving member (40) further comprises a cover body (44), the cover body (44) having a second wiring groove (441), the opening of the second wiring groove (441) facing the connecting shell (41), and the end surface of the second wiring groove (441) at the opening abuts against the connecting shell (41), and the second wiring groove (441) is connected to the first wiring groove (3121); The receiving shell (42) comprises a supporting member (421), wherein the supporting member (421) is connected to the connecting shell (41), and the supporting member (421) is further provided with a second wiring hole (4214), wherein the first wiring groove (3121), the second wiring groove (441), the first wiring hole (4118) and the second wiring hole (4214) are used for wiring.

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, and the rotor of the second driving member (30) is inserted into the mounting hole (211). The rotor of the second driving member (30) includes the second connecting block (31), and 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 the main body (4111) and the partition (4112), 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).

7. The hip joint mechanism (100) according to claim 6, characterized in that: The cylinder (411) also includes a mounting post (4113), and the mounting post (4113) is arranged on the surface of the partition (4112) facing away from the receiving shell (42); the electric control module (43) is connected and fixed to the mounting post (4113); the partition (4112) is provided with a through hole (4114) passing through itself, and the through hole (4114) is connected to the first receiving space, and 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 second positioning groove (4115) is connected to the through hole (4114).

9. The hip joint mechanism (100) according to claim 6, characterized in that: 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 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 the first wiring groove (3121); and the opening of the first wiring groove (3121) faces away from the first connecting portion (311).

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) includes 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-containment space; the baffle (4212) is provided with a connecting hole (4213) penetrating the baffle, and 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 second wiring hole (4214) is arranged at an interval 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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