Hip structural member of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a hip structural part of a humanoid robot and the humanoid robot. Wherein the hip structural part is provided with a first connecting part and a second connecting part, the first connecting part and the second connecting part are roughly constructed into isosceles triangle structures with the same size, and one waist edge of the first connecting part and one waist edge of the corresponding second connecting part are connected with one leg structure; and the other waist edge of the first connecting part and the other waist edge of the corresponding second connecting part are connected with the other leg structure. The top edge of the isosceles triangle structure is used for being connected with the waist structure of the humanoid robot, the stability of the triangle is utilized, and the hip is stable in overall structure, high in bearing capacity and not prone to deformation and damage.

Description

Technical Field

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

[0002] In the field of robotics, humanoid robots have always been the focus of research. The design of this type of robot usually covers the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. Through the coordinated work of these joint modules in different positions, humanoid robots can simulate various human movements and postures, such as walking, standing, bending over and carrying objects, achieving a high degree of imitation of human behavior.

[0003] The hip of a humanoid robot is used to connect the waist and legs, and plays a role in connecting the upper and lower parts. The force at this position is complex, and the requirements for the strength of the structural parts themselves and the connection strength after assembly are high. In the prior art, the connector connecting the two hip pitch joints adopts a split design, which has poor structural strength and cannot evenly transmit the force, resulting in large local stress, which is easy to cause deformation of the connector or the connection between the joint and the connector. Summary of the invention

[0004] The present application provides a hip structure of a humanoid robot and a humanoid robot, aiming to solve the problem that the connecting parts of two hip pitch joints in the existing humanoid robots are prone to deformation.

[0005] In one embodiment, a hip structure of a humanoid robot is provided, which mainly includes a waist support part, a first connection part and a second connection part, wherein the waist support part is used to connect the waist structure of the humanoid robot; the first connection part and the second connection part are roughly constructed as isosceles triangle structures of equal size; wherein the two ends of the waist support part are respectively connected to the bottom edges of the first connection part and the second connection part; the waist edge on the same side of the first connection part and the second connection part is used to connect one leg structure, and the waist edge on the other side is used to connect the other leg structure.

[0006] In one embodiment, the triangular middle areas of the first connecting portion and the second connecting portion are respectively hollowed out.

[0007] In one embodiment, projections of the first connecting portion and the second connecting portion in a horizontal direction substantially overlap.

[0008] In one embodiment, a waist rotation joint fixing position or a universal shaft structure fixing position is arranged on the waist support portion.

[0009] In one embodiment, a first connecting wing and a second connecting wing are respectively constructed on each waist edge of the first connecting portion and the second connecting portion, a plurality of first assembly holes in the same direction are constructed on the first connecting wing, and a plurality of second assembly holes in the same direction are constructed on the second connecting wing, and the first assembly holes and the second assembly holes are oriented perpendicular to each other.

[0010] In one embodiment, the direction of the first connecting wing toward the adjacent waist edge is perpendicular to the direction of the second connecting wing toward the adjacent waist edge.

[0011] In one embodiment, the two first connecting wings of the first connecting portion are on the same side relative to their respective adjacent waist edges;

[0012] The two first connecting wings of the second connecting portion are on the same side relative to their respective adjacent waist edges;

[0013] The two second connecting wings of the first connecting portion are opposite to their respective adjacent waist edges;

[0014] The two second connecting wings of the second connecting portion are opposite to their respective adjacent waist edges;

[0015] The first connecting wing of the first connecting portion is opposite to the first connecting wing of the second connecting portion;

[0016] The second connecting wings of the waist edge on the same side as the first connecting portion and the second connecting portion are on the same side as the waist edge.

[0017] In one embodiment, a humanoid robot is provided, which mainly includes a first leg structure, a second leg structure, a hip structure as described above, and a waist structure of the humanoid robot; the first leg structure is respectively connected to the waist edge on the same side of the first connecting part and the second connecting part; the second leg structure is respectively connected to the waist edge on the other side of the first connecting part and the second connecting part; and the waist structure is connected to the waist support part.

[0018] In one embodiment, when a first connecting wing and a second connecting wing are respectively constructed on each waist edge of the first connecting part and the second connecting part, a plurality of first assembly holes in the same direction are constructed on the first connecting wing, and a plurality of second assembly holes in the same direction are constructed on the second connecting wing; the first leg structure is respectively fixedly connected to the first assembly hole and the second assembly hole on the waist edge on the same side of the first connecting part and the second connecting part; the first leg structure is respectively fixedly connected to the first assembly hole and the second assembly hole on the waist edge on the other side of the first connecting part and the second connecting part.

[0019] In one embodiment, when a waist rotation joint fixing position or a universal shaft structure fixing position is provided on the waist support portion, the waist structure includes a waist rotation joint, and the waist rotation joint is fixedly connected to the waist rotation joint fixing position; or the waist structure includes a universal joint, and the universal joint is fixedly connected to the universal shaft structure fixing position.

[0020] Beneficial effects of this application:

[0021] In a humanoid robot hip structure and humanoid robot of the present application, the hip structure is provided with a first connection part and a second connection part, the first connection part and the second connection part are roughly constructed as isosceles triangle structures of equal size, and one waist side of the first connection part is connected to a leg structure with a waist side of the corresponding second connection part, and the other waist side of the first connection part is connected to another leg structure with another waist side of the corresponding second connection part. The top side of the isosceles triangle structure is used to connect the waist structure of the humanoid robot, and such a setting utilizes the stability of the triangle. The top side of the isosceles triangle structure is used to connect the waist structure of the humanoid robot, and such a setting utilizes the stability of the triangle. The overall structure of the hip is stable, has strong bearing capacity, and is not easy to be deformed and damaged. In addition, the waist side is a whole, has high structural strength, and is not easy to be deformed under the triangular structure, and can cope with complex stress conditions of the hip. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of the hip structure of a humanoid robot in one embodiment of the present application;

[0024] Figure 2 is a schematic front view of a hip structure of a humanoid robot in one embodiment of the present application;

[0025] Figure 3 is a schematic structural diagram of a hip structure of a humanoid robot in one embodiment of the present application from a waist side perspective facing one side;

[0026] Figure 4 is a front view schematic diagram of a humanoid robot after the hip structure is assembled with the leg structure in one embodiment of the present application;

[0027] Figure 5 is an exploded schematic diagram of a hip structure and a leg structure of a humanoid robot in one embodiment of the present application;

[0028] Figure 6 is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the waist structure of the humanoid robot after assembly in one embodiment of the present application.

[0030] Reference numerals in the figures:

[0031] 1. Hip structure; 11. First connection part; 12. Second connection part; 13. Waist support part;

[0032] 14. first connecting wing; 141. first assembly hole; 142. first toothed block;

[0033] 15. second connecting wing; 151. second assembly hole; 152. second toothed block;

[0034] 2. First leg structure; 21. First leg connecting member;

[0035] 3. Second leg structure; 31. Second leg connecting piece;

[0036] 4. Waist structure; 41. Waist rotation joint; 42. Universal joint;

[0037] 51. Hip pitch joint module; 52. Leg roll joint module; 53. Leg yaw joint module;

[0038] 6. Thigh structure; 7. Knee joint module; 8. Calf; 9. Sole of foot.

[0039] Among them, S1 is the extension direction of the first connecting wing of the first connecting part, S2 is the extension direction of the first connecting wing of the second connecting part, S3 is the extension direction of the second connecting wing on the same side waist edge, and S4 is the extension direction of the second connecting wing on the other side waist edge; X represents the horizontal first direction, Y represents the horizontal second direction, and Z represents the vertical direction, and X, Y, and Z are perpendicular to each other. DETAILED DESCRIPTION

[0040] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention 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 should not be understood as limiting the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0046] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0047] In one embodiment, see Figures 1 to 3 , provides a hip structure 1 of a humanoid robot, which mainly includes a waist support part 13, a first connection part 11 and a second connection part 12, the waist support part 13 is used to connect the waist structure 4 of the humanoid robot; the first connection part 11 and the second connection part 12 are roughly constructed as isosceles triangle structures of equal size; wherein, the two ends of the waist support part 13 are respectively connected to the bottom edges of the first connection part 11 and the second connection part 12; the waist edge on the same side of the first connection part 11 and the second connection part 12 is used to connect one leg structure, and the waist edge on the other side is used to connect the other leg structure.

[0048] In the above embodiment, the first connection part 11 and the second connection part 12 are roughly constructed in an isosceles triangle structure of the same size, and the waist edges on the corresponding same side can play the role of connecting the leg structure. Along a horizontal direction, that is, the second horizontal direction Y, there is a certain span between the first connection part 11 and the second connection part 12, so that the waist edge of the first connection part 11 and the waist edge of the second connection part 12 form a rectangular installation structure, which can increase the degree of integration in the horizontal direction, and the length of the waist edge can also increase the degree of integration between the leg structure and the hip structure 1, playing a role in stable installation. After the leg structures arranged on both sides are installed, a symmetrical effect is achieved, which can play a role of mutual support and balance in the first horizontal direction X, thereby improving the connection strength of the hip position. Ensure the stability of the hip.

[0049] The first connecting portion 11 and the second connecting portion 12 of the isosceles triangle have high structural strength. By utilizing the structural characteristics of the triangle, part of the force can be decomposed into horizontal and vertical components. The horizontal components can offset each other, thereby ensuring structural strength, reducing actual force and reducing the possibility of deformation.

[0050] This arrangement takes advantage of the stability of the triangle, and the overall structure of the hip is stable, with strong bearing capacity and is not easily deformed or damaged. In addition, the waist edge is a whole, with high structural strength, and is not easily deformed under the triangular structure, which can cope with the complex stress conditions of the hip.

[0051] In one embodiment, the first connection portion 11 and the second connection portion 12 are roughly constructed as equilateral triangle structures of equal size. Such a setting is equivalent to the width of the waist side being equal to the width of the top side. In this way, the structure of the three sides is more stable, and the three sides can support each other, further reducing the possibility of deformation and ensuring the structural stability of the hip.

[0052] In one embodiment, see Figures 1 to 3 The waist support part 13 is a plate-like structure connected to the top edge of the isosceles triangle, and is used to support the interval between the first connection part 11 and the second connection part 12. The waist support part 13, the first connection part 11 and the second connection part 12 are combined into an H-shaped structure, or an I-shaped structure, to form a stable bearing structure, so as to stably support the parts above the waist.

[0053] In one embodiment, the lumbar support portion 13, the first connection portion 11 and the second connection portion 12 are an integrally formed structure, so that the hip structure 1 itself has high structural strength, and the integrated structure has a common processing reference and assembly reference, which is beneficial to the precise movement and stable operation of the humanoid robot.

[0054] In one embodiment, see Figures 1 to 3 The triangular middle areas of the first connecting part 11 and the second connecting part 12 are respectively hollowed out. Such a setting is conducive to reducing the weight of the first connecting part 11 and the second connecting part 12, while not affecting the structural strength of the waist edge, and the hollowing out of the middle part increases the overall rigidity of the connecting part.

[0055] In one embodiment, see Figure 2, the projections of the first connection part 11 and the second connection part 12 on the second horizontal direction Y are roughly overlapped. Such an arrangement makes the first connection part 11 and the second connection part 12 parallel to each other, and the plane formed by the waist side on the same side is perpendicular to the plane where the isosceles triangle is located. A cylinder with an isosceles triangle cross section is formed between the first connection part 11 and the second connection part 12, and the plane formed by the waist side on the same side is the installation plane, so that the installation reference can be realized through the waist side, and the assembly reference can be provided through the installation of the plane, thereby increasing the combination between the hip structure 1 and the leg structure.

[0056] In one embodiment, see Figure 1 A waist rotation joint fixing position or a universal shaft structure fixing position is arranged on the waist support portion 13. It can be used to install a waist rotation joint 41 or a waist universal joint 42, and the waist universal joint 42 is used to connect the output end of the waist omnidirectional joint module.

[0057] In one embodiment, see Figures 1 to 3 A first connecting wing 14 and a second connecting wing 15 are respectively constructed on each waist edge of the first connecting portion 11 and the second connecting portion 12. A plurality of first assembly holes 141 in the same direction are constructed on the first connecting wing 14, and a plurality of second assembly holes 151 in the same direction are constructed on the second connecting wing 15. The directions of the first assembly holes 141 and the second assembly holes 151 are perpendicular to each other.

[0058] The first connecting wing 14 and the second connecting wing 15 extend in different directions to form the setting positions of the first assembly hole 141 and the second assembly hole 151, and the directions of the first assembly hole 141 and the second assembly hole 151 are perpendicular to each other. Such first assembly hole 141 and second assembly hole 151 can be used to fasten the connecting leg structure. Different connection angles and different directions of the fasteners can cope with complex hip forces and play a role in connecting stability.

[0059] In addition, the arrangement positions of the first assembly hole 141 and the second assembly hole 151 will not affect the waist structure of the isosceles triangle, that is, the structural strength of the first connection part 11 and the second connection part 12 will not be affected by the openings, thereby ensuring the structural stability of the hip structure 1.

[0060] In one embodiment, see Figures 1 to 3 The first connecting wing 14 is provided with a plurality of first toothed blocks 142 along the extension direction thereof adjacent to the waist edge, the first assembly hole 141 is provided on the first toothed block 142, the first toothed block 142 is used to provide a setting position for the first assembly hole 141, and a hollow setting is provided between two adjacent first toothed blocks 142 to facilitate weight reduction.

[0061] In one embodiment, see Figures 1 to 3The second connecting wing 15 is provided with a plurality of second toothed blocks 152 along the extension direction adjacent to the waist edge, the second assembly hole 151 is provided on the second toothed block 152, the second toothed block 152 is used to provide a setting position for the second assembly hole 151, and the space between two adjacent second toothed blocks 152 is hollowed out to facilitate weight reduction.

[0062] In one embodiment, see Figures 1 to 3 The second toothed blocks 152 located at both ends of the second connecting wing 15 are used for clamping the leg structure.

[0063] In one embodiment, see Figures 1 to 3 , the direction of the first connecting wing 14 toward the adjacent waist edge is perpendicular to the direction of the second connecting wing 15 toward the adjacent waist edge. Such a setting firstly prevents the first connecting wing 14 and the second connecting wing 15 from interfering with each other, and facilitates assembly. The extending direction of the first assembly hole 141 is the thickness direction of the first connecting wing 14, and the extending direction of the second assembly hole 151 is the thickness direction of the second connecting wing 15. Such a setting facilitates processing, minimizes the hole depth, and has high structural strength.

[0064] In one embodiment, the first connecting wing 14 faces the direction adjacent to the waist edge, which is the opposite direction of the extension direction S1 of the first connecting wing 14 , and the second connecting wing 15 faces the direction adjacent to the waist edge and is located in the plane of the isosceles triangle, so the two are perpendicular to each other.

[0065] In one embodiment, see Figure 1 The extension direction of the first connecting wing 14 of the second connecting portion 12 is S3, S3 is arranged opposite to S1, the extension direction of the second connecting wing 15 on one waist edge is S2, and the extension direction of the second connecting wing 15 on the other waist edge is S4.

[0066] In one embodiment, see Figures 1 to 3 , the two first connecting wings 14 of the first connecting portion 11 are relatively located on the same side of their respective adjacent waist edges; that is, the extending directions of the two first connecting wings 14 of the first connecting portion 11 are both S1.

[0067] The two first connecting wings 14 of the second connecting portion 12 are relatively located on the same side adjacent to their respective waist edges; that is, the extending direction of the two first connecting wings 14 of the second connecting portion 12 is both S3.

[0068] The two second connecting wings 15 of the first connecting portion 11 are opposite to each other with respect to their respective adjacent waist edges; that is, the extending directions of the two second connecting wings 15 of the first connecting portion 11 are S2 and S4 respectively.

[0069] The two second connecting wings 15 of the second connecting portion 12 are opposite to their respective adjacent waist edges; that is, the extending directions of the two second connecting wings 15 of the second connecting portion 12 are S2 and S4 respectively.

[0070] The first connecting wing 14 of the first connecting portion 11 is opposite to the first connecting wing 14 of the second connecting portion 12 ; that is, the first connecting wing 14 of the first connecting portion 11 and the first connecting wing 14 of the second connecting portion 12 extend along the direction S1 or S3 respectively.

[0071] The second connecting wings 15 on the same waist edge as the first connecting portion 11 and the second connecting portion 12 are on the same side as the waist edge.

[0072] The first assembly hole 141 of the first connection portion 11 extends in a direction S4 or S2 , and the first assembly hole 141 of the second connection portion 12 extends in a direction S4 or S2 .

[0073] The second assembly hole 151 of the first connection part 11 extends in the direction S1 or S3 (or the second direction Y), and the second assembly hole 151 of the second connection part 12 extends in the direction S1 or S3 (or the second direction Y).

[0074] In one embodiment, see Figures 4 to 6 , a humanoid robot is provided, which mainly comprises a first leg structure 2, a second leg structure 3, a hip structure 1 of a humanoid robot as in any of the above embodiments, and a waist structure 4. The beneficial effects of the hip structure 1 of the humanoid robot are detailed in the above embodiments and will not be repeated here.

[0075] The first leg structure 2 is connected to the waist edge on the same side of the first connecting part 11 and the second connecting part 12 respectively; the second leg structure 3 is connected to the waist edge on the other side of the first connecting part 11 and the second connecting part 12 respectively; the waist structure 4 is connected to the waist support part 13.

[0076] In one embodiment, see Figure 4 and Figure 5 The first leg structure 2 includes a first leg connecting member 21, and the second leg structure 3 includes a second leg connecting member 31. The second connecting wing 15 on the waist edge on the same side is clamped with the first leg connecting member 21, and the second connecting wing 15 on the waist edge on the other side is clamped with the second leg connecting member 31. At this time, the fasteners used for fastening the hip structure 1 and the first leg connecting member 21 and the second leg connecting member 31 will not be directly subjected to force, thereby achieving an anti-shear effect, which is beneficial to the protection of the fasteners, can avoid the fasteners from being sheared and damaged by force, and ensure the connection between the two.

[0077] In one embodiment, the clamping method can be that a groove structure is formed in the first leg connector 21 to clamp the two second connecting wings 15, or a receiving area is formed between the second toothed blocks 152 at both ends of the second connecting wings 15, and the first leg connector 21 extends into the receiving area to form a clamping connection.

[0078] In one embodiment, see Figure 5 , when the first connecting part 11 and the second connecting part 12 are respectively configured with the first connecting wing 14 and the second connecting wing 15 on each waist edge, the first connecting wing 14 is configured with a plurality of first assembly holes 141 in the same direction, and the second connecting wing 15 is configured with a plurality of second assembly holes 151 in the same direction; the first leg structure 2 is respectively fixedly connected with the first assembly hole 141 and the second assembly hole 151 on the waist edge on the same side of the first connecting part 11 and the second connecting part 12; the first leg structure 2 is respectively fixedly connected with the first assembly hole 141 and the second assembly hole 151 on the waist edge on the other side of the first connecting part 11 and the second connecting part 12. In this way, there are multiple connection directions, the connection effect is good, and it can cope with complex hip force conditions.

[0079] In one embodiment, see Figure 6 The waist structure 4 includes a waist rotation joint 41, and the waist rotation joint 41 is fixedly connected to the waist rotation joint fixing position.

[0080] In one embodiment, see Figure 7 The waist structure 4 includes a universal joint 42, and the universal joint 42 is fixedly connected to the universal shaft structure at a fixed position.

[0081] In one embodiment, see Figure 6 The humanoid robot also includes a head, a neck, a trunk, a hip, an arm and a leg, wherein the first leg structure 2 and the second leg structure 3 of the leg are connected to the hip pitch joint module 51, the leg roll joint module 52, and the leg yaw joint module 53 at one end away from the hip structure 1 in sequence, and the output end of the leg yaw joint module 53 is connected to the thigh structure 6, and the movement of the entire leg is driven by the above three joint modules. When the humanoid robot is standing naturally, the rotation axis of the leg yaw joint module 53 is in the vertical direction Z, and the rotation axis of the leg yaw joint module 53 is in the second horizontal direction Y.

[0082] The thigh structure 6 is used to transmit yaw motion. The direct connection has a direct driving effect and is easy to control. A knee joint module 7 is provided at one end away from the leg yaw joint module 53. The rotation axis of the knee joint module 7 is arranged along the first horizontal direction. The setting of the knee joint module 7 can imitate the human knee to achieve actions such as kicking. Such a setting avoids the traditional scheme of setting a joint module at the hip and adopting a rocker drive, which saves the setting of the joint module at the hip and avoids the bloatedness of the hip.

[0083] In one embodiment, see Figure 6The humanoid robot further includes a shank 8, one end of which is connected to the output flange of the knee joint module 7. The shank 8 is directly driven by the knee joint module 7, the knee joint module 7 is directly arranged at the connection between the thigh structure 6 and the shank 8, one side of the output end is directly connected to the thigh or the shank 8, and the rotation of the knee joint module 7 can drive the shank 8 to rotate relative to the thigh structure 6.

[0084] In one embodiment, see Figure 6 The legs of the humanoid robot also include soles 9, which drive two sets of crank rocker groups to rotate through two foot drive joint modules on the calf 8, and the rocker drives the soles 9 to achieve omnidirectional movement. Such a multi-degree-of-freedom robot can imitate humanoid walking, standing, bending and other movements, and can also achieve complex behaviors such as carrying and climbing when combined with arms.

[0085] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A hip structure of a humanoid robot, characterized in that: include: A waist support portion, the waist support portion is used to connect to the waist structure of the humanoid robot; A first connecting portion and a second connecting portion, wherein the first connecting portion and the second connecting portion are substantially constructed to be isosceles triangle structures of equal size; Wherein, the two ends of the waist support portion are respectively connected to the bottom edges of the first connecting portion and the second connecting portion; The waist edge on the same side of the first connecting portion and the second connecting portion is used to connect one leg structure, and the waist edge on the other side is used to connect the other leg structure.

2. The hip structure of a humanoid robot according to claim 1, characterized in that: The triangular middle areas of the first connecting portion and the second connecting portion are respectively hollowed out.

3. The hip structure of the humanoid robot according to claim 1, characterized in that: In a horizontal projection, the projections of the first connection portion and the second connection portion substantially overlap.

4. The hip structure of a humanoid robot according to claim 1, characterized in that: A waist rotation joint fixing position or a universal shaft structure fixing position is arranged on the waist support portion.

5. The hip structure of a humanoid robot according to claim 1, characterized in that: A first connecting wing and a second connecting wing are respectively constructed on each waist edge of the first connecting portion and the second connecting portion, a plurality of first assembly holes in the same direction are constructed on the first connecting wing, and a plurality of second assembly holes in the same direction are constructed on the second connecting wing, and the directions of the first assembly holes and the second assembly holes are perpendicular to each other.

6. The hip structure of a humanoid robot according to claim 5, characterized in that: The direction of the first connecting wing toward the adjacent waist edge and the direction of the second connecting wing toward the adjacent waist edge are perpendicular to each other.

7. The hip structure of a humanoid robot according to claim 5, characterized in that: The two first connecting wings of the first connecting portion are on the same side relative to their respective adjacent waist edges; The two first connecting wings of the second connecting portion are on the same side relative to their respective adjacent waist edges; The two second connecting wings of the first connecting portion are opposite to their respective adjacent waist edges; The two second connecting wings of the second connecting portion are opposite to their respective adjacent waist edges; The first connecting wing of the first connecting portion is opposite to the first connecting wing of the second connecting portion; The second connecting wings of the waist edge on the same side as the first connecting portion and the second connecting portion are on the same side as the waist edge.

8. A humanoid robot, characterized in that: include: First leg structure, second leg structure; The hip structure of a humanoid robot as claimed in any one of claims 1 to 7; as well as Waist structure; The first leg structure is respectively connected to the waist edges on the same side of the first connecting portion and the second connecting portion; The second leg structure is respectively connected to the waist edges of the first connecting portion and the other side of the second connecting portion; The waist structure is connected to the waist support part.

9. The humanoid robot according to claim 8, characterized in that: When a first connecting wing and a second connecting wing are respectively constructed on each waist edge of the first connecting portion and the second connecting portion, a plurality of first assembly holes in the same direction are constructed on the first connecting wing, and a plurality of second assembly holes in the same direction are constructed on the second connecting wing; The first leg structure is fixedly connected to a first assembly hole and a second assembly hole on the waist edge on the same side of the first connecting portion and the second connecting portion respectively; The first leg structure is fixedly connected to the first assembly hole and the second assembly hole on the waist edge of the other side of the first connecting part and the second connecting part respectively.

10. The humanoid robot according to claim 8, characterized in that: When a waist rotation joint fixing position or a universal shaft structure fixing position is provided on the waist support part, The waist structure includes a waist rotation joint, and the waist rotation joint is fixedly connected to the waist rotation joint fixing position; or The waist structure comprises a universal joint, and the universal joint is fixedly connected to the universal shaft structure at a fixed position.

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