Waist assembly and humanoid robot

Abstract

The invention provides a waist assembly and a humanoid robot, and relates to the technical field of robots. The waist assembly comprises a base, a top plate, two driving pieces and a braking piece. After the lengths in the driving parts are adjusted respectively, the distances between the multiple connecting parts and the base are different, the top plate can be made to deflect relative to the base, and therefore the top plate can rotate around multiple axes in different directions relative to the base. In this way, the top plate can rotate around multiple axes in different directions relative to the base through the at least two driving pieces. The two ends of the braking part are also rotationally connected with the base and the top plate, so that the braking part can rotate relative to the base and the top plate, the driving part drives the top plate and the base to move relative to each other, the braking part can stretch out and draw back according to increase and decrease of the distance between the top plate and the base, and the braking part can keep a certain length within a preset stretching range; therefore, the top plate connected with the brake part and the base can be kept at a certain position, and the relative position and angle of the top plate and the base can be kept.

Description

Technical Field

[0001] The present application relates to a waist component and a humanoid robot, belonging to the technical field of humanoid robots. Background Art

[0002] Humanoid robots are more similar to human bodies in shape, and accordingly, the actions that humanoid robots can perform are more diverse and complex. Therefore, humanoid robots are currently a vigorously developed project in the robotics industry. In particular, the waist structure of humanoid robots is a key part that can simulate the movement of the human body. In order to be closer to the movement of the human body, the waist structure of humanoid robots needs to be able to achieve multiple degrees of freedom.

[0003] At present, in order to achieve activities in multiple degrees of freedom, humanoid robots generally use at least three driving parts to drive the waist structure to move in three degrees of freedom respectively. This leads to a complex waist structure and, in turn, excessively high costs for the humanoid robots. Summary of the invention

[0004] The present application provides a waist component and a humanoid robot, which solves the problem of complex waist structure of humanoid robots in related technologies.

[0005] In a first aspect, the present application provides a waist component, comprising:

[0006] Pedestal;

[0007] A top plate, including two spaced-apart connecting portions;

[0008] Two driving members are arranged between the base and the top plate, one end of the driving member is rotatably connected to the base, and the other end of the driving member is rotatably connected to the connecting portion, and the driving member is configured to drive the connecting portion to move toward or away from the base;

[0009] A brake member, one end of which is rotatably connected to the base, and the other end of which is rotatably connected to the top plate. The brake member is configured to be able to extend and retract within a preset telescopic range as the distance between the connecting portion and the base increases or decreases, and the brake member can maintain any length within the preset telescopic range.

[0010] In some embodiments, the waist component further includes a support member, one end of which is rotatably connected to the middle portion of the base, and the other end of which is rotatably connected to the middle portion of the top plate.

[0011] In some embodiments, there are plural braking members, and the driving member and the braking member are disposed around the supporting member.

[0012] In some embodiments, the driving member and the braking member are symmetrically arranged along the supporting member;

[0013] Two ends of the driving member are respectively connected to the edge of the base and the edge of the top plate;

[0014] Two ends of the brake member are respectively connected to the edge of the base and the edge of the top plate.

[0015] In some embodiments, the waist component further includes a plurality of spherical joints, and both ends of the driving member are rotatably connected to the base and the top plate respectively through the spherical joints, and both ends of the braking member are rotatably connected to the base and the top plate respectively through the spherical joints.

[0016] In some embodiments, the brake member includes a housing, a connecting rod, a claw and a driving part, the housing is rotatably connected to the base, the connecting rod is slidably arranged in the housing so that the connecting rod can reciprocate along the axis of the connecting rod, one end of the connecting rod is rotatably connected to the connecting part, the claw is movably arranged on one side of the connecting rod, and the driving part is arranged on the housing;

[0017] The driving part is configured to drive the plurality of claws to move toward the side wall of the connecting rod to hold the connecting rod tightly, and the claws are relatively fixed to the housing;

[0018] The driving portion is further configured to drive the plurality of claws to move away from the side wall of the connecting rod to release the connecting rod.

[0019] In some embodiments, the shell includes a sliding cavity, at least a portion of the connecting rod is slidably disposed in the sliding cavity, the inner diameter of the sliding cavity gradually increases in the direction from the driving portion to the claw, a plurality of the claws are located between the connecting rod and the inner wall of the sliding cavity, and the driving portion is configured to drive the claw to move along the axial direction of the connecting rod.

[0020] In some embodiments, the driving part is a magnetic member, the claw is an electromagnet, and the driving part and the claw are distributed along the axial direction of the connecting rod;

[0021] When the claw is powered off, the driving part absorbs the claw and moves it toward the driving part;

[0022] When the claw is energized, the driving portion pushes the claw to move away from the driving portion.

[0023] In some embodiments, the brake member further comprises a first driving assembly and a first limiting block, the first driving assembly and the first limiting block are movably disposed in the housing, and the side wall of the connecting rod has a plurality of first limiting surfaces;

[0024] The first driving assembly is configured to drive the first limiting block to move toward the connecting rod so that the first limiting block cooperates with the first limiting surface in a first direction, and when the connecting rod moves along a second direction, the first driving assembly is configured to drive the first limiting block to move away from the connecting rod until it is separated from the connecting rod;

[0025] The brake member further comprises a second driving assembly and a second limiting block, wherein the second driving assembly and the second limiting block are movably disposed in the housing, and the side wall of the connecting rod has a plurality of second limiting surfaces, wherein the second limiting surfaces and the first limiting surfaces are located on opposite sides of the connecting rod;

[0026] The second driving component is configured to drive the second limit block to move toward the connecting rod so that the second limit block and the second limit surface cooperate in the second direction. When the connecting rod moves along the first direction, the second driving component is configured to drive the second limit block to move away from the connecting rod until it is separated from the connecting rod. The first direction and the second direction are opposite to each other, and the first direction and the second direction are both the axial direction of the connecting rod.

[0027] In some embodiments, the first driving assembly includes a first electromagnetic part, a first transmission block and a first elastic part, the shell has a first active hydraulic chamber and a first driven hydraulic chamber, at least part of the first limit block is movably arranged in the first active hydraulic chamber, at least part of the first transmission block is movably arranged in the first driven hydraulic chamber, the first active hydraulic chamber is communicated with the first driven hydraulic chamber, the side wall of the connecting rod further has a plurality of first guide surfaces, the plurality of first limit surfaces and the plurality of first guide surfaces are alternately arranged along the axial direction of the connecting rod, the two ends of the first elastic part are respectively connected to the shell and the first limit block, the elastic force of the first elastic part drives the first limit block to move toward the connecting rod, and the first electromagnetic part is configured to be energized to drive the first limit block to move back to the connecting rod;

[0028] When the first transmission block moves away from the connecting rod, the volume of the first driven hydraulic chamber increases, and when the first limit block moves away from the connecting rod, the volume of the first active hydraulic chamber decreases;

[0029] When the connecting rod moves along the second direction, the first transmission block contacts the first guide surface, so that the first guide surface pushes the first transmission block to move away from the connecting rod;

[0030] The second driving assembly includes a second electromagnetic part, a second transmission block and a second elastic part, the shell has a second active hydraulic chamber and a second driven hydraulic chamber, at least part of the second limit block is movably arranged in the second active hydraulic chamber, at least part of the second transmission block is movably arranged in the second driven hydraulic chamber, the second active hydraulic chamber is communicated with the second driven hydraulic chamber, the side wall of the connecting rod also has a plurality of second guide surfaces, and the plurality of second limit surfaces and the plurality of second guide surfaces are alternately arranged along the axial direction of the connecting rod, the two ends of the second elastic part are respectively connected to the shell and the second limit block, the elastic force of the second elastic part drives the second limit block to move toward the connecting rod, and the second electromagnetic part is configured to be energized to drive the second limit block to move back to the connecting rod;

[0031] When the second transmission block moves away from the connecting rod, the volume of the second driven hydraulic chamber increases, and when the second limit block moves away from the connecting rod, the volume of the second active hydraulic chamber decreases;

[0032] When the connecting rod moves along the first direction, the second transmission block contacts the second guide surface, so that the second guide surface pushes the second transmission block to move away from the connecting rod.

[0033] In a second aspect, based on the above waist assembly, the present application provides a humanoid robot, comprising the above waist assembly.

[0034] In the waist assembly provided by the present application, both driving members can be rotatably connected to the base and the top plate, so that both the base and the top plate can rotate relative to the driving members. When the lengths of the two driving members are adjusted respectively, so that the spacings between the multiple connection parts and the base are different, the top plate can be deflected relative to the base, so that the top plate can rotate relative to the base around multiple axes in different directions. When the lengths of the two driving members are increased or decreased synchronously, so that the spacings between the multiple connection parts and the base are changed synchronously, the top plate can rotate relative to the base around an axis in another direction. In this way, the top plate can be rotated relative to the base around at least three axes in different directions through at least two driving members. Thereby, the number of actuators of the waist assembly of the present application is reduced and the structure is more compact. Both ends of the brake are also rotatably connected to the base and the top plate, so that the brake can rotate relative to the base and the top plate, and the driving member drives the top plate and the base to move relative to each other, so that the brake can be extended and retracted according to the increase or decrease of the distance between the top plate and the base, and the brake can maintain a certain length within its preset extension range, so that the top plate and the base connected to the brake can maintain a certain position, so that the relative position and angle between the top plate and the base can be maintained. In this way, the driving member does not need to provide additional power to keep the top plate and the base in relative position and angle, which simplifies the structure of the driving member and protects the driving member. In addition, the energy consumption of the driving member can be reduced and the service life of the driving member can be extended.

[0035] The humanoid robot provided by the present application applies the waist assembly described above, so that the structure of the humanoid robot is simplified, thereby reducing the cost of driving the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic diagram of a waist component according to an embodiment of the present application;

[0038] Figure 2 This is a schematic diagram of the top plate of the waist assembly of the embodiment of the present application after rotating relative to the base;

[0039] Figure 3 A schematic side view of a waist component according to an embodiment of the present application;

[0040] Figure 4 for Figure 3 Schematic diagram of the cross section of AA;

[0041] Figure 5 A schematic top view of a brake member of a waist assembly according to an embodiment of the present application;

[0042] Figure 6 for Figure 5 Schematic cross-section of the middle BB;

[0043] Figure 7 This is a schematic diagram of a first limit block and a second limit block of a waist assembly according to an embodiment of the present application being arranged on a housing;

[0044] Figure 8 A schematic diagram of a first driving member of a waist assembly according to an embodiment of the present application;

[0045] Fig. 9 It is a schematic diagram of the first driving member of the waist component according to an embodiment of the present application.

[0046] Reference numerals:

[0047] 100-base,

[0048] 200-top plate,

[0049] 300-driving element, 310-ball joint,

[0050] 400-brake member, 410-housing, 411-sliding chamber, 412-first active hydraulic chamber, 413-first driven hydraulic chamber, 414-second active hydraulic chamber, 415-second driven hydraulic chamber, 420-connecting rod, 421-first limiting surface, 422-first guide surface, 423-second limiting surface, 424-second guide surface, 430-claw, 440-driving part, 450-guide shaft,

[0051] 500-Support,

[0052] 600-first driving assembly, 610-first limiting block, 620-first transmission block, 630-first electromagnetic part, 640-first elastic part,

[0053] 700 - second driving assembly, 710 - second limiting block, 720 - second transmission block, 730 - second electromagnetic part, 740 - second elastic part. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] Humanoid robots are more similar to human bodies in shape, and accordingly, the actions that humanoid robots can perform are more diverse and complex. Therefore, humanoid robots are currently a vigorously developed project in the robotics industry. In particular, the waist structure of humanoid robots is a key part that can simulate the movement of the human body. In order to be closer to the movement of the human body, the waist structure of humanoid robots needs to be able to achieve multiple degrees of freedom.

[0056] At present, in order to achieve activities in multiple degrees of freedom, humanoid robots generally use at least three driving parts to drive the waist structure to move in three degrees of freedom respectively. This leads to a complex waist structure and, in turn, excessively high costs for the humanoid robots.

[0057] In the waist assembly proposed in the present application, both driving members can be rotatably connected to the base and the top plate, so that both the base and the top plate can rotate relative to the driving members. When the lengths of the two driving members are adjusted respectively, the distances between the two connecting parts and the base are different, which can cause the top plate to be tilted relative to the base, so that the top plate can rotate relative to the base around multiple axes in different directions. When the lengths of the two driving members are increased or decreased synchronously, the distances between multiple connecting parts and the base are changed synchronously, so that the top plate can rotate relative to the base around an axis in another direction. In this way, the top plate can be rotated relative to the base around at least three axes in different directions through at least two driving members. Thereby, the number of actuators of the waist assembly of the present application is reduced and the structure is more compact. Both ends of the brake are also rotatably connected to the base and the top plate, so that the brake can rotate relative to the base and the top plate, and the driving member drives the top plate and the base to move relative to each other, so that the brake can be extended and retracted according to the increase or decrease of the distance between the top plate and the base, and the brake can maintain a certain length within its preset extension range, so that the top plate and the base connected to the brake can maintain a certain position, so that the relative position and angle between the top plate and the base can be maintained. In this way, the driving member does not need to provide additional power to keep the top plate and the base in relative position and angle, which simplifies the structure of the driving member and protects the driving member. In addition, the energy consumption of the driving member can be reduced and the service life of the driving member can be extended.

[0058] The humanoid robot proposed in the present application applies the waist assembly described above, so that the structure of the humanoid robot is simplified and the cost of the humanoid robot is reduced.

[0059] The waist assembly and humanoid robot provided by the present application are described in detail below in conjunction with specific embodiments.

[0060] This application proposes a waist component, referring to Figure 1 to Figure 2 As shown, it includes a base 100, a top plate 200, two driving members 300 and a brake member 400. The waist assembly can be applied to a humanoid robot as a waist structure of the humanoid robot. There can be two driving members 300 and two brake members 400.

[0061] The base 100 is the basic component of the waist assembly of the present application, and the base 100 can provide a mounting base for at least part of other components of the waist assembly. The base 100 can be made of metal material, so that the base 100 has better structural strength, thereby making the durability and reliability of the base 100 better. Of course, the base 100 can also be partially made of polymer material, so that the base 100 has a certain structural strength and is relatively light.

[0062] The top plate 200 includes two connection parts, and the connection parts of the top plate 200 are located on the surface of the top plate 200. Specifically, in a certain state, the top plate 200 can be arranged opposite to the base 100, and the top plate 200 can be arranged above the base 100, and the connection parts can be located on the bottom side surface of the top plate 200.

[0063] One end of the two driving members 300 can be rotatably connected to the base 100, and the other end of the two driving members 300 can be rotatably connected to two connecting parts of the top plate 200 respectively. Specifically, the number of connecting parts of the top plate 200 corresponds to the number of driving members 300, so that each driving member 300 can be rotatably connected to the base 100 and the top plate 200, and the two driving members 300 can be arranged between the base 100 and the top plate 200. Specifically, one end of the driving member 300 is rotatably connected to the base 100, so that the driving member 300 can rotate relative to the base 100 around at least two axes in different directions. The other end of the driving member 300 is rotatably connected to the top plate 200, so that the driving member 300 can rotate relative to the base 100 around at least two axes in different directions.

[0064] The driving member 300 can respectively drive the connection part of the top plate 200 to move toward or away from the base 100, so that the distance between the connection part of the top plate 200 and the base 100 can be adjusted, thereby making the distance between each part of the top plate 200 and the base 100 adjustable. In this way, by adjusting the distance between the two connection parts of the top plate 200 and the base 100 through the two driving members 300, the top plate 200 connected to the driving member 300 can be deflected relative to the base 100, so that the top plate 200 can rotate relative to the base 100 around at least two axes in different directions.

[0065] Specifically, when the number of the driving members 300 is two, the two driving members 300 include a first driving member and a second driving member, and the lengths of the first driving member and the second driving member are retractable. Correspondingly, the number of the connecting parts of the top plate 200 is two, and the two connecting parts include a first connecting part and a second connecting part. When the length of the first driving member is contracted so that the length of the first driving member is less than the length of the second driving member, the distance between the base 100 and the first connecting part of the top plate 200 can be reduced, and the distance between the base 100 and the second connecting part of the top plate 200 can be increased, so that the top plate 200 can rotate relative to the base 100, that is, rotate around at least two axes in different directions. When the length difference between the first driving member and the second driving member is larger, the difference between the distance between the first connecting part and the base 100 and the distance between the second connecting part and the base 100 is larger, and the angle of rotation of the top plate 200 relative to the base 100 is also larger. By controlling the length difference between the first driving member and the second driving member, the relative position and relative angle of the top plate 200 and the base 100 can be adjusted.

[0066] When the lengths of the first driving member and the second driving member are synchronously extended or shortened, the distance between the first connection part of the top plate 200 and the base 100, and the distance between the second connection part and the base 100 can be synchronously increased or decreased, and the first driving member and the second driving member can drive the top plate 200 to rotate relative to the base 100 around an axis in another direction. Thus, the first driving member and the second driving member can cooperate to drive the base 100 to rotate relative to the top plate 200 around at least three axes in different directions. Compared with the current humanoid robot method of achieving three degrees of freedom through three driving mechanisms, the waist assembly of the present application requires fewer driving mechanisms, has a simpler and more compact structure, and can effectively reduce costs.

[0067] One end of the brake member 400 may be rotatably connected to the base 100, and the other end of the brake member 400 may be rotatably connected to the top plate 200, so that the brake member 400 is located between the base 100 and the top plate 200. Specifically, one end of the brake member 400 is rotatably connected to the base 100, so that the brake member 400 can rotate relative to the base 100 around at least two axes in different directions. The other end of the brake member 400 is rotatably connected to the top plate 200, so that the brake member 400 can rotate relative to the base 100 around at least two axes in different directions.

[0068] The brake member 400 is a retractable structural member, so that the length of the brake member 400 can be increased or decreased. After the two ends of the brake member 400 are connected to the base 100 and the top plate 200 respectively, when the distance between the connection part of the top plate 200 and the base 100 changes, the top plate 200 can drive the length of the brake member 400 to be retracted, and when the relative angle between the top plate 200 and the base 100 changes, the top plate 200 and the base 100 can rotate relative to the brake member 400, so that the brake member 400 can adapt to the relative position and relative angle of the top plate 200 and the base 100. The brake member 400 has a preset retractable range, and the preset retractable range of the brake member 400 is the set of corresponding lengths of the brake member 400 when the brake member 400 adapts to all relative positions and all relative angles of the top plate 200 and the base 100. The brake member 400 can maintain any length within its preset telescopic range, that is, the brake member 400 can actively fix its length. Accordingly, the brake member 400 can support the top plate 200 and the base 100, so that the top plate 200 and the base 100 cannot stretch or compress the brake member 400 and move relative to each other when subjected to external force, thereby fixing the relative position of the top plate 200 and the base 100, so that the top plate 200 and the base 100 can maintain their relative position and relative angle.

[0069] Specifically, when the waist assembly of the present application needs to drive the top plate 200 to move relative to the base 100 to a preset position, the two connecting parts of the top plate 200 can be driven by the two driving members 300 to move relative to the base 100, so that the top plate 200 can move relative to the base 100 to the preset position. In the process of the top plate 200 moving to the preset position, the brake member 400 can be driven by the top plate 200 to rotate and / or extend. After the top plate 200 reaches the preset position, the brake member 400 can maintain its length, so that the brake member 400 is no longer driven by the top plate 200 to rotate and extend, so that the top plate 200 can remain relatively fixed with the base 100.

[0070] After the driving member 300 drives the top plate 200 to move to a preset position, the driving member 300 may no longer drive the top plate 200 to move, and the top plate 200 and the base 100 may be kept relatively fixed through the braking member 400. The driving member 300 does not need to continuously output power to keep the top plate 200 and the base 100 relatively fixed, thereby protecting the driving member 300, reducing the energy consumption of the driving member 300, and ultimately reducing the energy consumption of the lumbar component of the present application.

[0071] In some embodiments, reference Figure 1 to Figure 2 As shown, the driving member 300 of the present application can adopt an electric linear mechanism, a linear motor, a hydraulic linear mechanism or a pneumatic linear mechanism. It should be understood that when the driving member 300 adopts any one of the electric linear mechanism, the linear motor, the hydraulic linear mechanism or the pneumatic linear mechanism, if the top plate 200 and the base 100 are kept relatively fixed by the driving member 300, the electric linear mechanism and the linear motor need to keep the motor rotating, the hydraulic linear mechanism needs to keep the hydraulic pressure, and the pneumatic linear mechanism needs to keep the air pressure, so that the energy consumption of the driving member 300 is relatively high. However, the present application fixes the relative position and relative angle of the top plate 200 and the base 100 through the brake member 400, which can reduce the energy consumption of the driving member 300.

[0072] In some embodiments, reference Figures 1 to 4 As shown, in order to make the top plate 200 more stable when it moves relative to the base 100, the waist assembly of the present application can also be provided with a support member 500, one end of the support member 500 is rotatably connected to the middle part of the base 100, and the other end of the support member 500 is rotatably connected to the middle part of the top plate 200. The support member 500 is connected to the top plate 200, so that the top plate 200 can rotate relative to the support member 500, so that the top plate 200 can rotate relative to the base 100 by rotating relative to the support member 500, and the connection between the support member 500 and the top plate 200 can constitute the rotation center of the top plate 200.

[0073] The top plate 200 and the base 100 can be connected by the support member 500, so that the top plate 200 and the base 100 can remain relatively stable. In addition, the support member 500 can also play a role in supporting the top plate 200, so that the main weight of the top plate 200 can act on the support member 500, thereby reducing the force of the top plate 200's own weight acting on the driving member 300 and the braking member 400, and protecting the driving member 300 and the braking member 400. In addition, the power required to be output when the driving member 300 drives the connection part of the top plate 200 to move relative to the base 100 does not need to bear too much of the top plate 200's own weight, thereby reducing the output force of the driving member 300, and further reducing the energy consumption and cost of the waist assembly of the present application.

[0074] In some embodiments, reference Figures 1 to 4 As shown, in order to make the relative position and relative angle of the top plate 200 and the base 100 more stable after the top plate 200 moves to the right position relative to the base 100, the number of the brake members 400 can also be set to multiple, and the multiple brake members 400 are rotatably connected to the base 100 and the top plate 200, and the multiple brake members 400 can be set between the base 100 and the top plate 200. The multiple brake members 400 can be extended and retracted under the drive of the top plate 200, and the multiple brake members 400 can maintain any length within their preset extension range. In this way, the multiple brake members 400 can be used together to maintain the relative position and relative angle of the top plate 200 and the base 100, so that the relative position and relative angle of the top plate 200 and the base 100 can be more stable.

[0075] Specifically, the number of the brake members 400 can be set to be consistent with the number of the driving members 300, and the two driving members 300 and the two brake members 400 can be arranged around the support member 500, so that the driving force of the driving members 300 on the top plate 200 can be more evenly distributed, so that the top plate 200 can be moved to the preset position more efficiently. In addition, the support force of the top plate 200 received by the multiple brake members 400 is also more evenly distributed, so that the stability of the top plate 200 and the base 100 when they are relatively fixed is better.

[0076] In some embodiments, reference Figure 1 to Figure 2As shown, the two driving members 300 of the present application can be symmetrically arranged along the support member 500, so that when the number of the driving members 300 is two, the two driving members 300 can be distributed on both sides of the support member 500. Specifically, the base 100 and the top plate 200 can be arranged in a rectangular structure, one end of the two driving members 300 can be connected to the diagonal edge of the base 100, the two connecting parts of the top plate 200 can be arranged at the diagonal edge of the top plate 200, and the other end of the two driving members 300 can be connected to the connecting part of the diagonal edge of the top plate 200. In this way, when the driving member 300 drives the top plate 200 to rotate relative to the base 100, the top plate 200 takes the connection between the support member 500 and the top plate 200 as the rotation center, and the torques of the two driving members 300 acting on the top plate 200 can be relatively close or consistent, so that the driving member 300 drives the top plate 200 to rotate relative to the base 100 more smoothly.

[0077] The multiple brake members 400 of the present application can be symmetrically arranged along the support member 500, so that when the number of the brake members 400 is two, the two brake members 400 can be distributed on both sides of the support member 500. Specifically, when the base 100 and the top plate 200 can be arranged in a rectangular structure, one end of the two brake members 400 can be connected to the diagonal edge of the base 100, and the other end of the two brake members 400 can be connected to the diagonal edge of the top plate 200. In this way, when the top plate 200 rotates relative to the base 100, the top plate 200 takes the connection between the support member 500 and the top plate 200 as the rotation center, and the torques of the two brake members 400 acting on the top plate 200 can be relatively close or consistent, so that the stability of the brake members 400 when supporting the top plate 200 to be fixed relative to the base 100 is better.

[0078] Thus, the two driving members 300 and the two braking members 400 can be connected to the four corners of the base 100 and the top plate 200 , so that the two driving members 300 and the two braking members 400 can be distributed around the circumference of the support member 500 .

[0079] In some embodiments, reference Figure 4 As shown, in order to enable the driving member 300 to be rotatably connected to the base 100 and the top plate 200, the waist component of the present application can also be provided with a spherical joint 310, and the number of the spherical joints 310 is multiple. The two ends of the driving member 300 can be rotatably connected to the connecting parts of the base 100 and the top plate 200 through the spherical joints 310. The spherical joints 310 allow the two ends of the driving member 300 to rotate relative to the base 100 and the top plate 200 around axes in multiple directions.

[0080] In order to enable the brake member 400 to be rotatably connected to the base 100 and the top plate 200, the waist component of the present application may also be provided with a spherical joint 310, and the number of the spherical joints 310 is multiple. The two ends of the brake member 400 can be rotatably connected to the connecting parts of the base 100 and the top plate 200 through the spherical joints 310. The spherical joints 310 allow the two ends of the brake member 400 to rotate relative to the base 100 and the top plate 200 around axes in multiple directions.

[0081] In some embodiments, reference Figure 5 to Figure 6 As shown, in order to enable the brake member 400 to maintain any length within its preset telescopic range, the brake member 400 may be provided with a housing 410, a connecting rod 420 and a plurality of claws 430. The housing 410 is rotatably connected to the base 100, and the housing 410 connecting rod 420 is slidably arranged in the housing 410, so that the connecting rod 420 can reciprocate along a preset direction, which is the direction of the connection part of the base 100 to the top plate 200, one end of the connecting rod 420 is rotatably connected to the connection part of the top plate 200, and a plurality of claws 430 are movably arranged around the connecting rod 420, and the plurality of claws 430 are configured to move toward or away from the side wall of the connecting rod 420 to hold the connecting rod 420 or release the connecting rod 420.

[0082] The length from the end of the housing 410 connected to the base 100 to the end of the connecting rod 420 connected to the top plate 200 is the total length of the brake member 400. The connecting rod 420 can slide relative to the housing 410, so that the length from the end of the housing 410 connected to the base 100 to the end of the connecting rod 420 connected to the top plate 200 can be adjusted, thereby making the length of the brake member 400 retractable. When the distance between the connecting portion of the top plate 200 and the base 100 increases, the end of the connecting rod 420 connected to the connecting portion moves in a direction away from the housing 410, and when the distance between the connecting portion of the top plate 200 and the base 100 decreases, the end of the connecting rod 420 connected to the connecting portion moves in a direction toward the housing 410.

[0083] When the driving part 440 drives the claw 430 to move toward the side wall of the connecting rod 420 and hold the connecting rod 420, and the claw 430 is relatively fixed to the shell 410, the friction between the connecting rod 420 and the claw 430 can make the connecting rod 420 and the claw 430 relatively fixed, and because the claw 430 is relatively fixed to the shell 410, the connecting rod 420 can also be relatively fixed to the shell 410, ultimately maintaining the telescopic length of the brake member 400.

[0084] When the driving part 440 drives the claw 430 to move away from the side wall of the connecting rod 420 to release the connecting rod 420, the friction between the connecting rod 420 and the claw 430 is reduced, so that the connecting rod 420 and the claw 430 can move relatively to each other, so that the connecting rod 420 can move freely along the axial direction of the connecting rod 420 relative to the shell 410, and finally the length of the brake member 400 can be freely extended and retracted driven by the top plate 200.

[0085] In some embodiments, reference Figure 5 to Figure 6 As shown, in order to allow the connecting rod 420 to slide relative to the shell 410, a sliding cavity 411 is opened in the shell 410, and at least a part of the connecting rod 420 is slidably arranged in the sliding cavity 411. In the axial direction of the connecting rod 420 and in the direction from the driving part 440 to the claw 430, the inner diameter of the sliding cavity 411 gradually increases, and a plurality of claws 430 are located between the connecting rod 420 and the inner wall of the sliding cavity 411. The driving part 440 is configured to drive the claw 430 to move along the axial direction of the connecting rod 420.

[0086] Specifically, the inner diameter of the opening at one end of the sliding cavity 411 matches the outer diameter of the connecting rod 420, so that the opening of the sliding cavity 411 can limit the connecting rod 420, thereby making the connecting rod 420 relatively fixed to the housing 410 in its radial direction. A plurality of claws 430 can be arranged in the sliding cavity 411 and wound around the connecting rod 420, so that the plurality of claws 430 are all located between the side wall of the connecting rod 420 and the inner wall of the sliding cavity 411. The driving part 440 drives the plurality of claws 430 to move along the axial direction of the connecting rod 420, so that the plurality of claws 430 can reciprocate between the area with a larger inner diameter and the area with a smaller inner diameter of the sliding cavity 411. When the claw 430 moves to the area with a smaller inner diameter of the sliding cavity 411, the inner wall of the sliding cavity 411 can press the claw 430 in the radial direction of the connecting rod 420, so that the claw 430 and the side wall of the connecting rod 420 are closely fitted, so that the connecting rod 420 can be tightly held, so that the connecting rod 420 can no longer slide along the sliding cavity 411 relative to the housing 410. When the claw 430 moves to the area with a larger inner diameter of the sliding cavity 411, the pressure of the inner wall of the sliding cavity 411 on the claw 430 is reduced, so that the force between the claw 430 and the side wall of the connecting rod 420 is reduced or a gap is formed between the claw 430 and the side wall of the connecting rod 420, so that the claw 430 can release the connecting rod 420, so that the connecting rod 420 can slide along the sliding cavity 411 relative to the housing 410.

[0087] In some embodiments, reference Figure 5 to Figure 6As shown, in order to enable the driving part 440 to drive the claw 430 to move along the axial direction of the connecting rod 420, the driving part 440 is a magnetic part, the claw 430 is an electromagnet, the driving part 440 and the claw 430 are distributed along the axial direction of the connecting rod 420, and the inner diameter of the sliding cavity 411 gradually increases in the direction from the driving part 440 to the claw 430. Specifically, the driving part 440 can be arranged at one end of the housing 410.

[0088] When the claw 430 is powered off, the magnetically absorbable claw 430 of the driving part 440 moves toward the driving part 440 , so that the claw 430 moves to the area with a smaller inner diameter of the sliding cavity 411 , so that the claw 430 can hold the connecting rod 420 tightly.

[0089] When the claw 430 is powered off, the magnetism of the driving part 440 repels the magnetism of the claw 430, and the driving part 440 can drive the claw 430 to move away from the driving part 440, so that the claw 430 moves to the area with a larger inner diameter of the sliding cavity 411, so that the claw 430 can release the connecting rod 420.

[0090] In some embodiments, reference Figure 7 As shown, in order to further improve the braking stability of the brake member 400, the brake member 400 may also be provided with a first drive assembly 600 and a first limit block 610, the first drive assembly 600 and the first limit block 610 are movably arranged on the shell 410, and the side wall of the connecting rod 420 has a plurality of first limit surfaces 421, and the plurality of first limit surfaces 421 are arranged at intervals along the axial direction of the connecting rod 420. The first drive assembly 600 is configured to drive the first limit block 610 to move toward the connecting rod 420 so that the first limit block 610 and the first limit surface 421 are limitedly matched in the first direction, and when the connecting rod 420 moves along the second direction, the first drive assembly 600 is configured to drive the first limit block 610 to move away from the connecting rod 420 until the first limit block 610 is separated from the first limit surface 421. The first direction and the second direction are both the axial direction of the connecting rod 420, and are opposite to each other. The first direction is Figure 7 The X direction in the second direction is Figure 7 in the Y direction.

[0091] After the first driving assembly 600 drives the first limiting block 610 to move toward the connecting rod 420, the first limiting block 610 cooperates with the first limiting surface 421 to limit the connection in the first direction, so that the connecting rod 420 can no longer move in the first direction, so as to achieve the purpose of limiting the connection in the first direction. When the connecting rod 420 moves in the second direction, the first driving assembly 600 drives the first limiting block 610 to move away from the connecting rod 420, so that the first limiting block 610 does not contact the connecting rod 420, which will not affect the driving member 300 driving the connecting rod 420 to move in the second direction.

[0092] The brake member 400 may also include a second drive assembly 700 and a second limit block 710, which are movably disposed on the housing 410, and a side wall of the connecting rod 420 has a plurality of second limit surfaces 423, which are spaced apart along the axial direction of the connecting rod 420. The second drive assembly 700 is configured to drive the second limit block 710 to move toward the connecting rod 420, so that the second limit block 710 and the second limit surface 423 are limitedly engaged in the second direction, and when the connecting rod 420 moves along the first direction, the second drive assembly 700 is configured to drive the second limit block 710 to move away from the connecting rod 420 until the second limit block 710 is separated from the second limit surface 423.

[0093] After the second driving assembly 700 drives the second limiting block 710 to move toward the connecting rod 420, the second limiting block 710 cooperates with the second limiting surface 423 to limit the connection rod 420 in the second direction, so that the connecting rod 420 can no longer move in the second direction, so as to achieve the purpose of limiting the connection rod 420 in the second direction. When the connecting rod 420 moves in the first direction, the second driving assembly 700 drives the second limiting block 710 to move away from the connecting rod 420, so that the second limiting block 710 does not contact the connecting rod 420, which will not affect the driving member 300 driving the connecting rod 420 to move in the second direction.

[0094] In some embodiments, reference Figure 8 As shown, the first drive assembly 600 includes a first electromagnetic part 630, a first transmission block 620 and a first elastic part 640, the housing 410 has a first active hydraulic chamber 412 and a first driven hydraulic chamber 413, at least part of the first limit block 610 is movably disposed in the first active hydraulic chamber 412, at least part of the first transmission block 620 is movably disposed in the first driven hydraulic chamber 413, and the first active hydraulic chamber 412 is connected to the first driven hydraulic chamber 413. The first active hydraulic chamber 412 and the first driven hydraulic chamber 413 are filled with hydraulic oil. When the first transmission block 620 moves away from the connecting rod 420, the first transmission block 620 moves away from the bottom wall of the first driven hydraulic chamber 413, so that the volume of the first driven hydraulic chamber 413 increases. When the first limit block 610 moves away from the connecting rod 420, the first limit block 610 moves toward the bottom wall of the first active hydraulic chamber 412, so that the volume of the first active hydraulic chamber 412 decreases.

[0095] The two ends of the first elastic part 640 are respectively connected to the housing 410 and the first limit block 610, and the elastic force of the first elastic part 640 drives the first limit block 610 to move toward the connecting rod 420. In this way, in the absence of external interference, the elastic force of the first elastic part 640 pushes the first limit block 610 to move toward the connecting rod 420 to cooperate with the first limit surface 421 in the first direction.

[0096] Specifically, when the first transmission block 620 moves away from the connecting rod 420, so that the volume of the first driven hydraulic chamber 413 increases, the first driven hydraulic chamber 413 can accommodate a larger amount of hydraulic oil, and the hydraulic oil in the first active hydraulic chamber 412 can flow to the first driven hydraulic chamber 413, so that the hydraulic oil in the first active hydraulic chamber 412 is reduced. Accordingly, the atmospheric pressure can drive the first limit block 610 to move away from the connecting rod 420, so that the volume of the first active hydraulic chamber 412 is reduced.

[0097] The side wall of the connecting rod 420 also has a plurality of first guide surfaces 422, and the plurality of first limiting surfaces 421 and the plurality of first guide surfaces 422 are alternately arranged along the axial direction of the connecting rod 420. The first limiting surface 421 may be perpendicular to the axis of the connecting rod 420, and the first guiding surface 422 may be arranged at an angle less than 90 degrees with the axis of the connecting rod 420. When the connecting rod 420 moves along the second direction, the first guiding surface 422 may contact the first transmission block 620, thereby pushing the first transmission block 620 to move back to the connecting rod 420, so that the volume of the first driven hydraulic chamber 413 increases, and accordingly, the hydraulic oil in the first active hydraulic chamber 412 may flow into the first driven hydraulic chamber 413, and the first limiting block 610 may move back to the connecting rod 420 under the action of the atmosphere. In this way, the connecting rod 420 can move smoothly along the second direction.

[0098] When the connecting rod 420 stops moving and the first guide surface 422 no longer pushes the first transmission block 620 to move away from the connecting rod 420, the elastic force of the first elastic portion 640 can drive the first limit block 610 to move toward the connecting rod 420 until the first limit block 610 is engaged with the first limit surface 421.

[0099] refer to Fig. 9 As shown, the second drive assembly 700 includes a second electromagnetic part 730, a second transmission block 720, and a second elastic part 740. The housing 410 has a second active hydraulic chamber 414 and a second driven hydraulic chamber 415. At least part of the second limit block 710 is movably disposed in the second active hydraulic chamber 414, and at least part of the second transmission block 720 is movably disposed in the second driven hydraulic chamber 415. The second active hydraulic chamber 414 is connected to the second driven hydraulic chamber 415. The second active hydraulic chamber 414 and the second driven hydraulic chamber 415 are filled with hydraulic oil. When the second transmission block 720 moves away from the connecting rod 420, the second transmission block 720 moves away from the bottom wall of the second driven hydraulic chamber 415, so that the volume of the second driven hydraulic chamber 415 increases. When the second limit block 710 moves away from the connecting rod 420, the second limit block 710 moves toward the bottom wall of the second active hydraulic chamber 414, so that the volume of the second active hydraulic chamber 414 decreases.

[0100] The two ends of the second elastic part 740 are respectively connected to the housing 410 and the second limit block 710, and the elastic force of the second elastic part 740 drives the second limit block 710 to move toward the connecting rod 420. In this way, in the absence of external interference, the elastic force of the second elastic part 740 pushes the second limit block 710 to move toward the connecting rod 420 to cooperate with the second limit surface 423 in the second direction.

[0101] Specifically, when the second transmission block 720 moves away from the connecting rod 420, so that the volume of the second driven hydraulic chamber 415 increases, the second driven hydraulic chamber 415 can accommodate a larger amount of hydraulic oil, and the hydraulic oil in the second active hydraulic chamber 414 can flow to the second driven hydraulic chamber 415, so that the hydraulic oil in the second active hydraulic chamber 414 decreases. Accordingly, the atmospheric pressure can drive the second limit block 710 to move away from the connecting rod 420, so that the volume of the second active hydraulic chamber 414 decreases.

[0102] The side wall of the connecting rod 420 also has a plurality of second guide surfaces 424, and the plurality of second limiting surfaces 423 and the plurality of second guide surfaces 424 are alternately arranged along the axial direction of the connecting rod 420. The second limiting surface 423 may be perpendicular to the axis of the connecting rod 420, and the second guide surface 424 may be arranged at an angle less than 90 degrees with the axis of the connecting rod 420. When the connecting rod 420 moves along the first direction, the second guide surface 424 may contact the second transmission block 720, thereby pushing the second transmission block 720 to move back to the connecting rod 420, so that the volume of the second driven hydraulic chamber 415 increases, and accordingly, the hydraulic oil in the second active hydraulic chamber 414 may flow into the second driven hydraulic chamber 415, and the second limiting block 710 may move back to the connecting rod 420 under the action of the atmosphere. In this way, the connecting rod 420 can move smoothly along the first direction.

[0103] In addition, when the connecting rod 420 moves in the first direction, the second electromagnetic part 730 can be energized to absorb the second limit block 710, so that the second limit block 710 moves away from the connecting rod 420. When the connecting rod 420 moves in the second direction, the first electromagnetic part 630 can be energized to absorb the first limit block 610, so that the first limit block 610 moves away from the connecting rod 420.

[0104] When the connecting rod 420 stops moving and the second guide surface 424 no longer pushes the second transmission block 720 to move away from the connecting rod 420, the elastic force of the second elastic portion 740 can drive the second limit block 710 to move toward the connecting rod 420 until the second limit block 710 is in limited engagement with the second limit surface 423. Specifically, the first limit block 610 and the second limit block 710 can both be configured as metal parts.

[0105] Therefore, by setting the first drive component 600, the first limit block 610 can be mechanically driven to limit the connecting rod 420, and by setting the second drive component 700, the second limit block 710 can be mechanically driven to limit the connecting rod 420, so that the lumbar component of the present application can brake more quickly.

[0106] Based on the above waist component, the present application also proposes a humanoid robot, comprising the above waist component.

[0107] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0108] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0109] It should be easily understood that the terms “on,” “above,” and “over” in this application should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above something” or “over,” but also may include the meaning of “above something” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0110] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90° or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A waist component, characterized in that: include: Base(100); A top plate (200) comprising two spaced apart connection portions; Two driving members (300) are arranged between the base (100) and the top plate (200), one end of the driving member (300) is rotatably connected to the base (100), and the other end of the driving member (300) is rotatably connected to the connecting portion, and the driving member (300) is configured to drive the connecting portion to move in a direction toward or away from the base (100); A brake member (400) has one end rotatably connected to the base (100) and the other end rotatably connected to the top plate (200). The brake member (400) is configured to be able to extend and retract within a preset telescopic range as the distance between the connection portion and the base (100) increases or decreases, and the brake member (400) can maintain any length within the preset telescopic range.

2. The waist component according to claim 1, characterized in that The waist component further comprises a support member (500), one end of the support member (500) being rotatably connected to the middle portion of the base (100), and the other end of the support member (500) being rotatably connected to the middle portion of the top plate (200).

3. The waist component according to claim 2, characterized in that There are a plurality of braking members (400), and the driving member (300) and the braking member (400) are arranged around the supporting member (500).

4. The waist component according to claim 3, characterized in that The driving member (300) and the braking member (400) are symmetrically arranged along the supporting member (500); Two ends of the driving member (300) are respectively connected to the edge of the base (100) and the edge of the top plate (200); Two ends of the brake component (400) are respectively connected to the edge of the base (100) and the edge of the top plate (200).

5. The waist component according to claim 4, characterized in that The waist component further comprises a plurality of spherical joints (310), the two ends of the driving member (300) being rotatably connected to the base (100) and the top plate (200) respectively through the spherical joints (310), and the two ends of the braking member (400) being rotatably connected to the base (100) and the top plate (200) respectively through the spherical joints (310).

6. The waist component according to any one of claims 1 to 5, characterized in that: The brake member (400) comprises a housing (410), a connecting rod (420), a claw (430) and a driving part (440); the housing (410) is rotatably connected to the base (100); the connecting rod (420) is slidably arranged in the housing (410) so that the connecting rod (420) can reciprocate along the axis of the connecting rod (420); one end of the connecting rod (420) is rotatably connected to the connecting part; the claw (430) is movably arranged on one side of the connecting rod (420); and the driving part (440) is arranged on the housing (410); The driving part (440) is configured to drive the plurality of claws (430) to move toward the side wall of the connecting rod (420) so as to hold the connecting rod (420), and the claws (430) are relatively fixed to the housing (410); The driving portion (440) is further configured to drive the plurality of claws (430) to move away from the side wall of the connecting rod (420) to release the connecting rod (420).

7. The waist component according to claim 6, characterized in that The housing (410) comprises a sliding cavity (411), at least a portion of the connecting rod (420) is slidably disposed in the sliding cavity (411), the inner diameter of the sliding cavity (411) gradually increases in a direction from the driving portion (440) to the claw (430), a plurality of the claws (430) are located between the connecting rod (420) and an inner wall of the sliding cavity (411), and the driving portion (440) is configured to drive the claw (430) to move along the axial direction of the connecting rod (420); The driving part (440) is a magnetic part, the clamping claw (430) is an electromagnet, and the driving part (440) and the clamping claw (430) are distributed along the axial direction of the connecting rod (420); When the clamping claw (430) is powered off, the driving portion (440) absorbs the clamping claw (430) and moves it toward the driving portion (440); When the clamping claw (430) is energized, the driving portion (440) pushes the clamping claw (430) to move away from the driving portion (440).

8. The waist component according to claim 7, characterized in that The brake component (400) further comprises a first driving component (600) and a first limiting block (610), wherein the first driving component (600) and the first limiting block (610) are movably arranged in the housing (410), and the side wall of the connecting rod (420) has a plurality of first limiting surfaces (421); The first driving assembly (600) is configured to drive the first limiting block (610) to move toward the connecting rod (420) so that the first limiting block (610) and the first limiting surface (421) are limited in a first direction, and when the connecting rod (420) moves along a second direction, the first driving assembly (600) is configured to drive the first limiting block (610) to move away from the connecting rod (420) until it is separated from the connecting rod (420); The brake component (400) further comprises a second drive component (700) and a second limit block (710), wherein the second drive component (700) and the second limit block (710) are movably arranged in the housing (410), and the side wall of the connecting rod (420) has a plurality of second limit surfaces (423), and the second limit surfaces (423) and the first limit surfaces (421) are located on opposite sides of the connecting rod (420); The second driving assembly (700) is configured to drive the second limit block (710) to move toward the connecting rod (420) so that the second limit block (710) and the second limit surface (423) are limitedly matched in the second direction; when the connecting rod (420) moves along the first direction, the second driving assembly (700) is configured to drive the second limit block (710) to move away from the connecting rod (420) until it is separated from the connecting rod (420); the first direction and the second direction are opposite to each other, and the first direction and the second direction are both axial directions of the connecting rod (420).

9. The waist component according to claim 8, characterized in that The first driving assembly (600) comprises a first electromagnetic part (630), a first transmission block (620) and a first elastic part (640); the housing (410) has a first active hydraulic chamber (412) and a first driven hydraulic chamber (413); at least a portion of the first limit block (610) is movably disposed in the first active hydraulic chamber (412); at least a portion of the first transmission block (620) is movably disposed in the first driven hydraulic chamber (413); the first active hydraulic chamber (412) is communicated with the first driven hydraulic chamber (413); the connecting rod (420) is connected to the first driven hydraulic chamber (413); ) has a side wall further comprising a plurality of first guide surfaces (422), the plurality of first limiting surfaces (421) and the plurality of first guiding surfaces (422) being alternately arranged along the axial direction of the connecting rod (420), the two ends of the first elastic portion (640) being respectively connected to the shell (410) and the first limiting block (610), the elastic force of the first elastic portion (640) driving the first limiting block (610) to move toward the connecting rod (420), and the first electromagnetic portion (630) being configured to be energized to drive the first limiting block (610) to move away from the connecting rod (420); When the first transmission block (620) moves away from the connecting rod (420), the volume of the first driven hydraulic chamber (413) increases, and when the first limit block (610) moves away from the connecting rod (420), the volume of the first active hydraulic chamber (412) decreases; When the connecting rod (420) moves along the second direction, the first transmission block (620) contacts the first guide surface (422), so that the first guide surface (422) pushes the first transmission block (620) to move away from the connecting rod (420); The second driving assembly (700) comprises a second electromagnetic part (730), a second transmission block (720) and a second elastic part (740); the housing (410) has a second active hydraulic chamber (414) and a second driven hydraulic chamber (415); at least a portion of the second limit block (710) is movably disposed in the second active hydraulic chamber (414); at least a portion of the second transmission block (720) is movably disposed in the second driven hydraulic chamber (415); the second active hydraulic chamber (414) is communicated with the second driven hydraulic chamber (415); the connecting rod (420) is ) has a side wall further comprising a plurality of second guide surfaces (424), the plurality of second limit surfaces (423) and the plurality of second guide surfaces (424) being alternately arranged along the axial direction of the connecting rod (420), the two ends of the second elastic portion (740) being respectively connected to the housing (410) and the second limit block (710), the elastic force of the second elastic portion (740) driving the second limit block (710) to move toward the connecting rod (420), and the second electromagnetic portion (730) being configured to be energized to drive the second limit block (710) to move away from the connecting rod (420); When the second transmission block (720) moves away from the connecting rod (420), the volume of the second driven hydraulic chamber (415) increases, and when the second limit block (710) moves away from the connecting rod (420), the volume of the second active hydraulic chamber (414) decreases; When the connecting rod (420) moves along the first direction, the second transmission block (720) contacts the second guide surface (424), so that the second guide surface (424) pushes the second transmission block (720) to move away from the connecting rod (420).

10. A humanoid robot, characterized in that: Comprising a waist component as claimed in any one of claims 1-9.

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