Waist assembly and humanoid robot

Abstract

The present application provides a waist assembly and a humanoid robot, relating to the technical field of robots. Among them, the waist assembly includes a base, a top plate, two driving members and a braking member. When the lengths in the driving members are adjusted respectively, the distances between multiple connecting parts and the base are different, so that the top plate can be deflected relative to the base, thereby enabling the top plate to rotate relative to the base around axes in multiple different directions. In this way, the top plate can rotate relative to the base around multiple axes in different directions through at least two driving members. Both ends of the braking member are also rotatably connected to the base and the top plate, so that the braking member can rotate relative to the base and the top plate. The driving member drives the relative movement of the top plate and the base, so that the braking member can expand and contract according to the increase or decrease of the distance between the top plate and the base. The braking member can maintain a certain length within its preset expansion and contraction range, so that the top plate and the base connected to the braking member can maintain a certain position, thereby enabling the relative position and angle between the top plate and the base to be maintained.

Description

Technical Field

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

[0002] Since the form of a humanoid robot is closer to that of a human body, correspondingly, the actions that a humanoid robot can perform are more diverse and complex. Therefore, currently, humanoid robots are a project that is vigorously developed in the robot industry. In particular, the waist structure of a humanoid robot is a key part that enables the humanoid robot to simulate the movement mode of the human body. In order for a humanoid robot to be closer to the movement mode of a human body, the waist structure needs to be able to move in multiple degrees of freedom.

[0003] Currently, in order for a humanoid robot to move in multiple degrees of freedom, generally at least three driving parts are used to drive the waist structure to move in three degrees of freedom respectively, which results in a complex waist structure and thus a high cost of the humanoid robot. Summary of the Invention

[0004] The present application provides a waist assembly and a humanoid robot, which solve the problem of the complex waist structure of a humanoid robot in the related art.

[0005] In a first aspect, the present application provides a waist assembly, including:

[0006] A base;

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

[0008] Two driving members, disposed between the base and the top plate, one end of the driving member is rotatably connected to the base, the other end of the driving member is rotatably connected to the connecting part, and the driving member is configured to drive the connecting part to move in a direction towards or away from the base;

[0009] A braking member, one end of which is rotatably connected to the base, and the other end is rotatably connected to the top plate. The braking member is configured to be able to expand and contract within a preset expansion and contraction range as the distance between the connecting part and the base increases or decreases, and the braking member can maintain any length within the preset expansion and contraction range.

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

[0011] In some embodiments, the number of the braking members is multiple, and the driving members and the braking members are arranged around the support member.

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

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

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

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

[0016] In some embodiments, the braking member includes a housing, a connecting rod, a claw, and a driving portion. The housing is rotatably connected to the base. The connecting rod is slidably disposed 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 portion. The claw is movably disposed on one side of the connecting rod, and the driving portion is disposed in the housing;

[0017] The driving portion is configured to drive a plurality of the claws to move toward the side wall of the connecting rod to clamp the connecting rod, and the claw is relatively fixed to the housing;

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

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

[0020] In some embodiments, the driving portion is a magnetic member, the claw is an electromagnet, and the driving portion and the claw are distributed axially along the connecting rod;

[0021] When the claw is powered off, the driving portion adsorbs the claw to move toward the driving portion;

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

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

[0024] The first driving component is configured to drive the first limiting block to move towards the connecting rod, so that the first limiting block and the first limiting surface are in limiting cooperation in the first direction. When the connecting rod moves in the second direction, the first driving component is configured to drive the first limiting block to move away from the connecting rod until it separates from the connecting rod;

[0025] The braking member further includes a second driving component and a second limiting block. The second driving component and the second limiting block are movably arranged in the housing. The side wall of the connecting rod has a plurality of second limiting surfaces, and 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 limiting block to move towards the connecting rod, so that the second limiting block and the second limiting surface are in limiting cooperation in the second direction. When the connecting rod moves in the first direction, the second driving component is configured to drive the second limiting block to move away from the connecting rod until it separates from the connecting rod; the first direction and the second direction are opposite to each other, and both the first direction and the second direction are the axial direction of the connecting rod.

[0027] In some embodiments, the first driving component includes a first electromagnetic part, a first transmission block and a first elastic part. The housing has a first active hydraulic chamber and a first driven hydraulic chamber. At least part of the first limiting block is movably arranged in the first active hydraulic chamber, and 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 also has a plurality of first guiding surfaces, and the plurality of first limiting surfaces and the plurality of first guiding 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 housing and the first limiting block, and the elastic force of the first elastic part drives the first limiting block to move towards the connecting rod. The first electromagnetic part is configured to drive the first limiting block to move away from the connecting rod when powered on;

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

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

[0030] The second driving component includes a second electromagnetic part, a second transmission block, and a second elastic part. The housing has a second active hydraulic chamber and a second driven hydraulic chamber. At least part of the second limiting block is movably arranged in the second active hydraulic chamber, and at least part of the second transmission block is movably arranged in the second driven hydraulic chamber. The second active hydraulic chamber communicates with the second driven hydraulic chamber. The side wall of the connecting rod also has a plurality of second guiding surfaces, and the plurality of second limiting surfaces and the plurality of second guiding surfaces are alternately arranged along the axial direction of the connecting rod. Two ends of the second elastic part are respectively connected to the housing and the second limiting block, and the elastic force of the second elastic part drives the second limiting block to move towards the connecting rod. The second electromagnetic part is configured to drive the second limiting block to move away from the connecting rod when electrified;

[0031] When the second transmission block moves away from the connecting rod, the volume of the second driven hydraulic chamber increases. When the second limiting 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 guiding surface, so that the second guiding surface pushes the second transmission block to move away from the connecting rod.

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

[0034] In the waist assembly provided by the present application, both driving members are 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 respectively adjusted, the distances between multiple connecting parts and the base are different, so that the top plate can be tilted relative to the base, and thus the top plate can rotate relative to the base around axes in multiple different directions. When the lengths of the two driving members increase or decrease synchronously, so that the distances between multiple connecting parts and the base change synchronously, the top plate can rotate relative to the base around an axis in another direction. In this way, the top plate can rotate relative to the base around at least three axes in different directions through at least two driving members. Therefore, the number of actuators of the waist assembly of the present application is less and the structure is more compact. Both ends of the braking member are also rotatably connected to the base and the top plate, so that the braking member can rotate relative to the base and the top plate. The driving member drives the relative movement of the top plate and the base, so that the braking member can expand and contract according to the increase and decrease of the distance between the top plate and the base. The braking member can maintain a certain length within its preset expansion and contraction range, so that the top plate and the base connected to the braking member can maintain a certain position, and thus 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 relative position and angle between the top plate and the base, 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 this application applies the waist component described above, which simplifies the structure of the humanoid robot. In this way, the cost of the humanoid robot is reduced in terms of drive. Brief Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 Schematic diagram of the waist component of the embodiment of this application;

[0038] Figure 2 Schematic diagram after the top plate of the waist component of the embodiment of this application rotates relative to the base;

[0039] Figure 3 Side view schematic diagram of the waist component of the embodiment of this application;

[0040] Figure 4 is Figure 3 Cross-sectional schematic diagram of A-A in ;

[0041] Figure 5 Top view schematic diagram of the brake part of the waist component of the embodiment of this application;

[0042] Figure 6 is Figure 5 Cross-sectional schematic diagram of B-B in ;

[0043] Figure 7 Schematic diagram of the first limiting block and the second limiting block of the waist component of the embodiment of this application arranged on the housing;

[0044] Figure 8 Schematic diagram of the first driving part of the waist component of the embodiment of this application;

[0045] Figure 9 Schematic diagram of the first driving part of the waist component of the embodiment of this application.

[0046] Reference Signs:

[0047] 100 - Base,

[0048] 200 - Top Plate,

[0049] 300 - Driving Part, 310 - Spherical Joint,

[0050] 400 - Brake part, 410 - Housing, 411 - Sliding cavity, 412 - First active hydraulic cavity, 413 - First driven hydraulic cavity, 414 - Second active hydraulic cavity, 415 - Second driven hydraulic cavity, 420 - Connecting rod, 421 - First limiting surface, 422 - First guiding surface, 423 - Second limiting surface, 424 - Second guiding surface, 430 - Claw, 440 - Driving part, 450 - Guide shaft,

[0051] 500 - Support part,

[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 implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0055] Since the form of a humanoid robot is closer to that of a human body, correspondingly, the actions that a humanoid robot can perform are more diverse and complex. Therefore, currently, humanoid robots are a vigorously developed project in the robot industry. In particular, the waist structure of a humanoid robot is a key part where the humanoid robot can simulate the movement mode of a human body. In order for a humanoid robot to be closer to the movement mode of a human body, the waist structure needs to be able to move in multiple degrees of freedom.

[0056] Currently, in order for a humanoid robot to move in multiple degrees of freedom, generally at least three driving parts are used to drive the waist structure to move in three degrees of freedom respectively, which results in a complex waist structure and further leads to too high a cost of the humanoid robot.

[0057] In the waist assembly proposed in this application, both of the two driving members are 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. After the lengths of the two driving members are adjusted respectively, the distances between the two connecting parts and the base are different, which can make the top plate skew relative to the base, so that the top plate rotates relative to the base around axes in multiple different directions. When the lengths of the two driving members increase or decrease synchronously, so that the distances between multiple connecting parts and the base change synchronously, the top plate can rotate relative to the base around an axis in another direction. In this way, the top plate can rotate relative to the base around at least three axes in different directions through at least two driving members. Therefore, the number of actuators of the waist assembly of this application is less and the structure is more compact. Both ends of the braking member are also rotatably connected to the base and the top plate, so that the braking member can rotate relative to the base and the top plate. The driving member drives the relative movement of the top plate and the base, so that the braking member can expand and contract according to the increase or decrease of the distance between the top plate and the base. The braking member can maintain a certain length within its preset expansion and contraction range, so that the top plate and the base connected to the braking member can maintain a certain position, so that the relative position and angle of 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 relative position and angle of the top plate and the base, 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 this application applies the waist assembly above, making the structure of the humanoid robot more simplified and reducing the cost of the humanoid robot.

[0059] The following will describe in detail the waist assembly and the humanoid robot provided in this application with specific embodiments.

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

[0061] Among them, the base 100 is the basic component of the waist assembly of this application, and the base 100 can provide an installation basis for at least other parts of the waist assembly. The base 100 can be prepared from a metal material, so that the base 100 has better structural strength, so that the durability and reliability of the base 100 are better. Of course, the base 100 can also be partially prepared from a polymer material, so that the base 100 has a certain structural strength while being relatively light in weight.

[0062] The top plate 200 includes two connecting parts, and the connecting 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 disposed opposite to the base 100, and the top plate 200 can be disposed above the base 100, and the connecting parts can be located on one side surface of the bottom of the top plate 200.

[0063] One end of each of the two driving members 300 can be rotatably connected to the base 100, and the other ends of the two driving members 300 can be respectively rotatably connected to the two connecting parts of the top plate 200. Specifically, the number of the connecting parts of the top plate 200 corresponds to the number of the 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 disposed 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 about 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 about at least two axes in different directions.

[0064] The driving members 300 can respectively drive the connecting parts of the top plate 200 to move towards or away from the base 100, so that the distance between the connecting parts of the top plate 200 and the base 100 can be adjusted, thereby enabling the distance between each part of the top plate 200 and the base 100 to be adjusted. In this way, by respectively adjusting the distances between the two connecting parts of the top plate 200 and the base 100 through the two driving members 300, the top plate 200 connected to the driving members 300 can be deflected relative to the base 100, so that the top plate 200 can rotate relative to the base 100 about 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 telescopic. 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 contracts so that the length of the first driving member is less than the length of the second driving member, the distance between the first connecting part of the base 100 and the top plate 200 can be reduced, and the distance between the second connecting part of the base 100 and the top plate 200 can be increased, so that the top plate 200 can rotate relative to the base 100, that is, rotate about at least two axes in different directions. When the length difference between the first driving member and the second driving member is greater, so that 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 greater, the rotation angle of the top plate 200 relative to the base 100 is also greater. By controlling the length difference between the first driving member and the second driving member, the relative position and relative angle between the top plate 200 and the base 100 are adjusted.

[0066] When the lengths of the first driving member and the second driving member synchronously extend or shorten, the distances between the first connecting portion of the top plate 200 and the base 100, and between the second connecting portion and the base 100 can synchronously increase or decrease. The first driving member and the second driving member can drive the top plate 200 to rotate relative to the base 100 about 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 about at least three axes in different directions. In this way, compared with the current method of realizing three degrees of freedom movement by three driving mechanisms in a humanoid robot, the number of driving mechanisms required for the waist assembly of the present application is less, the structure is simpler and more compact, and the cost can be effectively reduced.

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

[0068] The braking member 400 is a telescopic structural member, so that the length of the braking member 400 can increase or decrease. After the two ends of the braking member 400 are respectively connected to the base 100 and the top plate 200, when the distance between the connecting portion of the top plate 200 and the base 100 changes, the top plate 200 can drive the length of the braking member 400 to expand and contract. 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 braking member 400, so that the braking member 400 can adapt to the relative position and relative angle between the top plate 200 and the base 100. The braking member 400 has a preset expansion and contraction range, and the preset expansion and contraction range of the braking member 400 is the set of the corresponding lengths of the braking member 400 when the braking member 400 adapts to all relative positions and all relative angles between the top plate 200 and the base 100. The braking member 400 can maintain any length within its preset expansion and contraction range, that is, the braking member 400 can actively fix its length. Correspondingly, the braking 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 braking member 400 and move relative to each other under the action of an external force, thereby fixing the relative position between the top plate 200 and the base 100, so that the top plate 200 and the base 100 can maintain the relative position and relative angle.

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

[0070] After the driving member 300 drives the top plate 200 to move to the preset position, the driving member 300 can stop driving the top plate 200 to move. The braking member 400 is used to keep the top plate 200 relatively fixed with the base 100. The driving member 300 does not need to continuously output power to keep the top plate 200 relatively fixed with the base 100, thus achieving the purpose of protecting the driving member 300, reducing the energy consumption of the driving member 300, and ultimately reducing the energy consumption of the waist component of the present application.

[0071] In some embodiments, referring to Figures 1 to 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 is kept relatively fixed with the base 100 through 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, resulting in relatively high energy consumption of the driving member 300. However, in the present application, the relative position and relative angle of the top plate 200 and the base 100 are fixed through the braking member 400, which can reduce the energy consumption of the driving member 300.

[0072] In some embodiments, referring to Figures 1 to 4 As shown, in order to make the movement of the top plate 200 relative to the base 100 more stable, the waist component of the present application may further 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, enabling the top plate 200 to 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. The connection between the support member 500 and the top plate 200 can form 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 support 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 exerted by the self-gravity of the top plate 200 on the driving member 300 and the braking member 400, achieving the purpose of protecting the driving member 300 and the braking member 400. In addition, when the driving member 300 drives the connecting part of the top plate 200 to move relative to the base 100, the power required to be output does not need to bear the self-gravity of the top plate 200 too much, 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, referring to Figures 1 to 4 As shown, in order to make the relative position and relative angle between the top plate 200 and the base 100 more stable after the top plate 200 moves relative to the base 100 in place, the number of the braking members 400 can also be set to be multiple, and the multiple braking members 400 are all rotatably connected to the base 100 and the top plate 200, and the multiple braking members 400 can be arranged between the base 100 and the top plate 200. The multiple braking members 400 can all be telescoped under the drive of the top plate 200, and the multiple braking members 400 can all maintain any length within their preset telescopic ranges. In this way, the multiple braking members 400 can be jointly used to maintain the relative position and relative angle between the top plate 200 and the base 100, making the relative position and relative angle between the top plate 200 and the base 100 more stable.

[0075] Specifically, the number of the braking members 400 can be set to be the same as the number of the driving members 300, and the two driving members 300 and the two braking members 400 can all be arranged around the support member 500, so that the driving force distribution of the top plate 200 by the driving members 300 is more balanced, thereby enabling the top plate 200 to move to the preset position more efficiently. In addition, the supporting force of the top plate 200 by the multiple braking 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, referring to Figures 1 to 2As shown, the two driving members 300 of the present application can be symmetrically arranged along the support member 500. In this way, when the number of 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 set to a quasi-rectangular structure. One end of the two driving members 300 can be connected to the diagonal edges of the base 100, and the two connecting parts of the top plate 200 can be arranged on the diagonal edges of the top plate 200. The other ends of the two driving members 300 can be connected to the connecting parts on the diagonal edges 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 rotates around the connection between the support member 500 and the top plate 200 as the rotation center, and the torques exerted by the two driving members 300 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] Multiple braking members 400 of the present application can be symmetrically arranged along the support member 500. In this way, when the number of braking members 400 is two, the two braking 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 set to a quasi-rectangular structure, one end of the two braking members 400 can be connected to the diagonal edges of the base 100, and the other ends of the two braking members 400 can be connected to the diagonal edges of the top plate 200. In this way, when the top plate 200 rotates relative to the base 100, the top plate 200 rotates around the connection between the support member 500 and the top plate 200 as the rotation center, and the torques exerted by the two braking members 400 on the top plate 200 can be relatively close or consistent, so that the stability of the braking member 400 supporting the top plate 200 relative to the base 100 is better.

[0078] Therefore, 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 arranged circumferentially around the support member 500.

[0079] In some embodiments, referring to 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 assembly of the present application can also be provided with spherical joints 310. The number of spherical joints 310 is multiple. Both 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 enable both ends of the driving member 300 to rotate relative to the base 100 and the top plate 200 around the axes in multiple directions.

[0080] To enable the brake member 400 to be rotatably connected to the base 100 and the top plate 200, the waist assembly of the present application may further be provided with a spherical joint 310. The number of spherical joints 310 is multiple. Both 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 enable both ends of the brake member 400 to rotate relative to the base 100 and the top plate 200 about axes in multiple directions.

[0081] In some embodiments, referring to Figures 5 to 6 As shown, 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 multiple claws 430. The housing 410 is rotatably connected to the base 100. The connecting rod 420 of the housing 410 is slidably disposed within the housing 410 so that the connecting rod 420 can reciprocate along a preset direction. The preset direction is the direction from the connecting part of the base 100 to the top plate 200. One end of the connecting rod 420 is rotatably connected to the connecting part of the top plate 200. The multiple claws 430 are movably wound around the connecting rod 420. The multiple claws 430 are configured to move towards or away from the side wall of the connecting rod 420 to hold the connecting rod 420 tightly or release the connecting rod 420.

[0082] Among them, 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 enabling the length of the brake member 400 to be telescopic. When the distance between the connecting part of the top plate 200 and the base 100 increases, the end of the connecting rod 420 connected to the connecting part moves in a direction away from the housing 410. When the distance between the connecting part of the top plate 200 and the base 100 decreases, the end of the connecting rod 420 connected to the connecting part moves in a direction towards the housing 410.

[0083] When the driving part 440 drives the claws 430 to move towards the side wall of the connecting rod 420 to hold the connecting rod 420 tightly, and the claws 430 are relatively fixed to the housing 410, the frictional force between the connecting rod 420 and the claws 430 can make the connecting rod 420 and the claws 430 relatively fixed. And because the claws 430 are relatively fixed to the housing 410, the connecting rod 420 can also be relatively fixed to the housing 410, and finally the telescopic length of the brake member 400 is maintained.

[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 frictional force between the connecting rod 420 and the claw 430 decreases, enabling the connecting rod 420 and the claw 430 to move relative to each other. In this way, the connecting rod 420 can move freely relative to the housing 410 along the axial direction of the connecting rod 420, and finally the length of the braking part 400 can be freely extended and retracted under the drive of the belt top plate 200.

[0085] In some embodiments, referring to Figures 5 to 6 As shown, in order to enable the connecting rod 420 to slide relative to the housing 410, a sliding cavity 411 is formed in the housing 410, and at least a part of the connecting rod 420 is slidably disposed 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. A plurality of claws 430 are located between the connecting rod 420 and the inner wall of the sliding cavity 411, and the driving part 440 is configured to drive the claws 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 is matched with the outer diameter of the connecting rod 420, so that the opening of the sliding cavity 411 can limit the connecting rod 420, and further make the connecting rod 420 relatively fixed to the housing 410 in its radial direction. A plurality of claws 430 can be disposed in the sliding cavity 411 and wound around the connecting rod 420, so that a 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 a plurality of claws 430 to move along the axial direction of the connecting rod 420, which can make the plurality of claws 430 reciprocate between the region with a larger inner diameter and the region with a smaller inner diameter of the sliding cavity 411. When the claw 430 moves to the region with a smaller inner diameter of the sliding cavity 411, the inner wall of the sliding cavity 411 can squeeze the claw 430 in the radial direction of the connecting rod 420, so that the claw 430 is closely attached to the side wall of the connecting rod 420, thereby clamping the connecting rod 420, and the connecting rod 420 can no longer slide relative to the housing 410 along the sliding cavity 411. When the claw 430 moves to the region 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 decreases, so that the acting force between the claw 430 and the side wall of the connecting rod 420 decreases or there is a gap between the claw 430 and the side wall of the connecting rod 420, so that the claw 430 can release the connecting rod 420, and the connecting rod 420 can slide relative to the housing 410 along the sliding cavity 411.

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

[0088] When the jaw 430 is powered off, the magnetism of the driving part 440 can attract the jaw 430 to move towards the driving part 440, so that the jaw 430 moves to the area where the inner diameter of the sliding cavity 411 is smaller, so that the jaw 430 can hold the connecting rod 420 tightly.

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

[0090] In some embodiments, referring to Figure 7 As shown, in order to further improve the braking stability of the braking part 400, the braking part 400 may further be provided with a first driving assembly 600 and a first limiting block 610. The first driving assembly 600 and the first limiting block 610 are movably arranged on the housing 410. The side wall of the connecting rod 420 has a plurality of first limiting surfaces 421, and the plurality of first limiting surfaces 421 are arranged at intervals along the axial direction of the connecting rod 420. The first driving assembly 600 is configured to drive the first limiting block 610 to move towards the connecting rod 420, so that the first limiting block 610 and the first limiting surface 421 are in limiting cooperation in the first direction. When the connecting rod 420 moves in the 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 the first limiting block 610 is separated from the first limiting surface 421. Both the first direction and the second direction are the axial direction of the connecting rod 420 and are opposite to each other. The first direction is Figure 7 the X direction in Figure 7 and the second direction is

[0091] After the first driving assembly 600 drives the first limiting block 610 to move towards the connecting rod 420, the first limiting block 610 and the first limiting surface 421 are in limiting cooperation 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 connecting rod 420 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 part 300 to drive the connecting rod 420 to move in the second direction.

[0092] The braking member 400 may further be provided with a second driving assembly 700 and a second limiting block 710. The second driving assembly 700 and the second limiting block 710 are movably arranged on the housing 410. The side wall of the connecting rod 420 has a plurality of second limiting surfaces 423, and the plurality of second limiting surfaces 423 are arranged at intervals along the axial direction of the connecting rod 420. The second driving assembly 700 is configured to drive the second limiting block 710 to move towards the connecting rod 420, so that the second limiting block 710 and the second limiting surface 423 are in limiting cooperation in the second direction. When the connecting rod 420 moves in the first direction, the second driving assembly 700 is configured to drive the second limiting block 710 to move away from the connecting rod 420 until the second limiting block 710 is separated from the second limiting surface 423.

[0093] After the second driving assembly 700 drives the second limiting block 710 to move towards the connecting rod 420, the second limiting block 710 and the second limiting surface 423 are in limiting cooperation 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 connecting 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 to drive the connecting rod 420 to move in the second direction.

[0094] In some embodiments, referring to Figure 8 As shown, the first driving 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 cavity 412 and a first driven hydraulic cavity 413. At least part of the first limiting block 610 is movably arranged in the first active hydraulic cavity 412, at least part of the first transmission block 620 is movably arranged in the first driven hydraulic cavity 413, and the first active hydraulic cavity 412 is communicated with the first driven hydraulic cavity 413. The first active hydraulic cavity 412 and the first driven hydraulic cavity 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 cavity 413, so that the volume of the first driven hydraulic cavity 413 increases. When the first limiting block 610 moves away from the connecting rod 420, the first limiting block 610 moves towards the bottom wall of the first active hydraulic cavity 412, so that the volume of the first active hydraulic cavity 412 decreases.

[0095] Both ends of the first elastic part 640 are respectively connected to the housing 410 and the first limiting block 610, and the elastic force of the first elastic part 640 drives the first limiting block 610 to move towards the connecting rod 420. In this way, without external interference, the elastic force of the first elastic part 640 pushes the first limiting block 610 to move towards the connecting rod 420 until it is in limiting cooperation with the first limiting surface 421 in the first direction.

[0096] Specifically, when the first transmission block 620 moves away from the connecting rod 420, causing the volume of the first driven hydraulic chamber 413 to increase, the first driven hydraulic chamber 413 can accommodate a larger amount of hydraulic oil. The hydraulic oil in the first active hydraulic chamber 412 can flow into the first driven hydraulic chamber 413, reducing the amount of hydraulic oil in the first active hydraulic chamber 412. Correspondingly, 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 decreases.

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

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

[0099] Reference Figure 9 As shown, the second driving assembly 700 includes a second electromagnetic portion 730, a second transmission block 720, and a second elastic portion 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 arranged in the second active hydraulic chamber 414, and at least part of the second transmission block 720 is movably arranged in the second driven hydraulic chamber 415. The second active hydraulic chamber 414 is communicated with 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, increasing the volume of the second driven hydraulic chamber 415. When the second limit block 710 moves away from the connecting rod 420, the second limit block 710 moves towards the bottom wall of the second active hydraulic chamber 414, reducing the volume of the second active hydraulic chamber 414.

[0100] Both ends of the second elastic part 740 are respectively connected to the housing 410 and the second limiting block 710, and the elastic force of the second elastic part 740 drives the second limiting block 710 to move towards the connecting rod 420. Thus, in the absence of external force interference, the elastic force of the second elastic part 740 pushes the second limiting block 710 to move towards the connecting rod 420 until it is in limiting cooperation with the second limiting surface 423 in the second direction.

[0101] Specifically, when the second transmission block 720 moves away from the connecting rod 420, causing the volume of the second driven hydraulic cavity 415 to increase, the second driven hydraulic cavity 415 can accommodate a larger amount of hydraulic oil, and the hydraulic oil in the second active hydraulic cavity 414 can flow into the second driven hydraulic cavity 415, reducing the amount of hydraulic oil in the second active hydraulic cavity 414. Correspondingly, the atmospheric pressure can drive the second limiting block 710 to move away from the connecting rod 420, so that the volume of the second active hydraulic cavity 414 decreases.

[0102] The side wall of the connecting rod 420 also has a plurality of second guiding surfaces 424, and the plurality of second limiting surfaces 423 and the plurality of second guiding surfaces 424 are alternately arranged along the axial direction of the connecting rod 420. The second limiting surface 423 can be perpendicular to the axis of the connecting rod 420, and the second guiding surface 424 can be arranged at an angle less than 90 degrees with the axis of the connecting rod 420. When the connecting rod 420 moves in the first direction, the second guiding surface 424 can contact the second transmission block 720, thereby pushing the second transmission block 720 to move away from the connecting rod 420, causing the volume of the second driven hydraulic cavity 415 to increase. Correspondingly, the hydraulic oil in the second active hydraulic cavity 414 can flow into the second driven hydraulic cavity 415, and the second limiting block 710 can move away from the connecting rod 420 under the action of the atmosphere. In this way, the connecting rod 420 can move smoothly in 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 adsorb the second limiting block 710, causing the second limiting block 710 to move 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 adsorb the first limiting block 610, causing the first limiting block 610 to move away from the connecting rod 420.

[0104] When the connecting rod 420 stops moving and the second guiding 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 part 740 can drive the second limiting block 710 to move towards the connecting rod 420 until the second limiting block 710 is in limiting cooperation with the second limiting surface 423. Specifically, both the first limiting block 610 and the second limiting block 710 can be set as metal parts.

[0105] Thus, by setting that the first driving component 600 can drive the first limiting block 610 in a mechanical manner to limit the connecting rod 420, and by setting that the second driving component 700 can drive the second limiting block 710 in a mechanical manner to limit the connecting rod 420, the braking of the waist component of the present application is made more rapid.

[0106] Based on the above-mentioned waist component, the present application further provides a humanoid robot, including the above-mentioned waist component.

[0107] It should be noted that the "one embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures or characteristics, but not necessarily each embodiment includes such specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining a specific feature, structure or characteristic with an embodiment, it is within the knowledge scope of those skilled in the art to implement such feature, structure or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0108] Generally speaking, terms should be understood at least in part by their use in the context. For example, at least in part according to the context, the term "one or more" used in the text can be used to describe any feature, structure or characteristic in a singular sense, or can be used to describe a combination of features, structures or characteristics in a plural sense. Similarly, at least in part according to the context, terms such as "a" or "the" can also be understood to convey a singular usage or a plural usage.

[0109] It should be easily understood that the terms "on", "above" and "over" in the present application should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but also can include the meaning of "above" or "over something" without intermediate features or layers therebetween (i.e., directly on something).

[0110] In addition, for the convenience of description, spatial relative terms can be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one element or feature relative to other elements or features as shown in the figure. Spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. The device can have other orientations (rotated 90° or in other orientations), and the spatial relative descriptive words used in the text can 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 them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and 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 part (440) absorbs the clamping claw (430) and moves it toward the driving part (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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