Hip joint assembly, lower limb assembly and humanoid robot

Abstract

The invention discloses a hip joint assembly, a lower limb assembly and a humanoid robot. The hip joint assembly comprises a hip joint, a thigh part and a damper, and the hip joint comprises a joint base; the thigh part is movably connected with the joint base; the damper is arranged between the joint base and the thigh part, the damper comprises a damping main body and a piston rod capable of stretching out and drawing back relative to the damping main body, the damping main body is hinged to the thigh part, and the piston rod is hinged to the joint base and used for stretching out and drawing back relative to the damping main body when the joint base is stressed so as to share the load borne by the joint base. When the humanoid robot encounters passive impact or is in a heavy load working condition, the piston rod of the damper stretches out and draws back relative to the damping main body, the damping characteristic can be automatically adjusted according to changes of loads borne by hip joints so as to absorb and disperse part of impact force, and therefore the loads borne by the hip joints are shared; the locked-rotor condition of the actuator of the hip joint assembly is reduced, and energy loss caused by locked-rotor of the actuator is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a hip joint component, a lower limb assembly and a humanoid robot. Background Art

[0002] Humanoid robots, as a product that integrates cutting-edge technologies from multiple fields such as mechanical engineering, electronic technology, and artificial intelligence, are designed to simulate human appearance and behavior patterns. They have similar limb structure and movement capabilities to humans and can perform a variety of tasks in complex and changing environments.

[0003] Among them, the hip joint component is a key component of the humanoid robot, and the output capacity of its joint actuator plays a decisive role in the movement performance of the humanoid robot. When the humanoid robot performs complex tasks such as walking, jumping, and overcoming obstacles, the hip joint needs to bear and transmit a large amount of force and torque. Therefore, the performance of the actuator of this component is directly related to whether the robot can successfully complete various complex working conditions.

[0004] At present, when a humanoid robot moves, the passive impact load force balance and active motion power demand of the hip joint are borne by a single joint actuator. Under passive impact or heavy load conditions, the actuator of the hip joint rotation joint often maintains the stability of the body posture by stalling the output torque. However, this method has the following defects: on the one hand, the stall output torque method is extremely inefficient and consumes a lot of energy, which not only increases the energy cost of the humanoid robot, but also limits its endurance; on the other hand, frequent stall conditions will cause great damage to the drive components, seriously affecting the service life of the drive components, and increasing the maintenance cost and replacement frequency of the humanoid robot. Summary of the invention

[0005] The main purpose of the present invention is to propose a hip joint assembly, a lower limb assembly and a humanoid robot, aiming to solve the technical problems of low efficiency, high energy consumption and short life of driving parts caused by the existing humanoid robots maintaining the stability of the body posture through the output torque of the stalled rotor.

[0006] To achieve the above object, the present invention provides a hip joint assembly, comprising: Hip joint, including the base of the joint; A thigh part, movably connected to the joint base; The damper is arranged between the joint base and the thigh, and includes a damper body and a piston rod that can be extended and retracted relative to the damper body. The damper body is hinged to the thigh, and the piston rod is hinged to the joint base, and is used to extend and retract relative to the damper body when the joint base is subjected to force, so as to share the load borne by the joint base.

[0007] In some embodiments, a side seat is connected to one side of the thigh, a first hinge shaft is provided between the side seat and the thigh, and the damping body is rotatably sleeved on the first hinge shaft to be hinged to the thigh.

[0008] In some embodiments, the joint base includes a base body, a first mounting portion configured on one side of the base body, and a second mounting portion configured on the other side of the base body, wherein the first mounting portion and the second mounting portion are spaced apart and arranged opposite to each other to form a receiving cavity; Among them, one end of the thigh part extends into the accommodating cavity, and the thigh part is rotatably connected to the first mounting part and the second mounting part respectively, and one end of the piston rod is hinged to the second mounting part.

[0009] In some embodiments, the hip joint further comprises: The first driving member is arranged on the first mounting portion, and the output end of the first driving member passes through the first mounting portion and is connected to the thigh portion, so as to drive the thigh portion to move.

[0010] In some embodiments, a partition groove is provided at one end of the second mounting portion away from the base body, and the second mounting portion is respectively constructed with mounting holes on opposite sides of the partition groove, and one end of the piston rod is hinged to the second mounting portion through a second hinge axis to be hinged to the joint base.

[0011] In some embodiments, a groove is provided on one side of the thigh portion, and a protrusion adapted to the groove is provided on one side of the second mounting portion, and the protrusion can be rotatably disposed in the groove.

[0012] In some embodiments, one end of the thigh portion is provided with a limiting groove for avoiding the second mounting portion, and both side walls of the limiting groove located on the rotation trajectory of the thigh portion are provided with limiting end surfaces for abutting against the second mounting portion.

[0013] The present application also provides a lower limb assembly, including a trunk connecting seat and at least one lower limb, wherein the lower limb at least includes a hip joint component, and the hip joint component is movably connected to the trunk connecting seat.

[0014] In some embodiments, the lower limb assembly also includes an adapter, a second drive member and a third drive member, the adapter is rotatably connected to the trunk connection seat, the second drive member is disposed on the adapter and connected to the joint base, the third drive member is disposed on the trunk connection seat and connected to the adapter, and the axes of the output ends of any two of the first drive member, the second drive member and the third drive member are perpendicular to each other.

[0015] The present application also provides a humanoid robot, comprising a trunk and a hip joint assembly, wherein the trunk connecting seat is connected to the trunk.

[0016] The hip joint assembly provided by the present application is provided with a damper between the hip joint and the thigh, the damper includes a damping body and a piston rod that can be extended and retracted relative to the damping body. When the humanoid robot encounters a passive impact or is in a heavy load condition, the piston rod of the damper is extended and retracted relative to the damping body, and the damping characteristics can be automatically adjusted according to the change of the load on the hip joint to absorb and disperse part of the impact force, thereby sharing the load borne by the hip joint, reducing the situation of the actuator of the hip joint assembly being blocked, and reducing the energy loss caused by the actuator being blocked. Moreover, since the force borne by the actuator of the hip joint assembly is reduced, the wear on the driving member will also be greatly reduced, thereby extending the service life of the driving member. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of a hip joint assembly of the present invention; Figure 2 It is a structural schematic diagram of another viewing angle of an embodiment of a hip joint assembly of the present invention; Figure 3 It is a partially disassembled schematic diagram of an embodiment of a hip joint assembly of the present invention; Figure 4 It is a structural schematic diagram of an embodiment of a joint base of the present invention; Figure 5 It is a structural schematic diagram of an embodiment of a lower limb assembly of the present invention.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0022] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] Please refer to Figure 1 and Figure 2 In one embodiment of the present application, a hip joint assembly 100 is provided, comprising a hip joint 10, a thigh part 20 and a damper 30. The hip joint 10 comprises a joint base 11; the thigh part 20 is movably connected to the joint base 11; the damper 30 is arranged between the joint base 11 and the thigh part 20, and the damper 30 comprises a damping body 31 and a piston rod 32 which can be extended and retracted relative to the damping body 31. The damping body 31 is hinged to the thigh part 20, and the piston rod 32 is hinged to the joint base 11, and is used for extending and retracting relative to the damping body 31 when the joint base 11 is subjected to force, so as to share the load borne by the joint base 11.

[0024] The joint base 11 can be made of high-strength aluminum alloy, which is light and strong, and can reduce the overall weight of the humanoid robot while ensuring the structural stability of the hip joint assembly 100. The thigh 20 and the joint base 11 can be connected through a rotating shaft to ensure that the thigh 20 can flexibly rotate relative to the joint base 11 to achieve various leg movements of the humanoid robot.

[0025] The damper 30 may be a hydraulic damper 30 or a pneumatic damper 30. For example, the damper 30 may be a hydraulic damper 30, and the damper body 31 may be filled with high-viscosity hydraulic oil. One end of the piston rod 32 is connected to the joint base 11, and the other end is inserted into the damper body 31, and the piston interacts with the hydraulic oil. When the piston rod 32 is extended and retracted by an external force, the piston moves in the hydraulic oil to generate a damping force, thereby sharing the load of the joint base 11.

[0026] In actual use, the magnitude and characteristics of the damping force can be changed according to different usage requirements and sports scenes by adjusting the parameters of the damping body 31 (such as damping coefficient, medium viscosity, etc.). For example, when performing high-intensity exercise, the damping force can be increased to provide better support and control; when walking in daily life, the damping force can be reduced to make the exercise easier and more natural.

[0027] When the joint base 11 is subjected to external force, the force will be transmitted to the damper 30 through the hinge structure. Since the piston rod 32 can be extended and retracted relative to the damping body 31, when the joint base 11 is subjected to force, the piston rod 32 will perform a telescopic movement relative to the damping body 31 according to the force. This telescopic movement can change the damping characteristics of the damper 30, thereby sharing the load borne by the joint base 11. For example, when the humanoid robot walks, the ground reaction force is transmitted to the joint base 11 through the thigh 20, and the piston rod 32 of the damper 30 will correspondingly extend and retract, adjusting its own state to share part of the force.

[0028] This embodiment shares the load borne by the hip joint 10 through the damper 30, which can effectively reduce the force and torque that the knee-hip joint 10 needs to bear when working, so that the rotary joint actuator of the hip joint 10 does not need to bear all the loads alone, reducing its pressure when dealing with passive impact or heavy loads, thereby improving the stability and reliability of the entire hip joint assembly 100.

[0029] Since there is no need to rely solely on the rotary joint actuator of the hip joint 10 to output torque by stalling to maintain the stability of the body posture, the problem of extremely low efficiency and huge energy consumption when outputting torque by stalling is avoided. After the damper 30 shares the load, the energy utilization of the humanoid robot during movement is more reasonable, which reduces energy costs and helps to extend the cruising range of the humanoid robot. In addition, since the force borne by the actuator of the hip joint assembly 100 is reduced, the wear on the drive component is greatly reduced. Because the stress on the drive component during operation decreases as the load decreases, the service life of the drive component is extended, and the maintenance cost and replacement frequency of the humanoid robot are reduced.

[0030] Please refer to Figure 3 In some embodiments, a side seat 21 is connected to one side of the thigh 20 , a first hinge shaft 22 is provided between the side seat 21 and the thigh 20 , and the damping body 31 is rotatably mounted on the first hinge shaft 22 to be hinged to the thigh 20 .

[0031] A rotatable connection structure is formed by arranging a side seat 21 on one side of the thigh 20 and installing a first hinge shaft 22 between the side seat 21 and the thigh 20. The damping body 31 is rotatably sleeved on the first hinge shaft 22, so that a hinged relationship is established between the damping body 31 and the thigh 20, providing a basis for the relative movement between the damping body 31 and the thigh 20, so that they can rotate within a certain range to adapt to different motion conditions.

[0032] When the humanoid robot moves, the thigh 20 is subjected to various forces, which are transmitted to the damping body 31 through the first hinge shaft 22. Since the damping body 31 can rotate around the first hinge shaft 22, it can adjust its angle and position accordingly according to the direction and magnitude of the force applied to the thigh 20. In this process, the damping body 31 will use its own damping characteristics to buffer and adjust the transmitted force, convert part of the force into its own internal energy or other forms of energy, thereby reducing the force transmitted to other components, and playing a role in buffering and shock absorption.

[0033] Please refer to Figure 3 and Figure 4 In some embodiments, the joint base 11 includes a base body 111, a first mounting portion 112 configured on one side of the base body 111, and a second mounting portion 113 configured on the other side of the base body 111, and the first mounting portion 112 and the second mounting portion 113 are arranged opposite to each other at an interval to form a receiving cavity 114; One end of the thigh portion 20 extends into the accommodating cavity 114 , and the thigh portion 20 is rotatably connected to the first mounting portion 112 and the second mounting portion 113 , respectively. One end of the piston rod 32 is hinged to the second mounting portion 113 .

[0034] In this embodiment, the accommodating cavity 114 provides an installation space for the connection between the thigh 20 and the piston rod 32. One end of the thigh 20 can be inserted into the accommodating cavity 114, and by means of the rotational connection with the first and second mounting parts 113, the thigh 20 can be flexibly rotated relative to the joint base 11, providing a basic structure for leg movement. The design of the accommodating cavity 114 makes the connection structure between the thigh 20 and the joint base 11 compact, effectively saving space, so that the hip joint assembly 100 of the humanoid robot can realize complex movement functions in a limited space, which helps to miniaturize and lighten the overall structure, and facilitates the flexible movement of the humanoid robot in different scenarios.

[0035] One end of the piston rod 32 is hinged to the second mounting portion 113, so that the piston rod 32 can work in coordination with the thigh 20 and the joint base 11. When the humanoid robot moves, the rotation of the thigh 20 in the accommodating cavity 114 will induce forces in different directions. The piston rod 32 can flexibly adjust its angle and telescopic state according to the change of the force generated by the movement of the thigh 20 through the hinge connection with the second mounting portion 113, so as to coordinate the movement of the thigh 20 and the joint base 11, share part of the force, improve the stability of the hip joint 10 when the humanoid robot walks, turns, etc., and reduce the risk of component damage caused by movement impact.

[0036] In some embodiments, the hip joint 10 further includes a first driving member 12 , which is disposed on the first mounting portion 112 , and an output end of the first driving member 12 passes through the first mounting portion 112 and is connected to the thigh 20 for driving the thigh 20 to move.

[0037] Among them, the first driving member 12 is arranged on the first mounting part 112, serving as the power source for the movement of the humanoid robot hip joint 10. When the first driving member 12 is started, its output end generates rotational power, which is transmitted to the thigh part 20 connected to the output end through the first mounting part 112, so that the thigh part 20 rotates in a set manner and direction.

[0038] The first driving member 12 can be a servo motor with high torque density, which is directly mounted on the first mounting portion 112. The output end thereof passes through the first mounting portion 112 and is connected to the thigh portion 20 via a high-precision coupling to ensure the stability and accuracy of power transmission.

[0039] In this embodiment, the first driving member 12 is directly arranged on the first mounting portion 112 and connected to the thigh portion 20, which reduces the intermediate links in the power transmission process, reduces energy loss, and improves power transmission efficiency, so that the humanoid robot can use energy more effectively during movement, reduce unnecessary energy waste, and thus improve endurance.

[0040] Please continue to refer to Figure 3 and Figure 4 In some embodiments, a partition groove 115 is provided at one end of the second mounting portion 113 away from the base body 111, and the second mounting portion 113 is respectively constructed with mounting holes 116 on opposite sides of the partition groove 115, and one end of the piston rod 32 is hinged to the second mounting portion 113 through the second hinge shaft 33 to be hinged to the joint base 11.

[0041] Among them, one end of the piston rod 32 cooperates with the mounting hole 116 on the second mounting part 113 through the second hinge shaft 33, thereby realizing the hinge connection with the joint base 11. This hinge connection mode enables the piston rod 32 to rotate relative to the second mounting part 113, and then during the movement of the humanoid robot, the angle and position of the piston rod 32 can be flexibly adjusted according to the force and movement state of the hip joint 10. When the robot moves, various forces on the hip joint 10 will be transmitted to the piston rod 32 through the second mounting part 113. The piston rod 32 can rotate within a certain range with the help of the hinge structure to adapt to forces of different directions and sizes, so as to realize the sharing and buffering of the load on the hip joint 10.

[0042] In this embodiment, the design of the partition groove 115 and the mounting holes 116 on both sides cooperating with the second hinge shaft 33 makes the installation of the piston rod 32 more convenient. During the assembly process, the operator can more clearly locate and install the piston rod 32, thereby improving the assembly efficiency. Moreover, this structure allows the installation angle of the piston rod 32 to be fine-tuned to a certain extent to meet different design requirements or optimization requirements in actual operation, thereby enhancing the flexibility and adaptability of the entire hip joint assembly 100.

[0043] In some embodiments, a groove 23 is provided on one side of the thigh portion 20 , and a protrusion 117 adapted to the groove 23 is provided on one side of the second mounting portion 113 , and the protrusion 117 can be rotatably disposed in the groove 23 .

[0044] Among them, the groove 23 set on one side of the thigh 20 is adapted to the protrusion 117 on one side of the second mounting part 113, and this concave-convex matching structure is the basis for realizing the relative rotation connection between the two. The protrusion 117 is rotatably set in the groove 23, providing the thigh 20 and the second mounting part 113 with the freedom of relative rotation. This structure not only allows the thigh 20 to rotate relative to the second mounting part 113, but also imposes certain constraints on the movement. The shapes and sizes of the groove 23 and the protrusion 117 are mutually limited to ensure that the thigh 20 moves along a specific trajectory during the rotation process, avoid excessive deviation or shaking, and ensure the stability and accuracy of the movement. For example, when the humanoid robot walks, the swing of the thigh 20 can be accurately guided by this concave-convex matching structure, making its movement more standardized and orderly.

[0045] Compared with some other connection methods, the cooperation between the groove 23 and the protrusion 117 in this embodiment makes the connection between the thigh part 20 and the second mounting part 113 more compact, which is conducive to the miniaturization design of the humanoid robot hip joint assembly 100. At the same time, the close cooperation between the two enhances the stability of the connection, and can effectively prevent the loosening or separation between the components when subjected to a large external force, improve the reliability of the overall structure, and ensure the normal operation of the hip joint 10 of the humanoid robot under complex motion conditions.

[0046] Furthermore, this simple and intuitive concave-convex matching structure is convenient during the assembly process. The staff can easily align the protrusion 117 with the groove 23 for installation, and during the debugging process, if the rotation angle or flexibility of the thigh 20 needs to be adjusted, it can also be achieved by fine processing or adjustment of the groove 23 and the protrusion 117, which reduces the difficulty of assembly and debugging and improves production efficiency.

[0047] In some embodiments, a limiting groove 24 for avoiding the second mounting portion 113 is provided at one end of the thigh portion 20 , and both side walls of the limiting groove 24 located on the rotation trajectory of the thigh portion 20 are provided with limiting end surfaces 25 for abutting against the second mounting portion 113 .

[0048] The limiting groove 24 provided at one end of the thigh portion 20 is mainly used to provide space for the second mounting portion 113 to avoid interference with the second mounting portion 113 during the rotation of the thigh portion 20. At the same time, the limiting groove 24 is located on the rotation track of the thigh portion 20, and the limiting end faces 25 provided on the two side walls cooperate with the second mounting portion 113 to accurately limit the rotation range of the thigh portion 20. When the thigh portion 20 rotates, the limiting end faces 25 will abut against the second mounting portion 113 at a specific position, thereby limiting the thigh portion 20 from continuing to rotate, ensuring that its rotation is carried out within the range allowed by the design.

[0049] In this embodiment, the safety and stability of the humanoid robot during movement can be ensured by setting the limit groove 24 and the limit end surface 25. On the one hand, structural damage caused by excessive rotation of the thigh 20, such as breakage of the connecting parts and damage to other parts due to collision, is avoided; on the other hand, the stable rotation range helps the humanoid robot maintain the accuracy of the posture when performing tasks. For example, in actions such as walking and grasping, the stable rotation range of the thigh 20 can ensure the continuity and accuracy of the humanoid robot's movements.

[0050] Please refer to Figure 5 The embodiment of the present application also provides a lower limb assembly 200, including a trunk connection seat 201 and at least one lower limb 202, the lower limb 202 at least has a hip joint component 100, and the hip joint component 100 is movably connected to the trunk connection seat 201.

[0051] The lower limb assembly 200 is movably connected to the trunk connection seat 201 through the hip joint assembly 100, constructing a structure similar to the connection between the human hip joint 10 and the trunk. The trunk connection seat 201 serves as an interface with the robot trunk, and plays a role in receiving and transmitting force. The movable connection of the hip joint assembly 100 enables the lower limb 202 to move with multiple degrees of freedom relative to the trunk, such as swinging forward and backward, swinging left and right, rotating, etc. These movements simulate the movement of the human lower limb 202 and provide a basis for the movement and posture adjustment of the humanoid robot.

[0052] When the humanoid robot needs to move or complete a specific task, the various parts of the lower limb assembly 200 work together. For example, during walking, the hip joint assembly 100 controls the movement trajectory and angle of the lower limb 202 according to the preset movement mode, and the trunk connection seat 201 transmits the power and instructions from the trunk to the lower limb 202, while ensuring the stability between the lower limb 202 and the trunk, so that the humanoid robot can walk stably or perform other actions.

[0053] Since the lower limb assembly 200 adopts all the technical solutions of all the embodiments of the hip joint assembly 100, the lower limb assembly 200 of the present invention also has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0054] In some embodiments, the lower limb assembly 200 also includes an adapter 203, a second drive member 204 and a third drive member 205. The adapter 203 is rotatably connected to the trunk connection seat 201, the second drive member 204 is disposed on the adapter 203 and is connected to the joint base 11, the third drive member 205 is disposed on the trunk connection seat 201 and is connected to the adapter 203, and the axes of the output ends of any two of the first drive member 12, the second drive member 204 and the third drive member 205 are perpendicular to each other.

[0055] The lower limb assembly 200 realizes complex movements through the cooperation of multiple driving members. The adapter 203 is rotatably connected to the trunk connection seat 201, providing a rotatable connection node between the lower limb 202 and the trunk. The second driving member 204 is arranged on the adapter 203 and connected to the joint base 11, and is mainly responsible for controlling the movement of the hip joint assembly 100 relative to the adapter 203, for example, making the hip joint 10 rotate or swing in a certain plane. The third driving member 205 is arranged on the trunk connection seat 201 and connected to the adapter 203, and is used to drive the adapter 203 to rotate relative to the trunk connection seat 201, thereby changing the angle and direction of the lower limb 202 as a whole relative to the trunk. The first driving member 12 is responsible for driving the thigh 20 to move. The axes of the output ends of any two of the three driving members are perpendicular to each other. This layout enables each driving member to independently control the movement of the lower limb 202 in different directions. Through precise matching, the multi-degree-of-freedom movement of the lower limb 202 in three-dimensional space can be realized to simulate the complex movements of the human lower limb 202.

[0056] Based on the motion instructions of the humanoid robot, the three driving components work according to the set parameters. For example, when the humanoid robot needs to walk forward, the first driving component 12 drives the thigh 20 to swing back and forth, the second driving component 204 adjusts the angle of the hip joint assembly 100 according to the walking posture, and the third driving component 205 controls the adapter 203 to make corresponding changes in the angle and position of the lower limb 202 on the trunk to maintain the stability and coordination of walking. Through the precise control of the output of the three driving components, the humanoid robot can achieve various complex movements, such as turning, moving sideways, jumping, etc.

[0057] The second driving member 204 and the third driving member 205 can also use servo motors with high torque density to ensure the stability and accuracy of power transmission. This embodiment of the present application is not limited here.

[0058] In this embodiment, the design of the three drive output end axes being perpendicular to each other gives the lower limb assembly 200 extremely high mobility. The robot can achieve more anthropomorphic movements, such as turning flexibly in a narrow space, making adaptive posture adjustments on complex terrain, etc. This highly flexible movement capability enables the robot to better complete tasks in various scenarios, whether it is moving among people in a service scenario or dealing with complex terrain obstacles in a rescue scenario.

[0059] Furthermore, each driving member independently controls the movement in different directions, making the control of the lower limb 202 movement more precise. When performing some tasks that require high precision, such as industrial assembly, fine operation, etc., the humanoid robot can achieve fine-tuning of the position and posture of the lower limb 202 by accurately controlling the output of the three driving members, thereby improving the accuracy and success rate of task execution. Moreover, through the coordinated work of the three driving members, the robot can better adjust the relative position and angle of the lower limb 202 and the trunk, and maintain good stability and balance in various motion states. During walking, when encountering uneven ground or external force interference, the driving member can react quickly to adjust the posture of the lower limb 202 to ensure that the robot will not fall. The enhancement of this stability and balance ability improves the robot's survivability and work efficiency in complex environments.

[0060] The embodiment of the present application also provides a humanoid robot, including a trunk and a hip joint assembly 100, wherein a trunk connection seat 201 is connected to the trunk. Since the humanoid robot adopts all the technical solutions of all the embodiments of the hip joint assembly 100, the humanoid robot of the present invention also has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0061] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A hip joint assembly, characterized in that: include: Hip joint, including the base of the joint; A thigh part, movably connected to the joint base; The damper is arranged between the joint base and the thigh, and includes a damper body and a piston rod that can be extended and retracted relative to the damper body. The damper body is hinged to the thigh, and the piston rod is hinged to the joint base, and is used to extend and retract relative to the damper body when the joint base is subjected to force, so as to share the load borne by the joint base.

2. The hip joint assembly according to claim 1, characterized in that: One side of the thigh part is connected with a side seat, a first hinge shaft is arranged between the side seat and the thigh part, and the damping body is rotatably sleeved on the first hinge shaft to be hinged with the thigh part.

3. The hip joint assembly according to claim 1, characterized in that: The joint base comprises a base body, a first mounting portion configured on one side of the base body, and a second mounting portion configured on the other side of the base body, wherein the first mounting portion and the second mounting portion are arranged opposite to each other at an interval to form a receiving cavity; Among them, one end of the thigh part extends into the accommodating cavity, and the thigh part is rotatably connected to the first mounting part and the second mounting part respectively, and one end of the piston rod is hinged to the second mounting part.

4. The hip joint assembly according to claim 3, characterized in that: The hip joint also includes: The first driving member is arranged on the first mounting portion, and the output end of the first driving member passes through the first mounting portion and is connected to the thigh portion, so as to drive the thigh portion to move.

5. The hip joint assembly according to claim 3, characterized in that: The second mounting portion is provided with a partition groove at one end away from the base body, and the second mounting portion is respectively constructed with mounting holes on opposite sides of the partition groove. One end of the piston rod is hinged to the second mounting portion through a second hinge shaft to be hinged to the joint base.

6. The hip joint assembly according to claim 3, characterized in that: A groove is provided on one side of the thigh part, and a protrusion matched with the groove is provided on one side of the second mounting part, and the protrusion can be rotatably arranged in the groove.

7. The hip joint assembly according to claim 3, characterized in that: One end of the thigh portion is provided with a limiting groove for avoiding the second mounting portion, and both side walls of the limiting groove located on the rotation track of the thigh portion are provided with limiting end surfaces for abutting against the second mounting portion.

8. A lower limb assembly, characterized in that: It comprises a trunk connecting seat and at least one lower limb, wherein the lower limb comprises at least a hip joint assembly as claimed in any one of claims 1 to 7, and the hip joint assembly is movably connected to the trunk connecting seat.

9. The lower limb assembly according to claim 8, characterized in that: The hip joint component is the hip joint component according to claim 4; The lower limb assembly also includes an adapter, a second drive member and a third drive member. The adapter is rotatably connected to the trunk connecting seat, the second drive member is arranged on the adapter and connected to the joint base, the third drive member is arranged on the trunk connecting seat and connected to the adapter, and the axes of the output ends of any two of the first drive member, the second drive member and the third drive member are perpendicular to each other.

10. A humanoid robot, characterized in that: The invention comprises a trunk and a hip joint assembly as claimed in any one of claims 1 to 7, wherein the trunk connecting seat is connected to the trunk.

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