Hip joint assembly, lower limb assembly and humanoid robot

Abstract

The present invention discloses a hip joint assembly, a lower limb assembly and a humanoid robot. The hip joint assembly includes a hip joint, a thigh portion and a damper. The hip joint includes a joint base; the thigh portion is movably connected to the joint base; the damper is disposed between the joint base and the thigh portion. The damper includes a damper main body and a piston rod that can telescopically move relative to the damper main body. The damper main body is hinged to the thigh portion, and the piston rod is hinged to the joint base, and is configured to telescopically move relative to the damper main body when the joint base is stressed, so as to share the load borne by the joint base. When the humanoid robot encounters a passive impact or is in a heavy load condition, the piston rod of the damper telescopically moves relative to the damper main body, and can automatically adjust the damping characteristics according to the change of the load received by the hip joint, so as to absorb and disperse part of the impact force, thereby sharing the load borne by the hip joint, reducing the situation of actuator stalling of the hip joint assembly, and reducing the energy loss caused by actuator stalling.

Description

Technical Field

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

[0002] A humanoid robot, as a product integrating cutting-edge technologies in multiple fields such as mechanical engineering, electronic technology, and artificial intelligence, aims to simulate the human appearance and behavior patterns, has a limb structure and movement ability similar to that of humans, and can perform diverse tasks in complex and changeable environments.

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

[0004] Currently, when a humanoid robot moves, both the passive impact load force balance and the active movement 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 body posture stability by stalling to output torque. However, this method has the following defects: on the one hand, the method of stalling to output torque is extremely inefficient and consumes a large amount of energy, which not only increases the energy cost of the humanoid robot but also limits its endurance; on the other hand, frequent stalling conditions will cause great damage to the driving parts, seriously affecting the service life of the driving parts, increasing the maintenance cost and replacement frequency of the humanoid robot. Summary of the Invention

[0005] The main object 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 service life of the driving parts caused by the existing humanoid robot maintaining the body posture stability by stalling to output torque.

[0006] To achieve the above object, the present invention proposes a hip joint assembly, including:

[0007] A hip joint, including a joint base;

[0008] A thigh part, movably connected to the joint base;

[0009] A damper is provided between the joint base and the thigh portion. The damper includes a damper body and a piston rod that can telescopically move relative to the damper body. The damper body is hinged to the thigh portion, and the piston rod is hinged to the joint base, and is configured to telescopically move relative to the damper body when the joint base is stressed, so as to share the load borne by the joint base.

[0010] In some embodiments, a side seat is connected to one side of the thigh portion, and a first hinge shaft is provided between the side seat and the thigh portion. The damper body is rotatably sleeved on the first hinge shaft to be hinged to the thigh portion.

[0011] In some embodiments, the joint base includes a base body, a first mounting portion formed on one side of the base body, and a second mounting portion formed on the other side of the base body. The first mounting portion and the second mounting portion are spaced apart and oppositely arranged to form an accommodation cavity.

[0012] Wherein, one end of the thigh portion extends into the accommodation cavity, and the thigh portion is respectively rotatably connected to the first mounting portion and the second mounting portion, and one end of the piston rod is hinged to the second mounting portion.

[0013] In some embodiments, the hip joint further includes:

[0014] A first driving member is provided on the first mounting portion, and an output end of the first driving member passes through the first mounting portion and is connected to the thigh portion, and is configured to drive the thigh portion to move.

[0015] In some embodiments, a partition groove is provided at one end of the second mounting portion away from the base body, and mounting holes are respectively formed on opposite sides of the second mounting portion in 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.

[0016] 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. The protrusion is rotatably disposed in the groove.

[0017] In some embodiments, a limiting groove for avoiding the second mounting portion is provided at one end of the thigh portion, and limiting end faces for abutting against the second mounting portion are provided on both side walls of the limiting groove located on the rotation trajectory of the thigh portion.

[0018] The present application further provides a lower limb assembly, including a trunk connection seat and at least one lower limb. The lower limb at least includes a hip joint assembly, and the hip joint assembly is movably connected to the trunk connection seat.

[0019] In some embodiments, the lower limb assembly further includes an adapter seat, a second driving member, and a third driving member. The adapter seat is rotatably connected to the torso connecting seat. The second driving member is disposed on the adapter seat and connected to the joint base. The third driving member is disposed on the torso connecting seat and connected to the adapter seat. The axes of the output ends of any two of the first driving member, the second driving member, and the third driving member are perpendicular to each other.

[0020] The present application also provides a humanoid robot, including a torso and a hip joint assembly. The torso connecting seat is connected to the torso.

[0021] In the hip joint assembly provided by the present application, a damper is disposed between the hip joint and the thigh. The damper includes a damper body and a piston rod that can be telescoped relative to the damper body. When the humanoid robot encounters a passive impact or is in a heavy load condition, the piston rod of the damper telescopes relative to the damper body, and can automatically adjust the damping characteristics according to the change of the load received by the hip joint, so as to absorb and disperse part of the impact force, thereby sharing the load borne by the hip joint, reducing the situation of actuator jamming of the hip joint assembly, and reducing the energy loss caused by actuator jamming. Moreover, since the force borne by the actuator of the hip joint assembly is reduced, the wear of the driving member will also be significantly reduced, thereby prolonging the service life of the driving member. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of an embodiment of the hip joint assembly of the present invention;

[0023] Figure 2 is a schematic structural diagram of another perspective of an embodiment of the hip joint assembly of the present invention;

[0024] Figure 3 is a partial disassembled schematic diagram of an embodiment of the hip joint assembly of the present invention;

[0025] Figure 4 is a schematic structural diagram of an embodiment of the joint base of the present invention;

[0026] Figure 5 is a schematic structural diagram of an embodiment of the lower limb assembly of the present invention.

[0027] The realization, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following will clearly and completely describe the solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0030] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or there may be an intermediate element at the same time.

[0031] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a hip joint assembly 100, including a hip joint 10, a thigh portion 20, and a damper 30. The hip joint 10 includes a joint base 11; the thigh portion 20 is movably connected to the joint base 11; the damper 30 is disposed between the joint base 11 and the thigh portion 20. The damper 30 includes a damper body 31 and a piston rod 32 that can telescopically move relative to the damper body 31. The damper body 31 is hinged to the thigh portion 20, and the piston rod 32 is hinged to the joint base 11, and is used to telescopically move relative to the damper body 31 when the joint base 11 is stressed, so as to share the load borne by the joint base 11.

[0033] Among them, the joint base 11 can be made of high-strength aluminum alloy material, which has the characteristics of light weight and high strength, and can reduce the overall weight of the humanoid robot while ensuring the structural stability of the hip joint assembly 100. The thigh part 20 and the joint base 11 can be connected by a rotating shaft to ensure that the thigh part 20 can rotate flexibly relative to the joint base 11, realizing various leg movements of the humanoid robot.

[0034] The damper 30 can be a hydraulic damper 30 or a pneumatic damper 30. For example, when the damper 30 is a hydraulic damper 30, the damper body 31 is 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 interacts with the hydraulic oil through a piston. When the piston rod 32 is subjected to an external force and expands or contracts, the piston moves in the hydraulic oil, generating a damping force, thereby realizing the sharing of the load on the joint base 11.

[0035] During actual use, according to different usage requirements and motion scenarios, the parameters of the damper body 31 (such as damping coefficient, medium viscosity, etc.) can be adjusted to change the magnitude and characteristics of the damping force. For example, during high-intensity exercise, the damping force can be increased to provide better support and control; during daily walking, the damping force can be reduced to make the movement more relaxed and natural.

[0036] When an external force acts on the joint base 11, the force is transmitted to the damper 30 through the hinge structure. Since the piston rod 32 can expand and contract relative to the damper body 31, when the joint base 11 is subjected to a force, the piston rod 32 will expand and contract relative to the damper body 31 according to the force situation. This expansion and contraction movement can change the damping characteristics of the damper 30, and thus play a role in 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 part 20, and the piston rod 32 of the damper 30 will expand and contract accordingly to adjust its own state to share a part of the force.

[0037] In this embodiment, the damper 30 shares the load borne by the hip joint 10, which can effectively reduce the force and torque that the knee and hip joints 10 need to bear during operation, 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 impacts or heavy loads, thereby improving the stability and reliability of the entire hip joint assembly 100.

[0038] 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 stalling to output torque is avoided. After the damper 30 shares the load, the energy utilization of the humanoid robot during movement is more reasonable, the energy cost is reduced, and it helps to extend the battery life of the humanoid robot. Moreover, since the force borne by the actuator of the hip joint assembly 100 is reduced, the wear of the driving part is significantly reduced. Because during the operation of the driving part, the stress it receives decreases as the load decreases, thereby extending the service life of the driving part and reducing the maintenance cost and replacement frequency of the humanoid robot.

[0039] Please refer to Figure 3 , in some embodiments, a side seat 21 is connected to one side of the thigh part 20. A first hinge shaft 22 is provided between the side seat 21 and the thigh part 20. The damper main body 31 is rotatably sleeved on the first hinge shaft 22 to be hinged to the thigh part 20.

[0040] By providing the side seat 21 on one side of the thigh part 20 and installing the first hinge shaft 22 between the side seat 21 and the thigh part 20, a rotatable connection structure is formed. The damper main body 31 is rotatably sleeved on the first hinge shaft 22, so that a hinged relationship is established between the damper main body 31 and the thigh part 20, providing a basis for the relative movement between the damper main body 31 and the thigh part 20, enabling them to rotate within a certain range to adapt to different motion conditions.

[0041] When the humanoid robot moves, the thigh part 20 will be subjected to various forces, and these forces will be transmitted to the damper main body 31 through the first hinge shaft 22. Since the damper main body 31 can rotate around the first hinge shaft 22, it can adjust its own angle and position accordingly according to the direction and magnitude of the force received by the thigh part 20. During this process, the damper main body 31 will utilize its own damping characteristics to buffer and adjust the transmitted force, converting a 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.

[0042] 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 constructed on one side of the base body 111, and a second mounting portion 113 constructed on the other side of the base body 111. The first mounting portion 112 and the second mounting portion 113 are spaced apart and oppositely arranged to form a receiving cavity 114;

[0043] Wherein, one end of the thigh part 20 extends into the receiving cavity 114, and the thigh part 20 is respectively rotatably connected to the first mounting portion 112 and the second mounting portion 113. One end of the piston rod 32 is hinged to the second mounting portion 113.

[0044] In this embodiment, the accommodation cavity 114 provides an installation space for the connection between the thigh part 20 and the piston rod 32. One end of the thigh part 20 can extend into the accommodation cavity 114. By means of the rotational connection with the first and second mounting parts 113, the flexible rotation of the thigh part 20 relative to the joint base 11 is realized, providing a basic structure for leg movement. The design of the accommodation cavity 114 compactifies the connection structure between the thigh part 20 and the joint base 11, effectively saving space, enabling the hip joint assembly 100 of the humanoid robot to achieve complex motion functions in a limited space, contributing to the miniaturization and lightweight of the overall structure, and facilitating the flexible movement of the humanoid robot in different scenarios.

[0045] One end of the piston rod 32 is hinged to the second mounting part 113, enabling the piston rod 32 to work in coordination with the thigh part 20 and the joint base 11. When the humanoid robot moves, the rotation of the thigh part 20 in the accommodation cavity 114 will generate forces in different directions. Through the hinge connection with the second mounting part 113, the piston rod 32 can flexibly adjust its own angle and telescopic state according to the change of the force generated by the movement of the thigh part 20, so as to coordinate the movement of the thigh part 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 and other actions, and reduce the risk of component damage caused by movement impact.

[0046] In some embodiments, the hip joint 10 further includes a first driving member 12, which is arranged on the first mounting part 112, and the output end of the first driving member 12 passes through the first mounting part 112 and is connected to the thigh part 20 for driving the movement of the thigh part 20.

[0047] Among them, the first driving member 12 is arranged on the first mounting part 112 as the power source for the movement of the hip joint 10 of the humanoid robot. When the first driving member 12 is started, a rotational power is generated at its output end, and this power is transmitted through the first mounting part 112 to the thigh part 20 connected to the output end, realizing the rotation of the thigh part 20 in a set manner and direction.

[0048] The first driving member 12 can be a servo motor with high torque density, which is directly installed on the first mounting part 112. Its output end is connected to the thigh part 20 through a high-precision coupling passing through the first mounting part 112, ensuring the stability and accuracy of power transmission.

[0049] In this embodiment, the first driving member 12 is directly arranged on the first mounting part 112 and connected to the thigh part 20, reducing the intermediate links in the power transmission process, reducing energy loss, improving power transmission efficiency, enabling the humanoid robot to more effectively utilize energy during movement, reducing unnecessary energy waste, and thus improving the endurance ability.

[0050] Please continue to refer to Figure 3 andFigure 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.

[0051] 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.

[0052] 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.

[0053] 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 .

[0054] 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.

[0055] 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 contributes to the miniaturized design of the hip joint assembly 100 of the humanoid robot. At the same time, the tight cooperation between the two enhances the stability of the connection. When bearing a large external force, it can effectively prevent loosening or detachment between components, 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.

[0056] Furthermore, this simple and intuitive concave-convex fitting structure is more convenient during the assembly process. Workers can easily align the protrusion 117 with the groove 23 for installation. And during the debugging process, if it is necessary to adjust the rotation angle or flexibility of the thigh part 20, it can also be achieved by fine machining or adjustment of the groove 23 and the protrusion 117, reducing the difficulty of assembly and debugging and improving the production efficiency.

[0057] In some embodiments, a limiting groove 24 for avoiding the second mounting part 113 is provided at one end of the thigh part 20, and limiting end faces 25 for abutting against the second mounting part 113 are provided on both side walls of the limiting groove 24 located on the rotation track of the thigh part 20.

[0058] Among them, the main function of the limiting groove 24 provided at one end of the thigh part 20 is to provide space for the second mounting part 113 to avoid interference with the second mounting part 113 during the rotation of the thigh part 20. At the same time, the limiting end faces 25 provided on both side walls of the limiting groove 24 located on the rotation track of the thigh part 20 cooperate with the second mounting part 113 to accurately limit the rotation range of the thigh part 20. When the thigh part 20 rotates, the limiting end face 25 will abut against the second mounting part 113 at a specific position, thereby restricting the continuous rotation of the thigh part 20 and ensuring that its rotation is within the designed allowable range.

[0059] In this embodiment, through the setting of the limiting groove 24 and the limiting end face 25, the safety and stability of the humanoid robot during movement can be ensured. On the one hand, it avoids structural damage caused by excessive rotation of the thigh part 20, such as the fracture of connecting parts and the collision and damage of other components; on the other hand, the stable rotation range helps the humanoid robot maintain the accuracy of its posture when performing tasks. For example, during actions such as walking and grasping, the stable rotation range of the thigh part 20 can ensure the coherence and accuracy of the actions of the humanoid robot.

[0060] Please refer to Figure 5 , this embodiment of the present application also provides a lower limb assembly 200, including a torso connection seat 201 and at least one lower limb 202. The lower limb 202 includes at least a hip joint assembly 100, and the hip joint assembly 100 is movably connected to the torso connection seat 201.

[0061] Among them, the lower limb assembly 200 is movably connected to the torso connection seat 201 through the hip joint assembly 100, constructing a structure similar to the connection between the human hip joint 10 and the torso. The torso connection seat 201, as the interface with the robot torso part, plays the role of receiving and transmitting force. The movable connection of the hip joint assembly 100 enables the lower limb 202 to perform multi-degree-of-freedom movements relative to the torso, such as swinging forward and backward, swinging left and right, rotating, etc. These movements simulate the movement mode of the human lower limb 202, providing a basis for the movement and posture adjustment of the humanoid robot.

[0062] When the humanoid robot needs to move or complete a specific task, each part of the lower limb assembly 200 works 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 torso connection seat 201 transmits the power and instructions from the torso to the lower limb 202, while ensuring the stability between the lower limb 202 and the torso, ensuring that the humanoid robot can walk or perform other actions stably.

[0063] Since the lower limb assembly 200 adopts all the technical solutions of all the embodiments of the above 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 elaborated one by one here.

[0064] In some embodiments, the lower limb assembly 200 further includes an adapter seat 203, a second driving member 204, and a third driving member 205. The adapter seat 203 is rotatably connected to the torso connection seat 201. The second driving member 204 is disposed on the adapter seat 203 and connected to the joint base 11. The third driving member 205 is disposed on the torso connection seat 201 and connected to the adapter seat 203. The axes of the output ends of any two of the first driving member 12, the second driving member 204, and the third driving member 205 are perpendicular to each other.

[0065] The lower limb assembly 200 achieves complex movements through the coordinated work of multiple driving components. The adapter base 203 is rotatably connected to the torso connection base 201, providing a rotatable connection node between the lower limb 202 and the torso. The second driving component 204 is disposed on the adapter base 203 and connected to the joint base 11, mainly responsible for controlling the movement of the hip joint assembly 100 relative to the adapter base 203, such as causing the hip joint 10 to rotate or swing in a certain plane. The third driving component 205 is disposed on the torso connection base 201 and connected to the adapter base 203, for driving the adapter base 203 to rotate relative to the torso connection base 201, thereby changing the angle and direction of the whole lower limb 202 relative to the torso. And the first driving component 12 is responsible for driving the thigh part 20 to move. The axes of the output ends of any two of these three driving components are perpendicular to each other. This layout enables each driving component to independently control the movement of the lower limb 202 in different directions. Through precise cooperation, multi-degree-of-freedom movement of the lower limb 202 in three-dimensional space can be achieved, simulating the complex movements of the human lower limb 202.

[0066] Based on the motion instructions of the humanoid robot, the three driving components work according to the set parameters respectively. For example, when the humanoid robot needs to walk forward, the first driving component 12 drives the thigh part 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 base 203 to make corresponding changes to the angle and position of the whole lower limb 202 on the torso to maintain the stability and coordination of walking. Through precise control of the outputs of the three driving components, the humanoid robot can achieve various complex movements, such as turning, sideward movement, jumping, etc.

[0067] Among them, the second driving component 204 and the third driving component 205 can also select servo motors with high torque density to ensure the stability and accuracy of power transmission. The embodiments of the present application do not make limitations here.

[0068] In this embodiment, the design that the axes of the output ends of the three driving components are perpendicular to each other endows the lower limb assembly 200 with extremely high movement flexibility. The robot can achieve more anthropomorphic movements, such as flexibly turning around in a narrow space and making adaptive posture adjustments on complex terrains. This highly flexible movement ability enables the robot to better complete tasks in various scenarios, whether it is shuttling among people in a service scenario or coping with complex terrain obstacles in a rescue scenario.

[0069] Furthermore, each driving member independently controls the movement in different directions, making the control of the lower limb 202's movement more precise. When performing some tasks that require high precision, such as industrial assembly, fine operation, etc., the humanoid robot can achieve fine adjustment of the position and posture of the lower limb 202 by precisely controlling the outputs 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 between the lower limb 202 and the torso, and maintain good stability and balance in various motion states. During walking, when encountering uneven ground or external force interference, the driving members can quickly respond and adjust the posture of the lower limb 202 to ensure that the robot does not fall. This enhancement of stability and balance capabilities improves the robot's survivability and work efficiency in complex environments.

[0070] The embodiment of the present application also provides a humanoid robot, including a torso and a hip joint assembly 100, and the torso connecting seat 201 is connected to the torso. Since the humanoid robot adopts all the technical solutions of all the embodiments of the above 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 elaborated here one by one.

[0071] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A hip joint component, characterized in that, include: Hip joint, including the base of the joint; A thigh part, movably connected to the joint base; A damper is provided between the joint base and the thigh, the damper comprises a damper body and a piston rod which can be extended and retracted relative to the damper body, the damper body is hinged to the thigh, the piston rod is hinged to the joint base, and is used to be extended and retracted relative to the damper body when the joint base is subjected to force, so as to share the load borne by the joint base; 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, one end of the piston rod is hinged to the second mounting part, and one end of the thigh part is provided with a limiting groove for avoiding the second mounting part, and both side walls of the limiting groove located on the rotation trajectory of the thigh part are provided with limiting end surfaces for abutting against the second mounting part.

2. The hip joint assembly according to claim 1, wherein, 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, wherein, 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.

4. The hip joint assembly according to claim 1, wherein, 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.

5. The hip joint assembly according to claim 1, 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.

6. 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 5, and the hip joint assembly is movably connected to the trunk connecting seat.

7. The lower limb assembly according to claim 6, characterized in that, The hip joint component is the hip joint component according to claim 3; 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.

8. A humanoid robot, characterized in that, It comprises a trunk and a lower limb assembly as described in claim 6 or 7, wherein the trunk connecting seat is connected to the trunk.

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