Hip structure of humanoid robot and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a hip structure of a humanoid robot and the humanoid robot. The hip structure comprises a waist-hip connecting piece, two joint connecting pieces, two middle connecting pieces and a bottom connecting piece. The waist-hip connecting piece is configured with a waist connecting seat and two connecting arms arranged on opposite sides of the connecting seat and extending downward, and the ends of the two connecting arms are respectively provided with connecting ends extending downward. The two connecting ends are fixedly connected with the upper ends of the two joint connecting pieces, the two joint connecting pieces are symmetrically arranged along the sagittal plane of the humanoid robot, and the outer sides of the two joint connecting pieces are both inclined downward and arranged corresponding to one end of a joint output flange. The middle connecting piece and the bottom connecting piece further strengthen the connection between the components, ensure that the whole hip structure can work cooperatively under complex stress conditions, effectively disperse and bear the acting force and the reaction force from above or below, avoid the complex design of the hip and improve the stability of the hip.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a hip structure for a humanoid robot and the humanoid robot itself. Background Technology

[0002] The hip structure of a humanoid robot, as a crucial link connecting the upper body and legs, must withstand the weight of the upper body as well as various action and reaction forces generated during leg movements, resulting in complex stress conditions. Current hip structure designs are typically quite complex to cope with these complex forces, which not only increases manufacturing difficulty and cost but also leads to poor structural stability during practical use. Summary of the Invention

[0003] To address the technical problems of complex and unstable hip structures in humanoid robots in the prior art, this invention provides a rationally structured hip structure for a humanoid robot and the humanoid robot itself.

[0004] In one technical solution, a hip structure for a humanoid robot is provided, including a lumbar-hip connector, two joint connectors, two middle connectors, and a bottom connector. The lumbar-hip connector comprises a lumbar connecting seat and two connecting arms extending downwards from opposite sides of the connecting seat. Each connecting arm has a downwardly extending connecting end. The two connecting ends are fixedly connected to the upper ends of the two joint connectors. The two joint connectors are symmetrically arranged along the sagittal plane of the humanoid robot, and their outer ends corresponding to the joint output flanges are inclined downwards. The two middle connectors are fixedly connected at their respective ends to the middle of the ends of the two joint connectors opposite to the joint output flanges. The bottom connectors are fixedly connected to the lower ends of the two joint connectors.

[0005] In one technical solution, the waist connecting seat is roughly hollow and horizontally arranged to form a waist yaw joint mounting cavity; the angle between the extension direction of the two connecting arms and the horizontal direction is less than 90 degrees.

[0006] In one technical solution, the connecting end is provided with a first mounting hole, the outer contour surface of the joint connector is provided with a first fixing block, the first fixing block is provided with a second mounting hole, and the first mounting hole and the second mounting hole are connected by fasteners so that the connecting end is fixedly connected to the first fixing block.

[0007] In one technical solution, the joint connector is the outer shell of a hip pitch joint module or is used in a hip pitch joint module; the joint connector includes a first cylindrical section, a radially extending section, and a second cylindrical section arranged coaxially in sequence. The first cylindrical section is located on the side adjacent to the joint output flange, and the second cylindrical section is located on the side away from the joint output flange. The outer diameter of the second cylindrical section is larger than the outer diameter of the first cylindrical section; the inner ring of the radially extending section is connected to the first cylindrical section, and the outer ring of the radially extending section is connected to the second cylindrical section. The axis of the first cylindrical section has an angle of 20 degrees to 45 degrees with the horizontal direction.

[0008] In one technical solution, a first fixing block is disposed on the first cylindrical section and is parallel to and spaced apart from the radial extension section. A connecting end is assembled between the first fixing block and the radial extension section and abuts against the outer contour surface of the first cylindrical section.

[0009] In one technical solution, the two middle connecting parts are roughly in the form of a trapezoidal sheet, and the middle connecting parts are provided with third mounting holes near the two side edges respectively; the second cylindrical section is provided with second fixing blocks on both sides of the middle area at the end, and the second fixing blocks are provided with fourth mounting holes, and fasteners are used to connect each third mounting hole and each fourth mounting hole, so that the two middle connecting parts are fixedly connected to the two joint connecting parts respectively.

[0010] In one technical solution, the bottom connector includes two mating parts and a protruding spacer between the two mating parts. The two mating parts are respectively disposed to the lower ends of the two joint connectors, and each mating part is in close contact with the outer contour surface of the joint connector. The bottom connector includes a fifth mounting hole that passes through each mating part, and a sixth mounting hole is provided at the lower end of the outer contour surface of each joint connector. The fifth mounting hole and the sixth mounting hole are connected by fasteners, so that the bottom connector is fixedly connected to the two joint connectors respectively.

[0011] In one technical solution, the spacer is a protrusion protruding from the two mating parts, and the spacer is provided with a weight reduction hole. The spacer abuts against one side of the lower end of the two joint connectors respectively.

[0012] In one technical solution, two ribs are provided on both sides of each connecting arm to enhance the vertical resistance of the connecting arm, and the ribs extend to the inner end of the connecting end and are connected to the connecting seat.

[0013] In one technical solution, a humanoid robot is provided, including the hip structure of any of the aforementioned humanoid robots.

[0014] Compared to existing technologies, the humanoid robot hip structure and humanoid robot provided in this application embodiment construct a stable hip structure framework through a frame-like layout and connection of waist-hip connectors, joint connectors, middle connectors, and bottom connectors. The connecting arms of the waist-hip connectors are connected to the joint connectors, effectively transferring the weight of the upper body to the joint connectors. The two joint connectors are symmetrically arranged, and with the inclined downward joint output flange end, the force generated during leg movement can be more evenly distributed throughout the entire hip structure. The middle connector and bottom connector further strengthen the connection between the components, ensuring that the entire hip structure can work collaboratively under complex stress conditions, effectively distributing and bearing the action and reaction forces from above or below, avoiding complex hip design, improving stability, and thus enhancing the overall performance and reliability of the humanoid robot. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the hip structure of a robot according to one embodiment of this application;

[0017] Figure 2 This is a three-dimensional structural diagram of the hip structure of a robot in an embodiment of this application, viewed from below.

[0018] Figure 3 This is an exploded schematic diagram of the hip structure of a robot according to one embodiment of this application;

[0019] Figure 4 This is a cross-sectional schematic diagram of the hip structure of a robot according to one embodiment of this application;

[0020] Figure 5 yes Figure 4 An enlarged schematic diagram of the robot's hip structure at point A;

[0021] Figure 6 yes Figure 4 An enlarged schematic diagram of the robot's hip structure at point B;

[0022] Figure 7 This is a three-dimensional structural schematic diagram of the hip joint of the robot's hip structure in one embodiment of this application;

[0023] Figure 8This is a bottom view of the joint connector of the robot's hip structure in one embodiment of this application;

[0024] Figure 9 This is a front view schematic diagram of the joint connector of the robot's hip structure in one embodiment of this application;

[0025] Figure 10 This is a front view schematic diagram of the middle connector of the hip structure of a robot in one embodiment of this application;

[0026] Figure 11 This is a three-dimensional structural schematic diagram of the bottom connector of the robot's hip structure in one embodiment of this application;

[0027] Figure 12 This is a three-dimensional structural diagram of a humanoid robot in one embodiment of this application.

[0028] Labels for each item in the figure:

[0029] 1. Lumbar-hip connector; 11. Lumbar connector seat; 111. Lumbar yaw joint mounting cavity; 12. Connecting arm; 121. Connecting end; 121a. First mounting hole; 122. Rib;

[0030] 2. Joint connector; 21. First fixing block; 211. Second assembly hole; 211a. Countersunk head;

[0031] 22. First cylindrical section; 23. Radial extension section;

[0032] 24. Second cylindrical section; 241. Second fixing block; 241a. Fourth assembly hole; 241b. Second pin hole;

[0033] 25. Sixth assembly hole;

[0034] 3. Middle connecting part; 31. Third assembly hole;

[0035] 4. Bottom connector; 41. Butt joint; 42. Spacer; 421. Weight reduction hole;

[0036] 43. Fifth assembly hole; 44. First pin hole;

[0037] 5. Joint output flange; 6. Hip pitch joint module;

[0038] 71. Head; 72. Torso; 73. Forearm;

[0039] 74. Lumbar joint; 76. Lumbar lateral joint; 78. Leg rolling joint; 79. Thigh; 80. Knee joint; 81. Lower leg; 82. Ankle joint;

[0040] X represents the first horizontal direction; Y represents the second horizontal direction; Z represents the vertical direction; and S represents the sagittal plane of the humanoid robot.

[0041] θ1, the angle between the extension direction of the connecting arm and the horizontal direction;

[0042] θ2, the angle between the centerline of the first cylindrical segment and the horizontal direction;

[0043] r1, outer diameter of the first cylindrical section; r2, outer diameter of the second cylindrical section;

[0044] d1, the centerline of the first cylindrical segment. Detailed Implementation

[0045] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] In this invention, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cubic" means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0052] The embodiments of this application provide hip structures for humanoid robots and humanoid robots. The technical solutions are described in detail below with reference to the accompanying drawings.

[0053] In one embodiment, please refer to Figure 1 , Figure 3 The hip structure of the humanoid robot in this embodiment mainly includes a hip-waist connector 1, two joint connectors 2, two middle connectors 3, and a bottom connector 4. Wherein:

[0054] The lumbar-hip connector 1 has a lumbar connector 11 and two connecting arms 12 that are disposed on opposite sides of the lumbar connector 11 and extend downward. The ends of the two connecting arms 12 are respectively provided with downward extending connecting ends 121.

[0055] The two connecting ends 121 are fixedly connected to the upper ends of the two joint connectors 2 respectively. The two joint connectors 2 are symmetrically arranged along the sagittal plane S of the humanoid robot, and the outer sides of both are inclined downwards at one end of the joint output flange 5.

[0056] The two middle connectors 3 are fixedly connected at both ends to the middle of the two joint connectors 2 opposite to the joint output flange 5, and the bottom connectors 4 are fixedly connected to the lower ends of the two joint connectors 2.

[0057] The two joint connectors 2 are used to fix and assemble the two hip flexion joints respectively. It can be understood that, on the one hand, these are fixed assembly positions for the two hip flexion joints, and on the other hand, these are two side structural components in the hip structure. Their upper side is connected to the waist-hip connector 1 and their lower side is connected to the thigh through the hip flexion joint. The joint connectors 2 play the role of side support connection respectively.

[0058] In one embodiment, the hip structure of the humanoid robot mainly includes a hip-lumbar connector 1, two joint connectors 2, two middle connectors 3, and a bottom connector 4. The hip-lumbar connector 1 is connected to the joint connectors 2 via a connecting arm 12, the middle connectors 3 are connected to the middle of the joint connectors 2, and the bottom connector 4 is connected to the lower end of the joint connectors 2. The components work together to form a stable frame.

[0059] Two joint connectors 2 are symmetrically arranged along the sagittal plane S of the humanoid robot, with the outer ends corresponding to the joint output flanges 5 tilted downwards. This arrangement allows the forces generated by leg movements, such as the forward thrust of the legs or the reaction force of pushing off the ground, to be transmitted along multiple directions (up, down, left, right) of the joint connectors, avoiding the concentration of force in a specific direction or on a particular component. The middle connector 3 and the bottom connector 4 further enhance the force transmission path, making the entire hip structure a continuous and stable system during force transmission. When the robot is walking, the reaction force of the actuating legs can be transmitted through the joint connectors 2 to the hip connector 1, the middle connector 3, and the bottom connector 4, and then the opposite joint connector 2 transmits the force to the upper body and supporting legs, mainly to the parts of the supporting legs that are in contact with the ground (such as the feet). The force transmission path is clear and reasonable throughout the process, effectively reducing the situation of excessive local stress.

[0060] In one embodiment, please refer to Figure 1 and Figure 7 The waist connecting seat 11 is roughly hollow and horizontally arranged, forming a waist yaw joint mounting cavity 111; the extension direction of the two connecting arms 12 makes an angle θ1 with the first horizontal direction X (see Figure 4 All angles are less than 90 degrees. This design allows the hip-lumbar connector 1 to not only stably mount the lumbar yaw joint, but also to better transfer and distribute the weight of the upper body when connecting the upper body to other hip components. In practical applications, the angle design of less than 90 degrees helps to reduce stress concentration in the connecting arm 12 under load, enhancing structural stability. Moreover, this structural form provides possibilities for different installation and adjustment methods. Any technical solution that meets the requirements of the lumbar connector 11 being approximately hollow and annular, horizontally arranged, forming the lumbar yaw joint mounting cavity 111, and the included angle of the extending direction of the connecting arm 12, falls within the scope of this technical solution.

[0061] When a humanoid robot moves, such as walking or carrying a load, it generates various forces. Taking the upper body weight as an example, it is transmitted to the connecting arm 12 through the waist connecting seat 11 of the waist-hip connector 1. Since the angle between the connecting arm 12 and the horizontal direction is less than 90 degrees, the upper body weight can be distributed to the joint connector 2 at a certain angle during the transmission process.

[0062] In one embodiment, please refer to Figure 3 and Figure 5The connecting arm 12 has two connecting ends 121 with first mounting holes 121a. A first fixing block 21 is provided on the outer contour surface of the joint connector 2. The first fixing block 21 has a second mounting hole 211. Fasteners are used to connect the first mounting hole 121a and the second mounting hole 211, thus fixing the connecting end 121 to the first fixing block 21. The first mounting hole 121a can be an internally threaded hole, while the second mounting hole 211 can be a countersunk through hole with the countersunk head 211a located on the outer side. This allows for the use of multiple bolts to fix the hip connector 1 and the joint connector 2 together. This assembly method is simple and reliable, facilitating assembly and disassembly during production, and improving production efficiency and ease of maintenance.

[0063] In one embodiment, please refer to Figure 3 and Figure 4 The joint connector 2 serves as the housing for the hip pitch joint module 6 or is used to install the hip pitch joint module 6 internally. The joint connector 2 includes a first cylindrical section 22, a radially extending section 23, and a second cylindrical section 24 arranged coaxially in sequence. The first cylindrical section 22 is located on the side adjacent to the joint output flange 5, and the second cylindrical section 24 is located on the side opposite to the joint output flange 5. The outer diameter r2 of the second cylindrical section is larger than the outer diameter r1 of the first cylindrical section. The inner ring of the radially extending section 23 is connected to the first cylindrical section 22, and the outer ring of the radially extending section 23 is connected to the second cylindrical section 24. The axis d1 of the first cylindrical section has an angle θ2 of 20 to 45 degrees with the horizontal first direction X.

[0064] This structural design allows the joint connector 2 to better adapt to the forces generated during leg movements while ensuring structural strength. Different angle settings affect the flexibility and stability of leg movements. Specifically, the angle θ2 can be selected as 20 degrees, 21 degrees, 22 degrees, 23 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, etc., which can also meet the needs of various movements of humanoid robots.

[0065] In one embodiment, please refer to Figure 3 , Figure 8 as well as Figure 9 The first fixing block 21 is disposed on the first cylindrical section 22 and is parallel and spaced apart from the radial extension section 23. The connecting end 121 is assembled between the first fixing block 21 and the radial extension section 23 and abuts against the outer contour surface of the first cylindrical section 22. This assembly method further enhances the stability of the connection, making the connection between the hip connector 1 and the joint connector 2 more secure. In practical applications, this tight assembly relationship can effectively reduce the shaking and displacement between components and improve the overall performance of the hip structure.

[0066] In one embodiment, please refer to Figure 3 and Figure 10The two middle connecting parts 3 are roughly in the shape of a trapezoidal sheet. The middle connecting parts 3 are provided with third mounting holes 31 near the two side edges. The second cylindrical section 24 is provided with second fixing blocks 241 on both sides of the middle area at the end. The second fixing blocks 241 are provided with fourth mounting holes 241a. The third mounting holes 31 and the fourth mounting holes 241a are connected by fasteners, so that the two middle connecting parts 3 are fixedly connected to the two joint connecting parts 2 respectively.

[0067] Compared to the hip connector 1, joint connector 2, and bottom connector 4, the two middle connectors 3 are offset to both sides in the second horizontal direction Y by a certain distance. This is because the outer diameter of the second cylindrical section 24 is larger, and its width in the second horizontal direction Y is also larger. The middle connectors 3, with their plate-like trapezoidal structure, ensure structural strength while reducing overall weight. This assembly method further enhances the stability of the hip structure, allowing for better force distribution and transmission in the second horizontal direction Y during humanoid robot movement.

[0068] In one embodiment, the outer end faces of the two central connectors 3 may also abut against or nearly abut against the rear end face of the joint connector 2. This allows for abutment support of the two joint connectors 2 on their inner sides, thereby supporting the joint connectors 2 in the forward or backward direction of the second horizontal direction Y, or distributing and transferring stress in this direction.

[0069] For humanoid robots that may be subjected to impact forces while leaning forward or backward, as understood by those skilled in the art, the position and connection relationship of the two central connectors 3 in this embodiment can bring greater overall rigidity to the hip and better impact resistance.

[0070] In one embodiment, please refer to Figure 2 , Figure 3 as well as Figure 11 The bottom connector 4 includes two mating parts 41 and a protruding spacer 42 between the two mating parts 41. The two mating parts 41 are respectively mated to the lower ends of the two joint connectors 2. Each mating part 41 is in contact with the outer contour surface of the joint connector 2. The bottom connector 4 includes a fifth mounting hole 43 that passes through each mating part 41. A sixth mounting hole 25 is provided at the lower end of the outer contour surface of each joint connector 2. The fifth mounting hole 43 and the sixth mounting hole 25 are connected by fasteners, so that the bottom connector 4 is fixedly connected to the two joint connectors 2 respectively.

[0071] This structural design allows the bottom connector 4 to stably connect the two joint connectors 2, enhancing the bottom support of the hip structure. In practical use, the close-fitting contact method and the design of the mounting holes ensure a tight and reliable connection. In one embodiment, please refer to... Figure 3 , Figure 11 The spacer portion 42 is a protrusion extending from the two mating portions 41, and the spacer portion 42 is provided with a weight-reducing hole 421. The spacer portion 42 abuts against one side of the lower end of each of the two joint connectors 2. The design of the weight-reducing hole 421 reduces the overall weight without affecting the structural strength, thereby improving the robot's energy utilization efficiency. The abutting method between the spacer portion 42 and the lower end of the joint connector 2 further enhances the stability of the bottom connection.

[0072] In one embodiment, such as Figure 6 The diagram shows that the second pin hole 241b is located near the sixth assembly hole 25 on the second cylindrical section 24, and the first pin hole 44 is set on the mating part 41 of the bottom connector 4. With the corresponding positioning pin, it can be considered that the cooperation between the second pin hole 241b and the first pin hole 44 can further enhance the accuracy and stability of the connection between the bottom connector 4 and the lower end of the joint connector 2. On the other hand, it can be considered that the cooperation between the second pin hole 241b and the first pin hole 44 can protect the fasteners between the third assembly hole 31 and each of the fourth assembly holes 241a from shearing impact.

[0073] In one embodiment, please refer to Figure 7 Each connecting arm 12 has two ribs 122 on both sides to enhance its vertical resistance. The ribs 122 extend to the inner end of the connecting end 121 and connect to the waist connecting seat 11. The ribs 122 effectively enhance the strength of the connecting arm 12, making it less prone to deformation under heavy loads. In practical applications, this design improves the overall reliability of the hip structure and extends its service life.

[0074] Structurally and in terms of connection, the hip connector 1, joint connector 2, middle connector 3, and bottom connector 4 are interconnected to form a stable frame. The hollow circular design of the lumbar connector 11 and the layout of the connecting arm 12 provide a stable foundation for the entire hip structure.

[0075] The joint connector 2 includes a first cylindrical section 22, a radially extending section 23, and a second cylindrical section 24. This not only enhances its own structural strength but also further improves the overall structural stability when connected to other components. For example, the axis d1 of the first cylindrical section forms a certain angle with the horizontal direction. This design allows the joint connector to better resist deformation when subjected to forces in different directions, acting like a stable support column to support the entire hip structure.

[0076] The plate-like trapezoidal structure of the middle connector 3 and the design of the mating portion 41 and the spacer portion 42 of the bottom connector 4 further enhance the stability of the structure. The mounting holes near the two side edges of the middle connector 3 are connected to the fixing blocks on the joint connectors via fasteners, forming a strong connection between the middle connector and the joint connectors, much like the connection between a beam and a column in a building structure, effectively distributing and bearing forces from different directions. The mating portion 41 of the bottom connector 4 fits snugly against the lower end of the joint connector 2, and the spacer portion 42 abuts against one side of the lower end of the joint connector 2. This connection method acts like a stable base, enhancing the bottom support of the entire hip structure and preventing the robot from swaying or becoming unstable during movement.

[0077] In one embodiment, please refer to Figure 12 A humanoid robot includes the hip structure of any of the aforementioned humanoid robots. When the aforementioned hip structure is applied to a humanoid robot, the humanoid robot mainly includes a head 71, torso 72, forearm 73, lumbar omnidirectional joint 74, lumbar yaw joint 76, leg rolling joint 78, thigh 79, knee joint 80, lower leg 81, and ankle joint 82. Specifically, the hip structure disclosed in this application embodiment can be considered as connecting the lumbar yaw joint 76 and the leg rolling joint 78, which can effectively improve the performance and stability of the humanoid robot, making it more stable and reliable during walking, carrying, and other actions.

[0078] The sagittal plane S of a humanoid robot refers to the cross-section that longitudinally divides the robot into left and right parts along the front-back direction. It is used to describe the robot's motion, structural layout, and positional relationships between its components in the front-back direction. In the hip structure of the humanoid robot involved in this application, the two joint connectors are symmetrically arranged along the sagittal plane of the humanoid robot. This symmetrical arrangement makes the hip structure more balanced in terms of mechanical performance. When the robot walks, runs, turns, or performs other actions, the joint connectors on both sides can evenly bear the weight from the upper body and the action and reaction forces generated by the leg movements, avoiding structural damage or instability caused by uneven force distribution. For example, during the robot's walking process, when one leg steps forward, the joint connector on that side will be subjected to the tensile force generated by the torsion of the joint module and the reaction force from the ground, while the joint connector on the other side can adjust the force state accordingly through the symmetrical relationship of the sagittal plane, maintaining the overall balance and stability of the robot.

[0079] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A hip structure of a humanoid robot, characterized by, The hip joint structure of the humanoid robot comprises a waist-hip connecting member, two joint connecting members, two middle connecting members and a bottom connecting member. The waist-hip connecting member is configured with a waist connecting seat and two connecting arms extending downward from opposite sides of the connecting seat, and the ends of the two connecting arms are respectively provided with connecting ends extending downward. The two connecting ends are respectively fixedly connected with the upper ends of the two joint connecting members, the two joint connecting members are symmetrically arranged along the sagittal plane of the humanoid robot, and the outer sides of the two joint connecting members are respectively provided with an end of the joint output flange which is inclined downward. The joint connecting member comprises a first cylindrical segment, a radial extension segment and a second cylindrical segment arranged coaxially in sequence, the first cylindrical segment is located on the side close to the joint output flange, the second cylindrical segment is located on the side away from the joint output flange, the outer diameter of the second cylindrical segment is larger than that of the first cylindrical segment, and the connecting end is in abutment with the outer contour surface of the first cylindrical segment. The connecting end is provided with a first assembly hole, the outer contour surface of the first cylindrical segment is provided with a first fixing block, the first fixing block is provided with a second assembly hole, and the first assembly hole and the second assembly hole are connected by a fastener, and the extension directions of the first assembly hole and the second assembly hole are parallel to the outer contour surface of the first cylindrical segment, so that the connecting end and the first fixing block are fixedly connected by the fastener.

2. The hip joint structure of the humanoid robot according to claim 1, wherein the waist connecting seat is substantially hollow and circular and is arranged horizontally to form a waist yaw joint mounting cavity. The angles between the extension directions of the two connecting arms and the horizontal direction are both less than 90 degrees.

3. The hip joint structure of the humanoid robot according to claim 1, wherein the joint connecting member is a housing of a hip pitch joint module or is used for the hip pitch joint module. The inner ring of the radial extension segment is connected with the first cylindrical segment, the outer ring of the radial extension segment is connected with the second cylindrical segment, and the axial center line of the first cylindrical segment has an angle of 20-45 degrees with the horizontal direction.

4. The hip joint structure of the humanoid robot according to claim 3, wherein the first fixing block is arranged above the first cylindrical segment and is arranged in parallel with the radial extension segment, and the connecting end is assembled between the first fixing block and the radial extension segment.

5. The hip joint structure of the humanoid robot according to claim 3, wherein the two middle connecting members are substantially in the form of a sheet-shaped trapezoid, the middle connecting members are respectively provided with third assembly holes near the two side edges, the second cylindrical segment is provided with second fixing blocks on both sides of the middle area at the end, and the second fixing blocks are provided with fourth assembly holes to connect the third assembly holes and the fourth assembly holes by fasteners, so that the two middle connecting members are respectively fixedly connected with the two joint connecting members.

6. The hip joint structure of the humanoid robot according to claim 1, wherein ​ ​ ​ ​ ​ The bottom connecting piece comprises two butt joint parts and a protruding arranged interval part between the two butt joint parts, the two butt joint parts are respectively arranged at the lower ends of the two joint connecting pieces, and each butt joint part is attached to the corresponding position of the outer contour surface of the joint connecting piece; the bottom connecting piece comprises a fifth assembly hole penetrating each butt joint part, and a sixth assembly hole is arranged at the lower end of the outer contour surface of each joint connecting piece, so that the fifth assembly hole and the sixth assembly hole are connected by a fastener, and the bottom connecting piece is fixedly connected with the two joint connecting pieces.

7. The hip structure of the humanoid robot according to claim 6, wherein The interval part is a protruding lug protruding from the two butt joint parts, and the interval part is provided with a weight-reducing hole, and the interval part is respectively attached to one side of the lower end of the two joint connecting pieces.

8. The hip structure of the humanoid robot according to claim 2, wherein Two ribs are arranged on both sides of each connecting arm, for enhancing the resistance strength of the connecting arm in the vertical direction, and the ribs extend to the inner end of the connecting end and are connected with the connecting seat.

9. A humanoid robot, characterized by, A hip structure of a humanoid robot comprising any one of the hip structures according to claims 1 to 8.

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