Humanoid hip joint and thigh simulating assembly of humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a humanoid hip joint and thigh assembly of a humanoid robot, which comprises a hip joint assembly and two thigh assemblies, the hip joint assembly comprises a first support and hip joint driving modules installed on the left side and the right side of the first support. The two thigh assemblies are installed on the two hip joint driving modules respectively to achieve front-back swing of the two thigh assemblies, each thigh assembly comprises a rotating module, a twisting module and a thigh support, and the thigh support is movably connected to one hip joint driving module through the rotating module and the twisting module. Therefore, left-right rotation and torsion of the thigh support are achieved respectively. The hip joint and thigh assembly of a humanoid structure is provided by simulating the structural layout of human hip joints and thighs, the hip joint and thigh assembly is more anthropomorphic in appearance and motion function, and the problem that in the prior art, the structural layout of hip joints is unreasonable is solved.

Description

Technical Field

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

[0002] With the rapid development of robot technology, humanoid robots have gradually become a research and application hotspot and have broad development prospects because they can simulate human behaviors and have the potential to perform tasks in complex environments. Similar to the human body, the main structure of a humanoid robot includes a head, a torso, two arms, a waist, a pelvis, hip joints, two legs, and feet.

[0003] In order for a humanoid robot to achieve smooth, natural, anthropomorphic, and high-load movements and truly participate in social production activities, the design of its hip joint and thigh assembly is particularly crucial. In related technologies, the structural settings of the hip joint and thigh assembly are unreasonable, the movable space of the lower limb mechanism is small, the swing amplitude is small, the load and impact that can be borne are small, the occupied space is large, and the anthropomorphic effect is not good. Summary of the Invention

[0004] The present invention provides a humanoid hip joint and thigh assembly for a humanoid robot to solve the technical problems mentioned in the background art.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] The present invention provides a humanoid hip joint and thigh assembly for a humanoid robot, including:

[0007] A hip joint assembly, including a first bracket and hip joint drive modules installed on the left and right sides of the first bracket;

[0008] Two thigh assemblies, respectively installed on the two hip joint drive modules to achieve the front-back swing of the two thigh assemblies. Each thigh assembly includes a rotation module, a torsion module, and a thigh bracket. The thigh bracket is movably connected to one of the hip joint drive modules through the rotation module and the torsion module to respectively achieve the left-right rotation and torsion of the thigh bracket.

[0009] Further, the first bracket is an integrated structure, including two thigh connection parts, an upper limb connection part, and an arc-shaped connecting plate;

[0010] Among them, the two thigh connection parts are obliquely fixed to the arc-shaped connecting plate in a V shape, and the angles between the two thigh connection parts and the vertical plane are both 20° - 30°; the two hip joint drive modules are respectively installed on the two thigh connection parts; the upper limb connection part is fixedly installed at the top of the arc-shaped connecting plate for connecting the upper limb torso. Preferably, the angles between the two thigh connection parts and the vertical plane are both 25°;

[0011] Furthermore, a plurality of weight-reducing holes are formed in the arc-shaped connecting plate.

[0012] Furthermore, the hip joint driving module includes a first driver and a second bracket;

[0013] The stator of the first driver is obliquely fixedly installed on the left or right side of the first bracket; the second bracket is fixedly installed on the rotor of the first driver.

[0014] Furthermore, the two hip joint driving modules are symmetrically installed on the first bracket obliquely in the left-right direction.

[0015] Furthermore, the rotating module includes a second driver and a third bracket. The stator of the second driver is fixedly installed on the second bracket, the third bracket is rotatably connected to the second bracket, and the rotor of the second driver is fixedly connected to the third bracket.

[0016] Furthermore, the rotating module further includes a crossed roller bearing; the crossed roller bearing is installed between the second bracket and the third bracket to realize the rotational connection between the second bracket and the third bracket.

[0017] Furthermore, the third bracket includes an L-shaped connecting portion and an I-shaped connecting portion; the I-shaped connecting portion is installed on the rear end face of the L-shaped connecting portion in a detachable connection manner.

[0018] Furthermore, the torsion module includes a third driver and a fourth bracket;

[0019] The stator of the third driver is fixedly installed at the bottom of the fourth bracket and is sleeved in the installation hole reserved in the fifth bracket. The rotor of the third driver is fixedly connected to the third bracket, and the fourth bracket is fixedly installed on the top of the fifth bracket.

[0020] Furthermore, the thigh bracket includes a fifth bracket and a sixth bracket; the sixth bracket is installed at the bottom of the fifth bracket in a detachable connection manner.

[0021] Furthermore, at least one or more of the first bracket, the second bracket, and the fifth bracket are designed with an integral structure.

[0022] Advantages of the present invention:

[0023] The present invention discloses a humanoid robot's humanoid hip joint and thigh assembly, which includes three drivers, namely a first driver, a second driver, and a third driver. The three drivers are distributed in series, and the three drivers are respectively arranged inside the first bracket, the second bracket, and the fifth bracket, without occupying external space. Similar to the human hip joint, the layout is compact, reducing the space occupied by the humanoid robot in the front-rear direction and improving the space utilization rate of the humanoid robot.

[0024] In addition, the rotors on the first drive and the third drive can both achieve 360-degree rotation, and the rotor on the second drive supports 180-degree rotation, which increases the swing amplitude of the thigh and expands the range of motion. When the humanoid robot walks, the three drives jointly drive the thigh to move, improving the load capacity of the hip joint and increasing the anthropomorphic degree of the thigh movement of the humanoid robot. Description of the Drawings

[0025] Figure 1 It is a three-dimensional structure diagram of the present invention;

[0026] Figure 2 It is a front view of the present invention;

[0027] Figure 3 It is a three-dimensional structure diagram of the thigh assembly in the present invention;

[0028] Figure 4 It is an exploded view of the thigh assembly in the present invention;

[0029] Figure 5 It is a three-dimensional structure diagram of the third bracket in the present invention;

[0030] Figure 6 It is a three-dimensional structure diagram of the first bracket in the present invention.

[0031] Description of the Reference Numerals:

[0032] 1. Hip joint assembly; 11. First bracket; 111. Thigh connection part; 112. Upper limb connection part; 113. Arc-shaped connecting plate; 12. Hip joint drive module; 121. First drive; 122. Second bracket; 13. Fourth drive;

[0033] 2. Thigh assembly; 21. Rotation module; 211. Second drive; 212. Third bracket; 2121. L-shaped connection part; 2122. I-shaped connection part; 213. Crossed roller bearing; 22. Torsion module; 221. Third drive; 222. Fourth bracket; 23. Thigh bracket; 231. Fifth bracket; 232. Sixth bracket. Detailed Embodiments

[0034] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0035] It should 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 indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0039] It should also be noted that in the embodiments of the present application, the same reference numerals are used to represent the same components or the same parts. For the same parts in the embodiments of the present application, only one of the parts or components may be marked with a reference numeral in the drawings. It should be understood that the reference numerals are equally applicable to other identical parts or components.

[0040] In the present invention, the top-bottom direction is the direction of the arrow U (Up) and D (Down) in the figure respectively; the left-right direction in the present invention is the direction of the arrow L (Left) and R (Right) in the figure respectively; the front-rear direction in the present invention is the direction of the arrow F (Front) and B (Back) in the figure respectively.

[0041] Referring to Figure 1 and Figure 2 , the embodiments of the present application provide a humanoid robot's humanoid hip joint and thigh assembly, including:

[0042] The hip joint assembly 1 includes a first bracket 11 and hip joint drive modules 12 installed on the left and right sides of the first bracket 11;

[0043] Two thigh assemblies 2 are respectively installed on the two hip joint drive modules 12 to realize the front - and - back swing of the two thigh assemblies 2. Each thigh assembly 2 includes a rotation module 21, a torsion module 22, and a thigh bracket 23. The thigh bracket 23 is movably connected to one of the hip joint drive modules 12 through the rotation module 21 and the torsion module 22 to respectively realize the left - and - right rotation and torsion of the thigh bracket 23.

[0044] The hip joint drive modules 12, the two rotation modules 21, and the two torsion modules 22 are all electrically connected to an external control module on the humanoid robot to realize the intelligent control of the humanoid robot.

[0045] The present invention provides a humanoid robot's anthropomorphic hip joint and anthropomorphic thigh by simulating the structural layout of the human hip joint and thigh. The present invention is more anthropomorphic in appearance and motion function, and solves the problem of unreasonable structural layout of the hip joint in the traditional technology.

[0046] In some embodiments, referring to Figure 1 and Figure 6 , the first bracket 11 is an integrated structure, including two thigh connection parts 111, an upper limb connection part 112, and an arc - shaped connecting plate 113;

[0047] Among them, the two thigh connection parts 111 are obliquely fixed to the arc - shaped connecting plate 113 in a V - shape, and the angles between the two thigh connection parts 111 and the vertical plane are both 20° - 30°; the two hip joint drive modules 12 are respectively installed on the two thigh connection parts 111; the upper limb connection part 112 is fixedly installed at the top of the arc - shaped connecting plate 113 for connecting the upper limb trunk. Preferably, the angles between the two thigh connection parts 111 and the vertical plane are both 25°; the 25° angle design makes the first bracket 11 closer to the human pelvis. In addition, the first bracket 11 designed to imitate the human pelvis can make the entire assembly more anthropomorphic in motion function and solve the problem of unreasonable structural layout of the hip joint in the traditional technology. The three - dimensional structure schematic diagram of the first bracket 11 is shown in Figure 6 as shown.

[0048] In some embodiments, referring to Figure 1 and Figure 2 , the hip joint assembly 1 further includes a fourth driver 13. The stator of the fourth driver 13 is fixedly installed on the upper limb connection part 112 through bolts detachably, and the rotor of the fourth driver 13 is fixedly installed on the external upper limb to realize the rotation of the upper limb and the hip joint assembly 1.

[0049] In some embodiments, referring toFigure 6 , a plurality of weight reduction holes are formed in the arc-shaped connecting plate 113.

[0050] In some embodiments, the hip joint drive module 12 includes a first driver 121 and a second bracket 122;

[0051] The stator of the first driver 121 is obliquely fixedly installed on the left or right side of the first bracket 11; the second bracket 122 is fixedly installed on the rotor of the first driver 121. The first driver 121 is configured to drive the second bracket 122 and the components on the second bracket 122 to rotate around the axis of the first driver 121, so as to drive the thigh assembly 2 to swing in the front-back direction of the humanoid robot.

[0052] In some embodiments, referring to Figure 2 , the two hip joint drive modules 12 are symmetrically installed on the first bracket 11 obliquely in the left-right direction.

[0053] In some embodiments, the rotation module 21 includes a second driver 211 and a third bracket 212. A U-shaped opening is reserved inside the third bracket 212. The stator of the second driver 211 is fixedly installed in the U-shaped opening of the second bracket 122. The third bracket 212 is rotatably connected to the second bracket 122, and the rotor of the second driver 211 is fixedly connected to the third bracket 212. The second driver 211 is configured to drive the third bracket 212 and the components on the third bracket 212 to rotate around the axis of the second driver 211, so as to drive the torsion module 22 and the thigh bracket 23 to swing in the left-right direction of the humanoid robot.

[0054] In some embodiments, referring to Figures 2 to 4 , the rotation module 21 further includes a crossed roller bearing 213; the crossed roller bearing 213 is installed between the second bracket 122 and the third bracket 212 to realize the rotational connection between the second bracket 122 and the third bracket 212.

[0055] In some embodiments, referring to Figure 5 , the third bracket 212 includes an L-shaped connecting portion 2121 and an I-shaped connecting portion 2122; the I-shaped connecting portion 2122 is installed on the rear end face of the L-shaped connecting portion 2121 in a detachable connection manner; splitting the third bracket 212 into the L-shaped connecting portion 2121 and the I-shaped connecting portion 2122 can facilitate the installation of the second driver 211 and is also beneficial to the later maintenance and servicing of the second driver 211.

[0056] In some embodiments, referring to Figures 2 to 4 , the torsion module 22 includes a third driver 221 and a fourth bracket 222;

[0057] The stator of the third driver 221 is fixedly installed at the bottom of the fourth bracket 222 and sleeved in the installation hole reserved in the fifth bracket 231. The rotor of the third driver 221 is fixedly connected to the third bracket 212, and the fourth bracket 222 is fixedly installed at the top of the fifth bracket 231. The third driver 221 is used to drive the thigh bracket 23 to rotate around the axis of the third driver 221.

[0058] In some embodiments, the first driver 121, the second driver 211, and the third driver 221 are all electrically connected to an external control module to achieve intelligent control of the three drivers.

[0059] In some embodiments, referring to Figure 3 and Figure 4 , the thigh bracket 23 includes a fifth bracket 231 and a sixth bracket 232; the sixth bracket 232 is installed at the bottom of the fifth bracket 231 in a detachable connection manner. The fourth bracket 222 is annular and is fixedly installed at the top of the fifth bracket 231 through the screw holes opened on the outer circle of the fourth bracket 222.

[0060] In some embodiments, referring to Figure 3 and Figure 4 , at least one or more of the first bracket 11, the second bracket 122, and the fifth bracket 231 adopt an integral structure design. This improves the overall structural rigidity and increases the structural strength, load-bearing capacity, impact resistance, and movement stability of the structural members.

[0061] The present invention discloses a humanoid robot's humanoid hip joint and humanoid thigh, which includes three drivers, namely the first driver 121, the second driver 211, and the third driver 221. The three drivers are distributed in series, and the three drivers are respectively arranged inside the first bracket 11, the second bracket 122, and the fifth bracket 231, without occupying external space. Similar to the human hip joint, the layout is compact, reducing the space occupied by the humanoid robot in the front-back direction and improving the space utilization rate of the humanoid robot.

[0062] In addition, the cooperation between the first bracket 11 designed according to the humanoid pelvis and the three drivers greatly improves the load-bearing capacity of the hip joint, while increasing the swing amplitude of the thigh and expanding the range of motion. In particular, the first driver 121 and the third driver 221 can achieve 360-degree rotation, and the second driver 211 supports 180-degree rotation, making the lower limb movement more flexible. At the same time, when the humanoid robot walks, the three drivers jointly drive the thigh movement, improving the load-bearing capacity of the hip joint and increasing the anthropomorphism of the thigh movement of the humanoid robot.

[0063] In addition, through reasonable bracket layout and driver configuration, the present invention enables the thigh of the humanoid robot to move more human-like during walking, while improving the load capacity of the hip joint and the movement stability of the lower limbs.

[0064] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Moreover, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions conflicts with each other or cannot be realized, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A humanoid robot imitating a human hip joint and thigh assembly, characterized in that: include: A hip joint assembly (1) comprises a first bracket (11) and a hip joint driving module (12) installed on the left and right sides of the first bracket (11); Two thigh components (2) are respectively mounted on two hip joint driving modules (12) to realize the forward and backward swinging of the two thigh components (2); each thigh component (2) comprises a rotation module (21), a torsion module (22) and a thigh support (23); the thigh support (23) is movably connected to one of the hip joint driving modules (12) via the rotation module (21) and the torsion module (22) to respectively realize the left and right rotation and torsion of the thigh support (23).

2. The humanoid robot humanoid hip joint and thigh assembly according to claim 1, characterized in that: The first bracket (11) is an integrated structure, comprising two thigh connecting parts (111), an upper limb connecting part (112) and an arc-shaped connecting plate (113); The two thigh connecting parts (111) are fixed obliquely on the arc-shaped connecting plate (113) in a V-shape, and the angles between the two thigh connecting parts (111) and the vertical plane are both 20° to 30°; the two hip joint driving modules (12) are respectively installed on the two thigh connecting parts (111); and the upper limb connecting part (112) is fixedly installed on the top of the arc-shaped connecting plate (113) and is used for connecting the upper limb trunk.

3. The humanoid robot humanoid hip joint and thigh assembly according to claim 1, characterized in that: The arc-shaped connecting plate (113) is provided with a plurality of weight-reducing holes.

4. The humanoid robot humanoid hip joint and thigh assembly according to claim 3, characterized in that: The hip joint driving module (12) comprises a first driver (121) and a second bracket (122); The stator of the first driver (121) is fixedly mounted obliquely on the left side or the right side of the first bracket (11); and the second bracket (122) is fixedly mounted on the rotor of the first driver (121).

5. The humanoid robot humanoid hip joint and thigh assembly according to claim 3, characterized in that: The two hip joint driving modules (12) are installed on the first bracket (11) in a symmetrical manner along the left-right direction.

6. The humanoid robot humanoid hip joint and thigh assembly according to claim 3, characterized in that: The rotation module (21) comprises a second driver (211) and a third bracket (212); the stator of the second driver (211) is fixedly mounted on the second bracket (122); the third bracket (212) is rotatably connected to the second bracket (122); and the rotor of the second driver (211) is fixedly connected to the third bracket (212).

7. The humanoid robot humanoid hip joint and thigh assembly according to claim 6, characterized in that: The rotation module (21) further comprises a cross roller bearing (213); the cross roller bearing (213) is installed between the second bracket (122) and the third bracket (212) to achieve a rotational connection between the second bracket (122) and the third bracket (212).

8. The humanoid robot humanoid hip joint and thigh assembly according to claim 6, characterized in that: The third bracket (212) comprises an L-shaped connecting portion (2121) and an I-shaped connecting portion (2122); the I-shaped connecting portion (2122) is installed on the rear end surface of the L-shaped connecting portion (2121) in a detachable connection manner.

9. The humanoid robot humanoid hip joint and thigh assembly according to claim 6, characterized in that: The torsion module (22) comprises a third driver (221) and a fourth bracket (222); The stator of the third driver (221) is fixedly mounted on the bottom of the fourth bracket (222) and is sleeved in a mounting hole reserved in the fifth bracket (231); the rotor of the third driver (221) is fixedly connected to the third bracket (212); and the fourth bracket (222) is fixedly mounted on the top of the fifth bracket (231).

10. The humanoid robot humanoid hip joint and thigh assembly according to any one of claims 1 to 9, characterized in that: The thigh support (23) comprises a fifth support (231) and a sixth support (232); the sixth support (232) is installed at the bottom of the fifth support (231) in a detachable connection manner.

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