A vertically mounted robot hip structure and robot

Abstract

A vertically mounted robot hip structure and robot, relating to the field of robotics; the robot hip structure comprises: a hip joint frame, a waist main frame, a first motor, a second motor, and a third motor; the hip joint frame is rotatably mounted relatively below the waist main frame; the third motor is mounted relatively above the waist main frame; the upper seat is provided with an upper fixing opening extending along the X-axis at the relatively upper portion, and a lower receiving opening is provided relatively below the upper seat; the lower seat is rotatably mounted to the lower receiving opening about the X-axis; the first motor is mounted to the upper fixing opening, the first motor is used to drive the upper rotating member to rotate about the X-axis, and drives the lower rotating member to rotate through a connecting rod; the second motor is mounted to the lower fixing opening, the second motor is used to drive the leg connecting block to rotate about the Y-axis; the output end of the third motor is connected to the upper seat, and is used to drive the upper seat to rotate about the Z-axis. This solution solves the problem that the motor connection structure from the robot's hip to the thigh in the X, Y, and Z axes is complex, occupies a lot of space, and affects movement and aesthetics.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a longitudinally mounted robot hip structure and a robot. Background Art

[0002] Traditional humanoid robots feature rear-mounted motors, a design feature that primarily concentrates the core power unit in the rear hip area. This layout requires ample space for the motor, reducer, and transmission mechanism, significantly expanding the rear of the robot's torso, creating a "backpack-like" bulge. Specifically, the rear-mounted motor increases the longitudinal depth of the hip area, shifting the robot's overall center of gravity backward, potentially affecting the compensation efficiency of the balance control algorithm during dynamic motion. Furthermore, the accumulation of mechanical components at the rear limits the range of motion of the hip joint, reducing lower limb flexibility and gait coordination. This makes mechanical interference more likely, particularly during complex movements like squats and hurdling over obstacles. Summary of the Invention

[0003] The purpose of the present invention is to propose a longitudinal robot hip structure, which distributes the first motor, the second motor and the third motor in a longitudinal arrangement to realize power transmission from the hip to the thigh of the humanoid robot, saving hip space.

[0004] The present invention also provides a robot, which uses the above-mentioned longitudinally placed robot hip structure.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A vertically mounted robot hip structure comprises: a hip joint frame, a waist main frame, a first motor, a second motor and a third motor;

[0007] At least two of the hip joint frames are rotatably mounted on the relatively lower sides of the waist main frame; the third motor is mounted on the relatively upper side of the waist main frame;

[0008] The hip joint frame includes: an upper seat, a lower seat, a pull rod assembly and a leg connecting block;

[0009] The upper seat is provided with an upper fixing opening extending along the X-axis direction at a relatively upper portion, and a lower receiving opening is provided at a relatively lower portion of the upper seat; the lower seat is rotatably mounted on the lower receiving opening around the X-axis; the lower seat is provided with a lower fixing opening;

[0010] The pull rod assembly includes: an upper rotating member, a lower rotating member and a connecting rod;

[0011] The upper rotating member is located relatively rearward of the upper fixing port; the lower rotating member is connected to the lower seat, the upper end of the connecting rod is connected to the upper rotating member, and the lower end of the connecting rod is connected to the lower rotating member;

[0012] The first motor is installed at the upper fixed port, and the output end of the first motor is connected to the upper rotating member, for driving the upper rotating member to rotate around the X-axis, and driving the lower rotating member to rotate through the connecting rod; the second motor is installed at the lower fixed port, and the output end of the second motor is connected to the leg connecting block, for driving the leg connecting block to rotate around the Y-axis; the output end of the third motor is connected to the upper seat, for driving the upper seat to rotate around the Z-axis.

[0013] Optimally, the upper rotating member and the lower rotating member are connected via a pair of connecting rods, wherein one of the connecting rods is close to the relatively left side of the upper seat, and the other connecting rod is close to the relatively right side of the upper seat.

[0014] Preferably, the upper rotating member is provided with convex surfaces respectively toward the left and right sides of the upper seat, and the upper end of the connecting rod is connected to the convex surfaces;

[0015] The lower rotating member is provided with a first driving end at one end facing the middle of the waist main frame, and a second driving end at one end away from the middle of the waist main frame; the lower end of one of the connecting rods is connected to the first driving end, and the lower end of the other connecting rod is connected to the second driving end;

[0016] When the hip joint frame is in an upright state, the convex surface close to the middle part of the waist main frame faces obliquely upward, and the convex surface away from the middle part of the waist main frame faces obliquely downward, and the first driving end is higher than the second driving end; the upper rotating part drives the lower rotating part to rotate around the X-axis through the connecting rod.

[0017] Optimally, the connecting rod and the upper seat are spaced apart to form an adjustment gap.

[0018] Optimally, the connecting rods are respectively located on the left and right sides of the upper seat, and when one of the connecting rods moves to abut against the relatively left side or the relatively right side of the upper seat, the lower rotating member is restricted from continuing to rotate.

[0019] Optimally, the upper rotating member is provided with a matching circular hole, and the matching circular hole is used to be sleeved on the outer periphery of the output end of the first motor.

[0020] Optimally, the upper rotating member and / or the lower rotating member are provided with fixing holes;

[0021] The fixing hole of the upper rotating member is used to receive a fastener, and is fixed to the output end of the first motor by the fastener;

[0022] The fixing hole of the lower rotating member is used for inserting a fastener and is fixed to the lower seat by the fastener.

[0023] Optimally, the lower seat is provided with a plurality of pairs of seat holes along the length direction; one of the seat holes in each pair of seat holes is located at the relatively rear side, and the other seat hole is located at the relatively front side, and the seat holes on the front and rear sides are aligned in a straight line; the lower seat is rotatably connected to the lower accommodating port through any pair of the seat holes.

[0024] Optimally, the upper seat includes: a seat body and an end plate;

[0025] The seat body is provided with an L-shaped groove and the upper fixing opening; the end plate is installed in the L-shaped groove; the vertical side wall of the L-shaped groove is spaced apart from the end plate, and the lower accommodating opening is formed between the two.

[0026] A robot is provided with a robot thigh and the above-mentioned longitudinally mounted robot hip structure; the robot thigh is mounted on the leg connecting block.

[0027] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0028] This solution provides a longitudinally mounted robot hip structure, which distributes the first motor, the second motor, and the third motor in a longitudinal arrangement, thereby realizing power transmission from the hip to the thigh of the humanoid robot and saving hip space. At the same time, the transmission between the motors is arranged step by step in a top-down order, making operation and control debugging more intuitive and convenient. The motors can be pre-assembled independently and then connected to other parts of the humanoid robot. It has the advantages of simplified structure, quick assembly, and high production efficiency, and solves the problem that the motor connection structure from the robot's hip to the thigh in the X, Y, and Z axes is complex, occupies a lot of space, and affects movement and aesthetics. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of one embodiment of a robot hip structure;

[0030] Figure 2 It is a structural schematic diagram of one embodiment of a hip joint frame;

[0031] Figure 3 This is a schematic structural diagram of one embodiment of a hip joint frame when a motor is installed;

[0032] Figure 4 It is a structural schematic diagram of one embodiment of a hip joint frame;

[0033] Figure 5 This is a structural diagram of one embodiment of a hip joint frame when a motor is installed.

[0034] in:

[0035] Upper seat 1, lower seat 2, pull rod assembly 3;

[0036] Seat body 11, end plate 12; upper fixing opening 111, lower receiving opening 112; L-shaped groove 113;

[0037] Lower fixing port 21; upper rotating member 31, lower rotating member 32, connecting rod 33;

[0038] Convex surface 311; matching circular hole 312; fixing hole 313; adjustment gap 331; seat hole 321;

[0039] Hip joint frame 01, waist main frame 02, first motor 03, second motor 04, third motor 05; leg connecting block 06; first driving end 021, second driving end 022. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "inner end", "outer end", "axial", "radial", "circumferential", "X-axis", "Y-axis", "Z-axis", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are 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 cannot be understood as limiting the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and are used to distinguish the features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "multiple" means more than two.

[0042] like Figure 1-5 A vertically mounted robot hip structure includes: a hip joint frame 01, a waist main frame 02, a first motor 03, a second motor 04 and a third motor 05;

[0043] At least two of the hip joint frames 01 are rotatably mounted on the lower sides of the waist main frame 02; the third motor 05 is mounted on the upper side of the waist main frame 02;

[0044] The hip joint frame 01 includes: an upper seat 1, a lower seat 2, a pull rod assembly 3 and a leg connecting block 06;

[0045] The upper seat 1 is provided with an upper fixing opening 111 extending along the X-axis direction at a relatively upper portion, and a lower receiving opening 112 is provided at a relatively lower portion of the upper seat 1; the lower seat 2 is rotatably mounted on the lower receiving opening 112 around the X-axis; the lower seat 2 is provided with a lower fixing opening 21;

[0046] The pull rod assembly 3 includes an upper rotating member 31, a lower rotating member 32 and a connecting rod 33;

[0047] The upper rotating member 31 is located relatively rearward of the upper fixing opening 111; the lower rotating member 32 is connected to the lower seat 2, the upper end of the connecting rod 33 is connected to the upper rotating member 31, and the lower end of the connecting rod 33 is connected to the lower rotating member 32;

[0048] The first motor 03 is installed on the upper fixed port 111, and the output end of the first motor 03 is connected to the upper rotating member 31, for driving the upper rotating member 31 to rotate around the X-axis, and driving the lower rotating member 32 to rotate through the connecting rod 33; the second motor 04 is installed on the lower fixed port 21, and the output end of the second motor 04 is connected to the leg connecting block 06, for driving the leg connecting block 06 to rotate around the Y-axis; the output end of the third motor 05 is connected to the upper seat 1, for driving the upper seat 1 to rotate around the Z-axis.

[0049] This solution provides a longitudinally mounted robot hip structure, which distributes the first motor 03, the second motor 04 and the third motor 05 in a longitudinal arrangement, thereby realizing power transmission from the hip to the thigh of the humanoid robot and saving hip space. At the same time, the transmission between the motors is arranged step by step in a top-down order, making operation and control debugging more intuitive and convenient. The motors can be pre-assembled independently and then connected to other parts of the humanoid robot. It has the advantages of simplified structure, quick assembly and high production efficiency, and solves the problem that the motor connection structure from the robot's hip to the thigh in the X, Y and Z axes is complex, occupies more space and affects movement and aesthetics.

[0050] Specifically, the waist main frame 02 is the waist body of the robot, which can be installed with a pair of hip joint frames 01, and a corresponding third motor 05 is installed on the hip joint frame 01. The third motor 05 is located above the waist main frame 02, and the hip joint frame 01 is installed below the waist main frame 02. The output end of the third motor 05 is connected to the hip joint frame 01, which is used to drive the hip joint frame 01 to rotate around the Z axis; the hip joint frame 01 is provided with an upper seat 1, a lower seat 2, a pull rod assembly 3 and a leg connecting block 06; the upper seat 1 is provided with an upper fixing port 111 for installing the first motor 03, and a lower accommodating port 112 for installing the lower seat 2, and the lower fixing port 21 of the lower seat 2 is used to install the second motor 04; the upper seat 1 drives the lower seat 2 to rotate through the pull rod assembly 3, driving The second motor 04 of the lower seat 2 rotates; the upper rotating part 31 is located at the relative rear of the upper fixed port 111, and the upper rotating part 31 is used to connect the output end of the first motor 03; the lower rotating part 32 is connected to the lower seat 2 of the lower accommodating port 112; the connecting rod 33 connects the upper rotating part 31 with the lower rotating part 32; since the upper fixed port 111 is facing the X-axis, the lower seat 2 rotates around the X-axis when it rotates, and the lower fixed port 21 is facing the Y-axis when it is horizontally oriented, and the X-axis is perpendicular to the Y-axis; when the output end of the first motor 03 rotates, it drives the upper end of the connecting rod 33 to rotate, and the connecting rod 33 drives the lower rotating part 32 at the lower end to rotate, thereby driving the lower seat 2 to rotate, and driving the second motor 04 of the lower seat 2 to rotate around the X-axis; the output end of the second motor 04 can drive other joints to rotate around the Y-axis. Thus, the hip joint frame 01 of this solution can simultaneously accommodate a first motor 03 oriented toward the X-axis, a second motor 04 oriented toward the Y-axis, and a third motor 05 oriented toward the Z-axis. The first motor 03 controls the angle of the second motor 04 through the vertical drive action of the tie rod assembly 3. The output end of the second motor 04 is connected to the leg connection block 06, which is used to drive the leg connection block 06 to rotate around the Y-axis; the leg connection block 06 is used to connect to the robot's legs, that is, the legs can rotate around the Y-axis.

[0051] In this way, the third motor 05, the first motor 03, and the second motor 04 are arranged in a top-down order. The connection between the motors does not have too many horizontal transition structures, which saves space for the humanoid hips. The transmission between the motors will not interfere with the position of the humanoid hips, thereby expanding the range of motion of the legs. For example, the third motor 05 can directly drive one of the hip joint frames 01 to move independently, and the relative movement between the hip joint frames 01 and the hip joint frames 01 is not interfered with. For another example, when the second motor 04 drives the leg connecting block 06 to rotate forward around the Y axis, due to the lack of hip space, the leg connecting block 06 can rotate relative to more than 90°, thereby putting the robot in a bent state, and the bending range is larger. As for the first motor 03, the output end of the first motor 03 is connected to the upper rotating member 31 at the relative rear, and the upper rotating member 31 and the lower rotating member 32 are connected by a connecting rod 33. Since the horizontal space occupied by the connecting rod 33 is limited and the connecting rod 33 is located at the relative rear, the transmission of the pull rod assembly 3 will not interfere with the forward movement of the robot's joints. In this way, this solution solves the problem that the motor connection structure from the robot's hip to the thigh in the X, Y and Z axes is complex, occupies a lot of space and affects movement and aesthetics.

[0052] Optimally, the upper rotating member 31 and the lower rotating member 32 are connected by a pair of connecting rods 33 , wherein one of the connecting rods 33 is close to the relative left side of the upper seat 1 , and the other connecting rod 33 is close to the relative right side of the upper seat 1 .

[0053] This solution preferably uses two connecting rods 33 to provide transmission for the upper rotating part 31 and the lower rotating part 32. The connecting rods 33 are respectively located on the relatively left and relatively right sides of the upper rotating part 31. When the upper rotating part 31 rotates, the two connecting rods 33 can be driven to move up and down at the same time. When the upper rotating part 31 rotates clockwise or counterclockwise, one of the two connecting rods 33 can rise relatively and the other can fall relatively, thereby providing a balance for the transmission action between the upper rotating part 31 and the lower rotating part 32, ensuring the stability of the adjustment of the hip joint frame 01.

[0054] Optimally, the upper rotating member 31 is provided with convex surfaces 311 respectively toward the left and right sides of the upper seat 1 , and the upper end of the connecting rod 33 is connected to the convex surfaces 311 ;

[0055] The lower rotating member 32 is provided with a first driving end 021 at one end facing the middle of the waist main frame 02, and a second driving end 022 at one end away from the middle of the waist main frame 02; the lower end of one of the connecting rods 33 is connected to the first driving end 021, and the lower end of the other connecting rod 33 is connected to the second driving end 022;

[0056] When the hip joint frame 01 is in an upright state, the convex surface 311 close to the middle of the waist main frame 02 faces obliquely upward, and the convex surface 311 away from the middle of the waist main frame 02 faces obliquely downward, and the first driving end 021 is higher than the second driving end 022; the upper rotating part 31 drives the lower rotating part 32 to rotate around the X-axis through the connecting rod 33.

[0057] This solution preferably designs the structure of the robot's hip structure in an upright state; specifically, when the upper rotating part 31 is in an upright state, the convex surfaces 311 on both sides thereof are oriented at different angles, one of the convex surfaces 311 close to the middle of the waist main frame 02 is oriented obliquely upward, and the other convex surface 311 away from the middle of the waist main frame 02 is oriented obliquely downward; in this way, when the connecting rod 33 of the same length connects the convex surface 311 and the first driving end 021 (the second driving end 022), the connecting rod 33 on the side of the second driving end 022 is relatively lower in height than the connecting rod 33 on the side of the first driving end 021; in this way, in terms of transmission, the connecting rod 33 on the side of the second driving end 022 has more space for upward movement, that is, the legs of the two adjacent hip joint frames 01 are connected. The angle of the connecting block 06 when it moves backward is larger; and the upward movement space of the connecting rod 33 located on the side of the first driving end 021 is smaller, which can avoid collision when the legs of the leg connecting block 06 move toward each other, or avoid excessive inward movement and affecting the force balance of the soles of the feet; especially when the upper rotating part 31 rotates clockwise and counterclockwise, the connecting rod 33 moves to lean against the other connecting rod 33, and there is a steric resistance between the connecting rods 33 and the connecting rods 33, so that the upper rotating part 31 has a moving end point for the connecting rod 33 in the clockwise and counterclockwise directions, thereby limiting excessive movement of the connecting rod 33, thereby limiting the angle of the lower rotating part 32 and its lower seat 2, so as to limit the rotation angle of the second motor 04, thereby avoiding excessive movement of the leg connecting block 06 and keeping the legs corresponding to the two leg connecting blocks 06 balanced.

[0058] In one embodiment, the connecting rod 33 may not be in the same plane as the left and right side surfaces of the upper seat 1, that is, the connecting rod 33 may move without contacting the left and right side surfaces of the upper seat 1. When the connecting rods 33 at the left and right positions are against or close to each other, the rotation of the lower rotating member 32 can be positioned.

[0059] In another embodiment, the connecting rod 33 is spaced apart from the upper seat 1 to form an adjustment gap 331 .

[0060] The convex surface 311 protrudes relatively from the left and right sides of the upper rotating member 31, so that the connection position of the connecting rod 33 can be closer to the left and right sides of the upper seat 1, and the horizontal position of the connecting rod 33 is away from the center of the upper seat 1, so that an adjustment gap 331 is formed between the connecting rod 33 and the upper seat 1. There is more space for adjusting the connecting rod 33 in the horizontal direction, thereby increasing the range of motion of the lower rotating member 32 to improve the range of motion of the lower seat 2.

[0061] Optimally, the connecting rods 33 are respectively located on the left and right sides of the upper seat 1 , and when one of the connecting rods 33 moves to abut against the relatively left or right side of the upper seat 1 , the lower rotating member 32 is restricted from further rotation.

[0062] In this embodiment, one of the connecting rods 33 can be driven to abut against the left or right side of the upper base 1. This position positions the connecting rod 33, thus serving as the endpoint of its movement. The lower rotating member 32 has endpoints for both clockwise and counterclockwise rotation. The lower rotating member 32 is limited to a specific angular range, thereby preventing excessive movement of the leg connecting blocks 06 and maintaining balance between the legs corresponding to the two leg connecting blocks 06. In this embodiment, due to the large contact area between the connecting rod 33 and the left and right sides of the upper base 1, the rotation angle of the lower rotating member 32 is highly controllable, and the angle of the robot hip structure on the X-axis remains within a stable angular range, thereby improving stability.

[0063] Optimally, the upper rotating member 31 is provided with a matching circular hole 312 , and the matching circular hole 312 is used to be sleeved on the outer periphery of the output end of the first motor 03 .

[0064] The upper rotating member 31 of the present embodiment is preferably provided with a matching circular hole 312, which can be sleeved on the output end of the first motor 03. When any position of the upper rotating member 31 is fixed to the output end of the first motor 03, the matching circular hole 312 surrounds the outer edge of the output end of the first motor 03. The matching circular hole 312 of the upper rotating member 31 and the center of the output end of the first motor 03 overlap, so that the upper rotating member 31 can rotate around the center of the matching circular hole 312. The matching circular hole 312 can improve the rotation stability and smoothness of the upper rotating member 31, and can also improve the connection stability between the upper rotating member 31 and the first motor 03.

[0065] Optimally, the upper rotating member 31 and / or the lower rotating member 32 are provided with a fixing hole 313;

[0066] The fixing hole 313 of the upper rotating member 31 is used to receive a fastener, and is fixed to the output end of the first motor 03 by the fastener;

[0067] The fixing hole 313 of the lower rotating member 32 is used to receive a fastener and is fixed to the lower seat 2 by the fastener.

[0068] After the fastener is installed in the fixing hole 313, it can be connected to the output end of the first motor 03, thereby connecting the upper rotating part 31 to the output end of the first motor 03, and connecting the lower rotating part 32 to the lower seat 2; the hip joint frame 01 of this scheme has the advantage of quick motor assembly, and the pull rod assembly 3 is a modular installation structure. After the pull rod assembly 3 is assembled, it is respectively fixed to the output end of the first motor 03 and the lower seat 2 by fasteners.

[0069] Fasteners are a type of mechanical parts commonly known as fastening components used for fastening connections and are widely used. Examples include bolts, studs, screws, nuts, washers, pins, and the like.

[0070] The positions and distribution of the fixing holes 313 can be determined as needed. In some embodiments, a plurality of the fixing holes 313 are distributed around the periphery.

[0071] The fixing holes 313 are preferably distributed in a circumferential manner, for example, distributed in a circumferential manner around the outer circumference of the matching circular hole 312; multiple fixing holes 313 can be installed with more fasteners, thereby increasing the fixing stability of the pull rod assembly 3 to the first motor 03 and the lower seat 2.

[0072] Optimally, the lower seat 2 is provided with multiple pairs of seat holes 321 along the length direction; one of the seat holes 321 in each pair of seat holes 321 is located at the relative rear side, and the other seat hole 321 is located at the relative front side, and the seat holes 321 on the front and rear sides are aligned in a straight line; the lower seat 2 is rotatably connected to the lower accommodating port 112 through any pair of seat holes 321.

[0073] Multiple seat holes 321 are arranged along the length direction of the lower seat 2 and are respectively located at the relative front and relative rear of the lower seat 2, forming multiple pairs of seat holes 321; when installing the lower seat 2, one pair of linearly aligned seat holes 321 can be selected as needed to be connected to the lower seat 2; in this way, since the seat holes 321 are arranged along the length direction of the lower seat 2, selecting one pair of seat holes 321 for connection will make the lower seat 2 closer to or farther away from the relative left side (or right side) at one end of the length, so that the horizontal position of the second motor 04 of the lower seat 2 is adjustable, thereby improving the installation flexibility of the second motor 04 to adapt to the complex joint structure of the robot.

[0074] In some embodiments, the upper seat 1 can be designed as an integrated structure as needed; in a preferred embodiment, a split assembly structure can be used; the upper seat 1 includes: a seat body 11 and an end plate 12;

[0075] The seat body 11 is provided with an L-shaped groove 113 and the upper fixing opening 111 ; the end plate 12 is installed in the L-shaped groove 113 ; the vertical side wall of the L-shaped groove 113 is spaced apart from the end plate 12 , and the lower receiving opening 112 is formed therebetween.

[0076] The upper seat 1 of this embodiment can be primarily composed of a seat body 11 and an end plate 12. The seat body 11 is the primary portion of the upper seat 1 and is provided with an L-shaped groove 113 and an upper fixing opening 111. The L-shaped groove 113 is a partial structure of the lower accommodating opening 112. When the end plate 12 is installed in the L-shaped groove 113, the vertical sidewalls of the L-shaped groove 113 and the end plate 12 form a complete lower accommodating opening 112. Thus, during installation of the upper seat 1, the assembly sequence can be selected as needed, for example, first installing the lower seat 2 and its second motor 04, and then assembling the end plate 12. This improves the installation flexibility of the hip joint frame 01.

[0077] A robot is provided with a robot thigh and the above-mentioned longitudinal robot hip structure; the robot thigh is installed on the leg connecting block 06.

[0078] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A vertically mounted robot hip structure, characterized in that: include: Hip joint frame, waist main frame, first motor, second motor and third motor; At least two of the hip joint frames are rotatably mounted on the relatively lower sides of the waist main frame; The third motor is installed relatively above the waist main frame; The hip joint frame includes: an upper seat, a lower seat, a pull rod assembly and a leg connecting block; The upper seat is provided with an upper fixing opening extending along the X-axis direction at a relatively upper portion, and a lower receiving opening is provided at a relatively lower portion of the upper seat; the lower seat is rotatably mounted on the lower receiving opening around the X-axis; the lower seat is provided with a lower fixing opening; The pull rod assembly includes: an upper rotating member, a lower rotating member and a connecting rod; The upper rotating member is located relatively rearward of the upper fixing port; the lower rotating member is connected to the lower seat, the upper end of the connecting rod is connected to the upper rotating member, and the lower end of the connecting rod is connected to the lower rotating member; The first motor is installed at the upper fixed port, and the output end of the first motor is connected to the upper rotating member, for driving the upper rotating member to rotate around the X-axis, and driving the lower rotating member to rotate through the connecting rod; the second motor is installed at the lower fixed port, and the output end of the second motor is connected to the leg connecting block, for driving the leg connecting block to rotate around the Y-axis; the output end of the third motor is connected to the upper seat, for driving the upper seat to rotate around the Z-axis.

2. The vertically mounted robot hip structure according to claim 1, characterized in that: The upper rotating member and the lower rotating member are connected via a pair of connecting rods, wherein one of the connecting rods is close to the relatively left side of the upper seat, and the other connecting rod is close to the relatively right side of the upper seat.

3. The vertically mounted robot hip structure according to claim 2, characterized in that: The upper rotating member is provided with convex surfaces respectively toward the left and right sides of the upper seat, and the upper end of the connecting rod is connected to the convex surfaces; The lower rotating member is provided with a first driving end at one end facing the middle of the waist main frame, and a second driving end at one end away from the middle of the waist main frame; the lower end of one of the connecting rods is connected to the first driving end, and the lower end of the other connecting rod is connected to the second driving end; When the hip joint frame is in an upright state, the convex surface close to the middle part of the waist main frame faces obliquely upward, and the convex surface away from the middle part of the waist main frame faces obliquely downward, and the first driving end is higher than the second driving end; the upper rotating part drives the lower rotating part to rotate around the X-axis through the connecting rod.

4. The vertically mounted robot hip structure according to claim 3, characterized in that: The connecting rod and the upper seat are spaced apart to form an adjustment gap.

5. The vertically mounted robot hip structure according to any one of claims 1 to 4, characterized in that: The connecting rods are respectively located on the left and right sides of the upper seat. When one of the connecting rods moves to abut against the relatively left side or the relatively right side of the upper seat, the lower rotating member is restricted from continuing to rotate.

6. The vertically mounted robot hip structure according to claim 1, characterized in that: The upper rotating member is provided with a matching circular hole, and the matching circular hole is used to be sleeved on the outer periphery of the output end of the first motor.

7. The vertically mounted robot hip structure according to claim 1, characterized in that: The upper rotating member and / or the lower rotating member are provided with fixing holes; The fixing hole of the upper rotating member is used to receive a fastener, and is fixed to the output end of the first motor by the fastener; The fixing hole of the lower rotating member is used for inserting a fastener and is fixed to the lower seat by the fastener.

8. The vertically mounted robot hip structure according to claim 1, characterized in that: The lower seat is provided with multiple pairs of seat holes along the length direction; one of the seat holes in each pair of seat holes is located at the relatively rear side, and the other seat hole is located at the relatively front side, and the seat holes on the front and rear sides are aligned in a straight line; the lower seat is rotatably connected to the lower accommodating port through any pair of the seat holes.

9. The vertically mounted robot hip structure according to claim 1 or 8, characterized in that: The upper seat comprises: a seat body and an end plate; The seat body is provided with an L-shaped groove and the upper fixing opening; the end plate is installed in the L-shaped groove; the vertical side wall of the L-shaped groove is spaced apart from the end plate, and the lower accommodating opening is formed between the two.

10. A robot, characterized in that: A robot thigh and a longitudinally mounted robot hip structure according to any one of claims 1 to 9 are provided; the robot thigh is mounted on the leg connecting block.

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