Hip joint module, lower limb structure and robot

Abstract

The invention provides a hip joint module, a lower limb structure and a robot, and relates to the technical field of robots. The hip joint module comprises a hip joint body and a plurality of driving units. Each driving unit is connected with the hip joint body, at least one driving unit is further connected with a lower limb body, and the multiple driving units are used for controlling the lower limb body to correspondingly move in multiple directions. The invention can provide a stable hip joint module.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a hip joint module, a lower limb structure, and a robot. Background Technology

[0002] Currently, with the popularization of robots and the development of robot technology, humanoid robots have become a key aspect of robot development. Among these, the flexibility and stability of humanoid robots are receiving increasing attention. The hip joint is particularly important for the movement of humanoid robots, serving as the main joint supporting the upper body and lower limbs. Therefore, how to provide a stable hip joint module has become a problem that needs to be considered. Summary of the Invention

[0003] This application provides a hip joint module, a lower limb structure, and a robot, which can provide a stable hip joint module.

[0004] In a first aspect, a hip joint module is provided, the hip joint module including a hip joint body and a plurality of drive units. Each drive unit is connected to the hip joint body, and at least one drive unit is also connected to a lower limb body, the plurality of drive units being used to control the lower limb body to move in multiple directions.

[0005] In one possible implementation, the plurality of driving units includes a first driving unit and at least one second driving unit. The first driving unit is connected to the hip joint body, and the second driving unit is connected to both the hip joint body and the lower limb body. The first driving unit is used to drive the hip joint body to move in a first direction, thereby causing the lower limb body to move in the first direction. The at least one second driving unit is used to control the lower limb body to move at least in a second direction.

[0006] In one possible implementation, the first drive unit includes a first motor, each second drive unit includes a second motor, and the hip joint module further includes at least two clamping structures, which correspond one-to-one with the first motor and the second motor. The first motor is connected to the hip joint body through the corresponding clamping structure, and the second motor is connected to both the hip joint body and the lower limb body through the corresponding clamping structure.

[0007] In one possible implementation, the output axes of the first motor and each of the second motors extend in different directions to control the lower limb body to move at least along the first direction and the second direction, respectively.

[0008] In one possible implementation, the output axes of at least one of the first motor and each of the second motors do not intersect with the output axes of the other motors.

[0009] In one possible implementation, the lower limb body includes a first lower limb module and a second lower limb module. The at least one second drive unit includes two second drive units. A second motor in one second drive unit is connected to both the hip joint body and the first lower limb module via a corresponding clamping structure. A second motor in the other second drive unit is connected to both the hip joint body and the second lower limb module via a corresponding clamping structure. The first motor drives the hip joint body to move along a first direction, thereby causing the first and second lower limb modules to move along the first direction. One second motor drives the first lower limb module to move in a second direction, and the other second motor drives the second lower limb module to move in a third direction. The second direction and the third direction may be parallel or not parallel.

[0010] In one possible implementation, the output axes of the two second motors do not intersect with the output axis of the first motor.

[0011] In one possible implementation, the distance between the intersection point of the output axes of one of the second motors and the other second motor and the output axis of the first motor is less than a preset distance.

[0012] In one possible implementation, the clamp structure includes a clamp body and at least one connecting portion. The clamp body is used to surround and wrap around at least a portion of the outer peripheral surface of the corresponding first motor or second motor to secure the motor. The at least one connecting portion is disposed on the clamp body and is used for detachable connection with the hip joint body to detachably secure the motor to the hip joint body.

[0013] Secondly, a lower limb structure is also provided, comprising a lower limb body and a hip joint module. The hip joint module is used to control the lower limb body to move in multiple directions. The hip joint module includes a hip joint body and multiple drive units. Each drive unit is connected to the hip joint body, and at least one drive unit is also connected to the lower limb body. The multiple drive units are used to control the lower limb body to move in multiple directions.

[0014] Thirdly, a robot is also provided, comprising a robot body and a lower limb structure. The lower limb structure includes a lower limb body and a hip joint module. The hip joint module is used to control the movement of the lower limb structure in multiple directions.

[0015] The hip joint module, lower limb structure, and robot of this application, by configuring multiple drive units to cooperate with the hip joint body, can provide a stable hip joint module. Furthermore, by configuring at least one drive unit to be connected to the lower limb body, it can also control the lower limb body to move in multiple directions, thereby meeting the movement needs of the lower limb body. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0017] Figure 1 This is a schematic diagram from a first-view perspective of a hip joint module in some embodiments of this application.

[0018] Figure 2 This is a schematic diagram of a hip joint module from a second perspective in some embodiments of this application.

[0019] Figure 3 This is a schematic diagram from a third-person perspective of a hip joint module in some embodiments of this application.

[0020] Figure 4 This is a schematic diagram of the lower limb structure in some embodiments of this application.

[0021] Figure 5 This is a schematic diagram of the robot in some embodiments of this application.

[0022] Explanation of reference numerals in the attached drawings: 10, hip joint module; 100, hip joint body; 200, multiple drive units; 210, first drive unit; 211, first motor; 220, second drive unit; 221, second motor; 300, clamp structure; 310, clamp body; 320, connecting part; 20, lower limb body; 21, first lower limb module; 22, second lower limb module; 30, robot structure; 1, lower limb structure; 2, robot body; 3, robot. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] In the description of the embodiments of this application, it should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0026] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0027] Please see Figure 1 , Figure 1 This is a schematic diagram from a first-view perspective of a hip joint module in some embodiments of this application. For example... Figure 1 As shown, this application provides a hip joint module 10, which includes a hip joint body 100 and a plurality of drive units 200. Each drive unit is connected to the hip joint body 100, and at least one drive unit is also connected to a lower limb body 20. The plurality of drive units 200 are used to control the lower limb body 20 to move in multiple directions.

[0028] Therefore, the hip joint module 10 described above in this application, by configuring multiple drive units 200 to cooperate with the hip joint body 100, can provide a stable hip joint module 10, and by configuring at least one drive unit to be connected to the lower limb body 20, it can also control the lower limb body 20 to move in multiple directions to meet the movement needs of the lower limb body 20.

[0029] Please refer to the following: Figure 2 , Figure 2 This is a schematic diagram from a second perspective of the hip joint module in some embodiments of this application. For example... Figure 1 , Figure 2As shown, the plurality of drive units 200 include a first drive unit 210 and at least one second drive unit 220. The first drive unit 210 is connected to the hip joint body 100, and the second drive unit 220 is connected to both the hip joint body 100 and the lower limb body 20. The first drive unit 210 is used to drive the hip joint body 100 to move in a first direction, so as to drive the lower limb body 20 to move in the first direction. At least one second drive unit 220 is used to control the lower limb body 20 to move at least in a second direction.

[0030] Therefore, the hip joint module 10 described above in this application, by configuring the first drive unit 210 to be connected to the hip joint body 100, and the second drive unit 220 to be connected to both the hip joint body 100 and the lower limb body 20, can simultaneously drive the lower limb body 20 to move along the first direction and the second direction.

[0031] The first direction can be the direction that drives the lower limb body 20 to rotate, and the second direction can be the direction that drives the lower limb body 20 to move forward or backward.

[0032] like Figure 1 , Figure 2 As shown, the first drive unit 210 includes a first motor 211, each second drive unit 220 includes a second motor 221, and the hip joint module 10 also includes at least two clamping structures 300. The at least two clamping structures 300 correspond one-to-one with the first motor 211 and the second motor 221. The first motor 211 is connected to the hip joint body 100 through the corresponding clamping structure 300, and the second motor 221 is connected to both the hip joint body 100 and the lower limb body 20 through the corresponding clamping structure 300.

[0033] Therefore, the hip joint module 10 described above in this application, by configuring the first motor 211 or the second motor 221 to be connected to the corresponding robot structure 30 through the clamp structure 300, can reduce the space occupied by the drive part and facilitate the assembly and disassembly of the first motor 211 or the second motor 221. Please refer to the following: Figure 3 , Figure 3 This is a schematic diagram from a third-person perspective of the hip joint module in some embodiments of this application. For example... Figure 1 , Figure 2 , Figure 3 As shown, the output axes of the first motor 211 and each of the second motors 221 extend in different directions to control the lower limb body 20 to move at least along the first direction and the second direction, respectively.

[0034] Therefore, the hip joint module 10 described above in this application, by configuring the extension direction of the motor output axis, enables the lower limb body 20 to move at least along the first direction and the second direction.

[0035] In some embodiments, the output axes of at least one of the first motor 211 and each of the second motors 221 do not intersect with the output axes of the other motors.

[0036] Therefore, the hip joint module 10 described above in this application can provide a more stable hip joint module 10 by configuring the output axes of at least one of the first motor 211 and each of the second motors 221 to not intersect with the output axes of the other motors.

[0037] Furthermore, the lower limb body 20 includes a first lower limb module 21 and a second lower limb module 22. At least one second drive unit 220 includes two second drive units 220. The second motor 221 in one second drive unit 220 is connected to both the hip joint body 100 and the first lower limb module 21 via a corresponding clamping structure 300. The second motor 221 in the other second drive unit 220 is connected to both the hip joint body 100 and the second lower limb module 22 via a corresponding clamping structure 300. The first motor 211 drives the hip joint body 100 to move along a first direction, thereby causing the first lower limb module 21 and the second lower limb module 22 to move along the first direction. One second motor 221 drives the first lower limb module 21 to move in a second direction, and the other second motor 221 drives the second lower limb module 22 to move in a third direction. The second direction and the third direction may be parallel or not parallel.

[0038] Therefore, the hip joint module 10 described above in this application can achieve overall stability by having two second drive units 220 corresponding to two lower limb modules.

[0039] Specifically, one of the second motors 221 can be the second motor 221 corresponding to the first lower limb module 21, and the other second motor 221 can be the second motor 221 corresponding to the second limb module.

[0040] Furthermore, the output axes of the two second motors 221 do not intersect with the output axis of the first motor 211.

[0041] Therefore, the hip joint module 10 described above in this application, by configuring two second motors 221 that are relatively concave or convex, greatly improves the stability of the hip joint module 10, and enables the output axes of the two second motors 221 to not intersect with the output axis of the first motor 211, thereby making the second direction and the third direction non-parallel.

[0042] In some embodiments, the distance between the intersection point of the output axes of one second motor 221 and the output axis of the first motor 211 is less than a preset distance.

[0043] Therefore, the hip joint module 10 described above in this application, by configuring the distance between the intersection point of the output axes of one second motor 221 and the output axis of the other second motor 221 and the output axis of the first motor 211 to be less than a preset distance, can make the relative concave or convex angles of the two second motors 221 within a preset range, thereby achieving a better force-bearing effect.

[0044] Please refer to it again. Figure 3 .like Figure 1 , Figure 2 , Figure 3 As shown, the clamp structure 300 includes a clamp body 310 and at least one connecting portion 320. The clamp body 310 is used to surround and wrap around at least a portion of the outer peripheral surface of the corresponding first motor 211 or second motor 221 to fix the motor. At least one connecting portion 320 is disposed on the clamp body 310, and at least one connecting portion 320 is used to detachably connect to the hip joint body 100 to detachably fix the motor to the hip joint body 100.

[0045] Therefore, the hip joint module 10 described above in this application can fix the motor by surrounding and wrapping at least part of the outer peripheral surface of the corresponding first motor 211 or second motor 221 with the clamp body 310, thereby reducing the space occupied by the motor. Furthermore, by configuring at least one connecting part 320 on the clamp body 310 to be detachably connected to the hip joint body 100, the motor can be detachably fixed to the robot structure 30, which facilitates the assembly and disassembly of the motor.

[0046] In some embodiments, the clamp body 310 has an annular structure, and the inner circumferential surface of the clamp body 310 is adapted to at least a portion of the outer circumferential surface of the corresponding motor.

[0047] In some embodiments, the clamp body 310 includes a first housing and a second housing, which can be docked to form a ring structure to jointly surround and wrap at least a portion of the outer peripheral surface of the corresponding motor.

[0048] In some embodiments, at least one connection portion 320 is disposed on the first housing and / or the second housing.

[0049] In some embodiments, the first housing has two first connecting ends located at opposite ends of the first housing, and the second housing has two second connecting ends located at opposite ends of the second housing, wherein the two first connecting ends and the two second connecting ends are respectively connected to each other so that the first housing and the second housing are mated together.

[0050] Furthermore, one of the first connecting ends is rotatably fixedly connected to one of the corresponding second connecting ends, and the other first connecting end is detachably connected to the other second connecting end.

[0051] In some embodiments, the clamp body 310 is provided with a plurality of heat dissipation holes, and the outer peripheral surface of the corresponding motor has a protrusion and a recess. The plurality of heat dissipation holes are provided corresponding to the protrusion or recess of the corresponding motor, and the inner peripheral surface of the clamp body 310 is adapted to the recess or protrusion of the corresponding motor.

[0052] Furthermore, multiple heat dissipation holes are provided corresponding to the recesses of the motors, and the inner circumferential surface of the clamp body 310 has an adapter portion, which is adapted to the protrusion of the corresponding motor.

[0053] The hip joint module 10 of this application, through the above structure, can provide a stable hip joint module 10, greatly improve the acceptance of the hip joint module 10, and meet the movement needs of the lower limb body 20.

[0054] Please see Figure 4 , Figure 4 This is a schematic diagram of the lower limb structure in some embodiments of this application. For example... Figure 4 As shown, this application also provides a lower limb structure 1, which includes a lower limb body 20 and a hip joint module 10. The hip joint module 10 is used to control the lower limb body 20 to move in multiple directions.

[0055] Please refer to it again. Figure 1 .like Figure 1 As shown, the hip joint module 10 includes a hip joint body 100 and multiple drive units 200. Each drive unit is connected to the hip joint body 100, and at least one drive unit is also connected to a lower limb body 20. The multiple drive units 200 are used to control the lower limb body 20 to move in multiple directions.

[0056] For a more detailed description of the structure of the hip joint module 10, please refer to the relevant content of the hip joint module 10 in any of the foregoing embodiments, which will not be repeated here.

[0057] The hip joint module 10 and lower limb structure 1 of this application, through the above structure, can provide a stable hip joint module 10, greatly improve the acceptance of the hip joint module 10, and meet the movement needs of the lower limb body 20.

[0058] Please see Figure 5 , Figure 5 These are schematic diagrams of robots in some embodiments of this application. For example... Figure 5 As shown, this application also provides a robot 3, which includes a robot body 2 and a lower limb structure 1 as described in any of the foregoing embodiments.

[0059] Please refer to it again. Figure 4 .like Figure 4As shown, the lower limb structure 1 includes a lower limb body 20 and a hip joint module 10. The hip joint module 10 is used to control the movement of the lower limb structure 1 in multiple directions.

[0060] For a more detailed description of the lower limb structure 1, please refer to the relevant content of the lower limb structure 1 in any of the foregoing embodiments, which will not be repeated here.

[0061] The hip joint module 10, lower limb structure 1, and robot 3 of this application, through the above-mentioned structure, can provide a stable hip joint module 10, greatly improve the acceptance of the hip joint module 10, and meet the movement needs of the lower limb body 20.

[0062] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hip joint module, characterized in that, include: The main body of the hip joint; Multiple drive units are provided, each of which is connected to the hip joint body, and at least one drive unit is also connected to a lower limb body. The multiple drive units are used to control the lower limb body to move in multiple directions.

2. The hip joint module according to claim 1, characterized in that, The plurality of driving units include a first driving unit and at least one second driving unit. The first driving unit is connected to the hip joint body, and the second driving unit is connected to both the hip joint body and the lower limb body. The first driving unit is used to drive the hip joint body to move along a first direction, thereby causing the lower limb body to move along the first direction. The at least one second driving unit is used to control the lower limb body to move at least along a second direction.

3. The hip joint module according to claim 2, characterized in that, The first drive unit includes a first motor, each second drive unit includes a second motor, and the hip joint module also includes at least two clamping structures, which correspond one-to-one with the first motor and the second motor. The first motor is connected to the hip joint body through the corresponding clamping structure, and the second motor is connected to both the hip joint body and the lower limb body through the corresponding clamping structure.

4. The hip joint module according to claim 3, characterized in that, The output axes of the first motor and each of the second motors extend in different directions to control the lower limb body to move at least along the first direction and the second direction, respectively.

5. The hip joint module according to claim 4, characterized in that, The output axes of at least one of the first motors and each of the second motors do not intersect with the output axes of the other motors.

6. The hip joint module according to claim 3, characterized in that, The lower limb body includes a first lower limb module and a second lower limb module. The at least one second drive unit includes two second drive units. The second motor in one second drive unit is connected to both the hip joint body and the first lower limb module through a corresponding clamp structure. The second motor in the other second drive unit is connected to both the hip joint body and the second lower limb module through a corresponding clamp structure. The first motor is used to drive the hip joint body to move along the first direction, so as to drive the first lower limb module and the second lower limb module to move along the first direction. One second motor is used to drive the first lower limb module to move in the second direction, and the other second motor is used to drive the second lower limb module to move in the third direction. The second direction and the third direction are parallel or not parallel.

7. The hip joint module according to claim 6, characterized in that, The output axes of the two second motors do not intersect with the output axis of the first motor.

8. The hip joint module according to claim 7, characterized in that, The distance between the intersection point of the output axes of one of the second motors and the other second motor and the output axis of the first motor is less than a preset distance.

9. The hip joint module according to claim 3, characterized in that, The clamp structure includes a clamp body and at least one connecting part; The clamp body is used to surround and wrap around at least a portion of the outer peripheral surface of the corresponding first motor or second motor to fix the motor; The at least one connecting part is disposed on the clamp body, and the at least one connecting part is used to detachably connect to the hip joint body to detachably fix the motor to the hip joint body.

10. A lower limb structure, characterized in that, include: Lower limbs (main body); The hip joint module as described in any one of claims 1-9 is used to control the lower limb body to move in multiple directions.

11. A robot, characterized in that, include: Robot body; The lower limb structure as described in claim 10 is used to drive the movement of the robot body.

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