Hip joint structure for humanoid robot and humanoid robot

Abstract

The present application relates to the technical field of humanoid robots, and especially relates to a hip joint structure for a humanoid robot and the humanoid robot. The hip joint structure for the humanoid robot comprises: a hip frame body having a first movement joint, an included angle between a rotation axis of the first movement joint and a horizontal line in a first plane is theta, and an included angle between the rotation axis and a vertical line in the first plane is 90 degrees-theta; one end of a first output assembly is connected with the first movement joint, and the other end has a second movement joint, a rotation axis of the second movement joint extends along a horizontal direction and is perpendicular to the first plane; one end of a second output assembly is connected with the second movement joint, and the other end has a third movement joint, a rotation axis of the third movement joint is formed as a third axis, and the third axis is perpendicular to a second axis; one end of a third output assembly is connected with the third movement joint. The structure of the present application is more convergent, round and compact as a whole, reduces a translation component in a movement process, makes a gait more natural and beautiful, and realizes a better bionic modeling.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a hip joint structure for a humanoid robot and a humanoid robot. Background Technology

[0002] The hip joint of a humanoid robot is the core hub connecting the torso and lower limbs, mainly containing three key degrees of freedom: Hip Pitch (responsible for stepping), Hip Roll (responsible for balance), and Hip Yaw (responsible for turning).

[0003] Current hip joint arrangements are mainly divided into the following two categories: The first type is the Roll-Yaw-Pitch (RYP) configuration, which was widely used in early humanoid robots and has a rich reserve of kinematic adjustment examples. The Roll is positioned at the root closest to the torso, resulting in rapid lateral balance adjustment and outstanding stability when standing upright. The disadvantages are that the self-interference between the torso and thigh shell is prominent when the Roll tilts and abducts at a large angle, the overall envelope size of the three-axis rotation is larger, the hip structure is bulky, the anthropomorphic shell design is more difficult, and the bionic appearance has poor naturalness.

[0004] The second type is the Pitch-Roll-Yaw configuration (PRY configuration). In this configuration, the Pitch joint is located at the innermost root, resulting in faster stepping response and better dynamic performance for high-speed walking and running. The Roll joint is located in the middle layer, taking into account the ability to adjust lateral opening and closing. The outermost Yaw joint can realize independent twisting and turning of the thigh, effectively alleviating the shell interference problem when tilting at a large angle. The overall hip structure is more compact, which is conducive to creating a slender humanoid shape. Currently, the Pitch joint angle is often arranged horizontally and coaxially with the Roll joint, which requires the Roll joint to be further expanded outward, increasing the distance between the hips. This often results in the root of the thigh being too thick, affecting the compactness of the robot and may also limit its mobility during movement. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a hip joint structure for a humanoid robot and a humanoid robot, so as to solve the problem that in the existing humanoid robot, the Pitch joint is arranged in a horizontal position and crosses the Roll joint coaxially, which leads to the need for further expansion of the Roll joint, increases the distance between the hips, makes the upper thigh too thick, affects the compactness of the humanoid robot, and may even limit its mobility.

[0006] A first aspect of the present invention provides a hip joint structure for a humanoid robot, comprising: The hip frame is provided with a first motion joint. The rotation axis of the first motion joint is formed as a first axis located in a first plane. The first axis is inclined such that the angle between the first axis and the horizontal line in the first plane is θ, and the angle between the first axis and the vertical line in the first plane is 90°-θ. The first output component has one end connected to the first motion joint and the other end provided with a second motion joint. The rotation axis of the second motion joint is formed as a second axis, which extends horizontally and is perpendicular to the first plane. The second output component has one end connected to the second motion joint and the other end provided with a third motion joint. The rotation axis of the third motion joint is formed as a third axis, which is perpendicular to the second axis. The third output component is connected at one end to the third motion joint and at the other end to the knee joint.

[0007] Preferably, T1 2 +T2 2 =T4 2 T2≤T3×cosθ,T3≥M1×g×L2,T4≥M×g×L1; Wherein, T1 is the output torque required by the first joint when the leg is raised; T3 is the output torque required by the second joint when the leg is raised; T2 is the maximum output torque that the second joint can provide under rated torque when the leg is raised; T4 is the resultant torque of T1 and T2; M is the weight of the first joint when the leg is raised; M1 is the weight of the second joint when the leg is raised; L1 is the vertical distance between the intersection point A of the line extending vertically and passing through the second axis and the first axis and the position of the first center of mass of the first joint when the leg is raised; L2 is the vertical distance between the second axis and the position of the second center of mass of the second joint when the leg is raised.

[0008] Preferably, T1=N and T3=N1, where N is the rated torque output by the first moving joint and N1 is the rated torque output by the second moving joint; θ is obtained based on the rated torque N output by the first moving joint and the rated torque N1 output by the second moving joint, and N / cosθ=N1×tan(90°-θ).

[0009] Preferably, T1=N, where N is the rated torque output by the first moving joint; first, based on N... 2 +T2 2 =(M×g×L1) 2 T2 is obtained, and then T3 is obtained according to T2≤T3×cosθ, where T3≤the rated torque N1 output by the second motion joint.

[0010] Preferably, T3 = N1, where N1 is the rated torque output by the second moving joint; according to T1 2 +(N1×cosθ) 2 =(M×g×L1) 2 T1 is obtained, where T1 ≤ the rated torque N output by the first motion joint.

[0011] Preferably, when the humanoid robot stands upright, the third axis extends in the vertical direction, and the second axis extends in the front-back direction of the humanoid robot, so that the second motion joint can drive the second output component to rotate inward to the first limit position or outward to the second limit position around the second axis.

[0012] Preferably, the angle between the third axis when the second output component is in the first extreme position and the third axis when the humanoid robot's legs are straight is 55°; The angle between the third axis when the second output component is in the second extreme position and the third axis when the humanoid robot's legs are straight is 114°.

[0013] Preferably, the hip frame is provided with two first motion joints, and the first axes of the two first motion joints are arranged in a mirror-symmetrical inclined manner; The first output component, the second output component, and the third output component form a thigh component. The thigh component is provided in two sets, and the first output component in each set of the thigh component is connected to the two first motion joints respectively.

[0014] Preferably, the humanoid robot is driven by the first motion joint to perform pitching oscillation; the humanoid robot is driven by the second motion joint to perform rolling oscillation; and the humanoid robot is driven by the third motion joint to perform yaw oscillation. A second aspect of the present invention provides a humanoid robot, including the hip joint structure for a humanoid robot described in any of the above technical solutions.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention discloses a hip joint structure for a humanoid robot, comprising a first motion joint on a hip frame, wherein the rotation axis of the first motion joint is formed as a first axis located in a first plane, and the first axis is inclined such that the angle between the first axis and the horizontal line in the first plane is θ, and the angle between the first axis and the vertical line in the first plane is 90°-θ; one end of a first output component is connected to the first motion joint, and the other end is provided with a second motion joint, the rotation axis of the second motion joint being formed as a second axis, extending horizontally and perpendicular to the first plane; one end of the second output component is connected to the second motion joint, and the other end is provided with a third motion joint, the rotation axis of the third motion joint being formed as a third axis, and the third axis being perpendicular to the second axis; one end of the third output component is connected to the third motion joint, and the other end is used to connect to a knee joint, thus... The first output component is arranged at an angle to the hip frame, creating a chamfered space at the transition area where the thigh root connects to the torso. When the robot performs a large side swing or forward kick, the thigh component can slide into the reserved space under the torso along this chamfered space, thus avoiding collision with the outer shell and greatly expanding the range of motion. Secondly, the first axis and the second axis are spatially intersecting. This layout makes the leg swing of the humanoid robot more similar to the ball-and-socket joint movement pattern of real humans during movement, reducing the translational component during movement and making the gait more natural and aesthetically pleasing. In addition, due to the inclined setting of the first axis, the entire hip joint structure maintains a large torque output while the overall contour of the hip joint structure is more convergent, rounded, and compact, eliminating the structural and movement incoordination caused by the protruding hip of traditional robots and achieving a better biomimetic shape.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the double-leg structure of the hip joint structure for a humanoid robot provided for an embodiment of the present invention; Figure 2 A schematic diagram of a single-leg structure for a hip joint structure of a humanoid robot provided for an embodiment of the present invention; Figure 3A schematic diagram of an exploded single-leg structure of the hip joint structure for a humanoid robot provided as an embodiment of the present invention; Figure 4 A schematic diagram of the hip joint structure for a humanoid robot provided as an embodiment of the present invention from another perspective; Figure 5 A schematic diagram of the second motion joint of the hip joint structure for a humanoid robot, provided for an embodiment of the present invention, rotating to a first limit position and a second limit position; Figure 6 for Figure 2 The force analysis diagram of the hip joint structure used in humanoid robots.

[0019] Icons: 10-Hip frame; 11-First motion joint; 110-First center of mass; 111-First axis; 20-First output component; 21-Second motion joint; 210-Second center of mass; 211-Second axis; 30-Second output component; 31-Third motion joint; 311-Third axis; 40-Third output component; 100-First extreme position; 200-Second extreme position; 50-Avoidance chamfer space. Detailed Implementation

[0020] The following detailed embodiments are provided to help the reader gain a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be apparent after understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; changes that will be apparent after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0021] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0022] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, it may be directly "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, or there may be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" another element, "directly bonded to" another element, "directly on" another element, or "directly covering" another element, there may be no other elements in between.

[0023] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0024] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0025] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relation terms used herein will be interpreted accordingly.

[0026] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0027] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0028] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have a wide variety of constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application.

[0029] According to a first aspect of the present invention, a hip joint structure for a humanoid robot is provided, comprising a hip frame 10, a first output component 20, a second output component 30, and a third output component 40.

[0030] The specific structure of the above-mentioned components in the hip joint structure for a humanoid robot according to this embodiment will be described below.

[0031] In this embodiment, as Figures 1 to 4 As shown in Figure 6, the hip frame 10 is provided with a first motion joint 11. The rotation axis of the first motion joint 11 is formed as a first axis 111 located in a first plane. One end of the first output component 20 is formed as an inclined end adapted to the first motion joint 11, and the other end is formed as a vertical end. The inclined end is located above the vertical end. Specifically, the end of the first output component 20 facing the hip frame 10 is connected to the first motion joint 11, so that the first output component 20 can rotate relative to the hip frame 10 about the first axis 111 as the rotation axis. Specifically, in this embodiment, as shown in Figure 6... Figures 1 to 3 and Figure 6 As shown, the first axis 111 is inclined, such that the angle between the first axis 111 and the horizontal line in the first plane (i.e., the line extending horizontally in the first plane) is θ, and the angle between the first axis 111 and the vertical line in the first plane (i.e., the line extending vertically in the first plane) is 90°-θ. This makes the first output component 20 and the hip frame 10 arranged at an angle, and a clearance chamfered space 50 is formed at the transition area where the humanoid robot's thigh root connects to the torso (the clearance chamfered space 50 is... Figure 6(The range indicated by the included angle θ located above) When the robot makes a large side swing or front kick, the thigh components (i.e., the first output component 20, the second output component 30 and the third output component 40) can slide into the reserved space under the torso along this clearance angle space 50, thereby avoiding shell collision and greatly opening up the range of motion.

[0032] Furthermore, it should be noted that in this embodiment, the first output component 20, the second output component 30, or the third output component 40 includes structures such as motors or support frames. Due to the inclined setting of the first axis 111 and the structural cooperation between the first motion joint 11 and the first output component 20, the aforementioned clearance chamfer space 50 is formed, which allows the motor that realizes the tumbling swing to be set in the gap around the motor that realizes the pitch swing, rather than protruding outward. This makes the entire hip joint structure more convergent, rounded, and compact while maintaining a large torque output, eliminating the situation of uncoordinated structure and movement caused by the protrusion of the hip in traditional robots, and achieving a better biomimetic shape.

[0033] In this embodiment, as Figures 1 to 3 As shown, a second motion joint 21 is provided at the other end of the first output component 20 away from the hip frame 10, such as... Figures 4 to 6 As shown, the rotation axis of the second motion joint 21 is formed as a second axis 211. The end of the second output component 30 facing the first output component 20 is connected to the second motion joint 21, allowing the second output component 30 to rotate relative to the first output component 20 about the second axis 211. Specifically, the second axis 211 extends horizontally and is perpendicular to the first plane, so that the inclined first axis 111 and the second axis 211 are spatially intersecting. This arrangement makes the leg swing of the humanoid robot more similar to the ball-and-socket joint movement pattern of a real human during movement, reducing the translational component during movement and making the gait more natural and aesthetically pleasing. Preferably, the first axis 111 intersects the second axis 211 or the first axis 111 and the second axis 211 are arranged in a cross pattern but are very close to each other, so that the hip joint structure used for the humanoid robot can be as close as possible to the center of the human hip joint.

[0034] In this embodiment, as Figures 1 to 5 As shown, a third motion joint 31 is provided at the other end of the second output end away from the second motion joint 21. The rotation axis of the third motion joint 31 is formed as a third axis 311. One end of the third output component 40 is connected to the third motion joint 31, so that the third output component 40 can rotate relative to the second output component 30 about the third axis 311 as the rotation axis. The other end of the third output component 40 away from the third motion joint 31 is used to connect to the knee joint.

[0035] In this embodiment, as Figure 1 As shown, the hip frame 10 is provided with two first motion joints 11. The first axes 111 of the two first motion joints 11 are arranged in a mirror-symmetrical tilt, specifically with the midline of the humanoid robot as the axis of symmetry. The tilt directions of the first axes 111 of the two first motion joints 11 are opposite. The first output component 20, the second output component 30, and the third output component 40 form the thigh component to constitute the thigh part of the humanoid robot. There are two sets of thigh components. The first output component 20 of the two sets of thigh components is connected to the two first motion joints 11 respectively to form a humanoid robot that mimics a human body.

[0036] In this embodiment, as Figure 4 and Figure 5 As shown, the third axis 311 is set perpendicular to the second axis 211, so that the first output component 20, the second output component 30 and the third output component 40 can respectively realize the pitch swing, roll swing and yaw swing of the humanoid robot.

[0037] In a preferred embodiment, the hip joint structure for the humanoid robot is a Pitch-Roll-Yaw configuration. Specifically, the first motion joint 11, the second motion joint 21, and the third motion joint 31 are arranged sequentially from top to bottom. The first motion joint 11 is a Pitch joint, which drives the humanoid robot to pitch and swing. More specifically, the first output component 20 realizes the humanoid robot's forward kick or backward kick when rotating relative to the hip frame 10 about the first axis 111. The second motion joint 21 is a Roll joint, which drives the humanoid robot to roll and swing. The third motion joint 31 is a Yaw joint, which drives the humanoid robot to yaw and swing. Furthermore, in this embodiment, as Figure 5 As shown, when the humanoid robot's legs are upright, the third axis 311 extends vertically, thus enabling the humanoid robot to turn when the third output component 40 rotates relative to the second output component 30 about the third axis 311. Figure 4 As shown, the second axis 211 extends along the front-back direction of the humanoid robot, that is, the aforementioned first plane is a plane perpendicular to the front-back direction of the humanoid robot when its legs are upright. This allows the second output component 30 to rotate relative to the first output component 20 around the second axis 211, thus enabling the side swing of the humanoid robot's legs. Specifically, as shown... Figure 5As shown, the second motion joint 21 can drive the second output component 30 to rotate inward to the first limit position 100 or outward to the second limit position 200 around the second axis 211. It should be noted that when the humanoid robot's legs are upright and the second axis 211 extends along the front-back direction of the humanoid robot, the aforementioned first plane is the plane perpendicular to the front-back direction of the humanoid robot when its legs are upright.

[0038] Furthermore, in a preferred embodiment, such as Figure 5 As shown, the angle between the third axis 311 of the second output component 30 when it is in the first extreme position 100 and the third axis 311 when the humanoid robot's legs are straight is 55°; the angle between the third axis 311 of the second output component 30 when it is in the second extreme position 200 and the third axis 311 when the humanoid robot's legs are straight is 114°. That is, since the first axis 111 is tilted in this application, the movement limit of the second output component 30 is to swing outward by 114° and inward by 55°.

[0039] In this embodiment, as Figure 6 As shown, T1 2 +T2 2 =T4 2 T2≤T3×cosθ, T3≥M1×g×L2, T4≥M×g×L1; where T1 is the output torque required by the first joint 11 when the leg is raised, in N·m; T3 is the output torque required by the second joint 21 when the leg is raised, in N·m; T2 is the maximum output torque that the second joint 21 can provide under rated torque when the leg is raised, in N·m; T4 is the resultant torque of T1 and T2, in N·m; M is the first joint 11. The weight of the leg raised by the first joint 11 is in kg; M1 is the weight of the leg raised by the second joint 21, in kg; L1 is the vertical distance between the intersection point A of the line extending vertically and passing through the second axis 211 and the first axis 111, and the position of the first center of mass 110 of the first joint 11 when the leg is raised, in m; L2 is the vertical distance between the second axis 211 and the position of the second center of mass 210 of the second joint 21 when the leg is raised, in m. It should be noted that the weight M of the first joint 11 when the leg is raised and the weight M1 of the second joint 21 when the leg is raised are both the weight of a single leg raised; it should be further noted that in T3≥M1×g×L2, T4≥M×g×L1, g=9.8N / kg.

[0040] In this embodiment, as Figure 6 As shown, the position of the first centroid 110 is set above the position of the second centroid 210.

[0041] To satisfy the leg-raising motion, at a certain angle θ, the optimal situation is that the required T1 ≤ the rated torque N output by the first motion joint 11, and the required T3 ≤ the rated torque N1 output by the second motion joint 21, with N and N1 being maximized. Therefore, θ, as well as the position of the single-leg mass and the single-leg center of gravity, can be set based on the rated torques N and N1 of the first and second motion joints 11 and 21. This maximizes the joint's active envelope while ensuring structural strength, and simultaneously creates an ergonomically streamlined appearance.

[0042] Specifically, in one optional embodiment, when T1 reaches the rated torque N output by the first motion joint 11, the leg-lifting action needs to be satisfied, that is, when T1=N, the above calculation formula T1 is applied. 2 +T2 2 =T4 2 We can obtain: N 2 +T2 2 =(M×g×L1) 2 At this point, first according to N 2 +T2 2 =(M×g×L1) 2 After obtaining the parameters of T2, the parameters of T3 can be obtained by iterating the angle θ according to the above calculation formula T2≤T3×cosθ, where T3≤the rated torque N1 output by the second motion joint 21. Therefore, after obtaining T3, the leg lifting weight M1 of the second motion joint 21 and the position of the second center of mass 210 when the second motion joint 21 lifts its leg can be set according to T3≥M1×g×L2.

[0043] In another alternative implementation, when T3 reaches the rated torque N1 output by the second motion joint 21, the leg lifting action needs to be satisfied. That is, when T3=N1, substituting into the above calculation formula T2≤T3×cosθ, we can get: T2≤N1×cosθ. Furthermore, substituting T2=N1×cosθ into the above calculation formula T1 2 +T2 2 =T4 2 T1 can be obtained 2 +(N1×cosθ) 2 =T4 2 Furthermore, substituting T4=M×g×L1 into T1 2 +(N1×cosθ) 2 =T4 2 T1 can be obtained 2 +(N1×cosθ) 2 =(M×g×L1) 2 Ultimately, according to T1 2 +(N1×cosθ) 2 =(M×g×L1)2 By iterating through the angle θ, T1 can be obtained, where T1 ≤ the rated torque N output by the first motion joint 11. Therefore, after obtaining T1, we can use T4 ≥ M × g × L1 and T1 as the formula. 2 +T2 2 =T4 2 The weight M of the first joint 11 when the leg is raised and the position of the first center of mass 110 when the first joint 11 raises the leg are set.

[0044] In another alternative embodiment, the optimal angle θ can be obtained when T3 reaches the rated torque N1 output by the second motion joint 21 and T1 reaches the rated torque N output by the first motion joint 11. That is, when T1=N and T3=N1, N / cosθ=N1×tan(90°-θ), and θ can be obtained based on the rated torque N output by the first motion joint 11 and the rated torque N1 output by the second motion joint 21.

[0045] According to the hip joint structure for a humanoid robot of the present invention, a first motion joint 11 is provided on the hip frame 10. The rotation axis of the first motion joint 11 is formed as a first axis 111 located in a first plane. The first axis 111 is inclined such that the angle between the first axis 111 and the horizontal line in the first plane is θ, and the angle between the first axis 111 and the vertical line in the first plane is 90°-θ. One end of the first output component 20 is connected to the first motion joint 11, and the other end is provided with a second motion joint 21. The rotation axis of the second motion joint 21 is formed as a second axis 211, which extends horizontally and is perpendicular to the first plane. One end of the second output component 30 is connected to the second motion joint 21, and the other end is provided with a third motion joint 31. The rotation axis of the third motion joint 31 is formed as a third axis 311, which is perpendicular to the second axis 211. One end of the third output component 40 is connected to the third motion joint 31. One end connects to the hip joint, and the other end connects to the knee joint. This allows the first output component 20 to be arranged at an angle with the hip frame 10, forming a clearance angle space 50 at the transition area where the thigh root connects to the torso. When the robot performs a large side swing or forward kick, the thigh component can slide into the reserved space under the torso along this clearance angle space 50, thereby avoiding collision with the outer shell and greatly expanding the range of motion. Secondly, the first axis 111 and the second axis 211 are arranged in a cross shape in space. This layout makes the leg swing of the humanoid robot more similar to the ball-and-socket joint movement mode of real humans when moving, reducing the translational component during movement and making the gait more natural and beautiful. In addition, due to the inclined setting of the first axis 111, the entire hip joint structure maintains a large torque output while the overall outline of the hip joint structure is more convergent, rounded and compact, eliminating the structural and movement incoordination caused by the protruding hip of traditional robots and achieving a better biomimetic shape.

[0046] A second aspect of the invention provides a humanoid robot including the hip joint structure for a humanoid robot as described above, thus having all the beneficial effects of a hip joint structure for a humanoid robot, which will not be repeated here.

[0047] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A hip joint structure for a humanoid robot, characterized in that, include: The hip frame is provided with a first motion joint. The rotation axis of the first motion joint is formed as a first axis located in a first plane. The first axis is inclined such that the angle between the first axis and the horizontal line in the first plane is θ, and the angle between the first axis and the vertical line in the first plane is 90°-θ. The first output component has one end connected to the first motion joint and the other end provided with a second motion joint. The rotation axis of the second motion joint is formed as a second axis, which extends horizontally and is perpendicular to the first plane. The second output component has one end connected to the second motion joint and the other end provided with a third motion joint. The rotation axis of the third motion joint is formed as a third axis, which is perpendicular to the second axis. The third output component is connected at one end to the third motion joint and at the other end to the knee joint.

2. The hip joint structure for a humanoid robot according to claim 1, characterized in that, T1 2 +T2 2 =T4 2 ,T2≤T3×cosθ,T3≥M1×g×L2,T4≥M×g×L1; Wherein, T1 is the output torque required by the first joint when the leg is raised; T3 is the output torque required by the second joint when the leg is raised; T2 is the maximum output torque that the second joint can provide under rated torque when the leg is raised; T4 is the resultant torque of T1 and T2; M is the weight of the first joint when the leg is raised; M1 is the weight of the second joint when the leg is raised; L1 is the vertical distance between the intersection point A of the line extending vertically and passing through the second axis and the first axis and the position of the first center of mass of the first joint when the leg is raised; L2 is the vertical distance between the second axis and the position of the second center of mass of the second joint when the leg is raised.

3. The hip joint structure for a humanoid robot according to claim 2, characterized in that, T1=N and T3=N1, where N is the rated torque output by the first moving joint and N1 is the rated torque output by the second moving joint; θ is obtained based on the rated torque N output by the first moving joint and the rated torque N1 output by the second moving joint, N / cosθ=N1×tan(90°-θ).

4. The hip joint structure for a humanoid robot according to claim 2, characterized in that, T1=N, where N is the rated torque output by the first moving joint; first, based on N... 2 +T2 2 =(M×g×L1) 2 T2 is obtained, and then T3 is obtained according to T2≤T3×cosθ, where T3≤the rated torque N1 output by the second motion joint.

5. The hip joint structure for a humanoid robot according to claim 2, characterized in that, T3=N1, where N1 is the rated torque output by the second moving joint; according to T1 2 +(N1×cosθ) 2 =(M×g×L1) 2 T1 is obtained, where T1 ≤ the rated torque N output by the first motion joint.

6. The hip joint structure for a humanoid robot according to claim 1, characterized in that, When the humanoid robot stands upright, the third axis extends vertically and the second axis extends forward and backward along the humanoid robot, so that the second motion joint can drive the second output component to rotate inward to the first limit position or outward to the second limit position around the second axis.

7. The hip joint structure for a humanoid robot according to claim 6, characterized in that, The angle between the third axis when the second output component is in the first extreme position and the third axis when the humanoid robot's legs are straight is 55°. The angle between the third axis when the second output component is in the second extreme position and the third axis when the humanoid robot's legs are straight is 114°.

8. The hip joint structure for a humanoid robot according to claim 1, characterized in that, The hip frame is provided with two first motion joints, and the first axes of the two first motion joints are arranged in a mirror-symmetrical inclined manner. The first output component, the second output component, and the third output component form a thigh component. The thigh component is provided in two sets, and the first output component in each set of the thigh component is connected to the two first motion joints respectively.

9. The hip joint structure for a humanoid robot according to claim 1, characterized in that, The humanoid robot is driven by the first motion joint to perform pitching and swaying; the humanoid robot is driven by the second motion joint to perform rolling and swaying; the humanoid robot is driven by the third motion joint to perform yaw and swaying.

10. A humanoid robot, characterized in that, Includes the hip joint structure for humanoid robots as described in any one of claims 1 to 9.

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